Upper limb structure of bionic robot

Abstract

The utility model relates to the technical field of upper limb structures of robots, in particular to an upper limb structure of a bionic robot, which is characterized in that a dustproof mechanism is mounted on the surface of equipment to prevent dust from smudging the equipment to affect the use of the equipment, and a cooling mechanism is started to cool the inside of the dustproof mechanism to prevent the equipment from being overheated to affect the use of the equipment. The practicability of the equipment is improved; comprising a shoulder joint mechanism; the robot further comprises a rotating mechanism, an elbow joint mechanism, a wrist joint mechanism, a dustproof mechanism and a cooling mechanism, the top end of the rotating mechanism is installed on the shoulder joint mechanism, the elbow joint mechanism is installed at the bottom end of the rotating mechanism, and the wrist joint mechanism is installed at the bottom end of the elbow joint mechanism. The rotating mechanism, the elbow joint mechanism and the wrist joint mechanism are all installed on the inner wall of the dustproof mechanism, and the cooling mechanism is installed at the top end of the shoulder joint mechanism.

Description

Technical Field

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

[0002] The design of a bionic robot upper limb structure is a complex process, which needs to comprehensively consider multiple aspects such as the anatomical structure, movement mechanism, degree-of-freedom requirements, transmission and driving methods, and structural strength of the human upper limb; through fine design and manufacturing, it can be ensured that the bionic robot upper limb can simulate various movements of the human arm and has good structural strength and stability.

[0003] For example, in a class of prior arts represented by the robot upper limb structure disclosed in the utility model patent with the application number 202320461675.0, its main structure includes an upper arm of the upper limb, a forearm of the upper limb, an elbow rotation motor, a rotating ball, a rotating shaft, a rotation axis, etc., and the functions of the robot upper limb structure are realized through the cooperation of structures such as the upper arm of the upper limb, the forearm of the upper limb, the elbow rotation motor, the rotating ball, the rotating shaft, and the rotation axis.

[0004] Due to the precise structure of the bionic robot, when it is exposed to the air for a long time, a large amount of dust affects the use of the robot upper limb structure, and during its use, the robot upper limb structure may overheat. Summary of the Utility Model

[0005] To solve the above technical problems, the utility model provides a bionic robot upper limb structure that installs a dust-proof mechanism on the surface of the device to prevent dust from soiling the device and thus affecting the use of the device, and cools the inside of the dust-proof mechanism by starting a cooling mechanism to prevent the device from overheating and affecting the use of the device, thereby improving the practicability of the device.

[0006] A bionic robot upper limb structure of the present utility model includes a shoulder joint mechanism; it also includes a rotation mechanism, an elbow joint mechanism, a wrist joint mechanism, a dust-proof mechanism and a cooling mechanism. The top of the rotation mechanism is installed on the shoulder joint mechanism, the elbow joint mechanism is installed at the bottom of the rotation mechanism, the wrist joint mechanism is installed at the bottom of the elbow joint mechanism, the rotation mechanism, the elbow joint mechanism and the wrist joint mechanism are all installed on the inner wall of the dust-proof mechanism, and the cooling mechanism is installed at the top of the shoulder joint mechanism; by starting the shoulder joint mechanism, the rotation mechanism rotates, and by extending and contracting the shoulder joint mechanism, the distance of the rotation mechanism is adjusted. By starting the rotation mechanism, the elbow joint mechanism rotates. By starting the elbow joint mechanism, the wrist joint mechanism rotates to adjust the angle of the wrist joint mechanism. By starting the wrist joint mechanism, the angle of its lower structure is adjusted. The dust-proof mechanism is installed on the surface of the device to prevent dust from soiling the device and thus affecting the use of the device. By starting the cooling mechanism, the inside of the dust-proof mechanism is cooled to prevent the device from overheating and affecting the use of the device, improving the practicability of the device.

[0007] Preferably, the shoulder joint mechanism includes a cylinder, a first motor and a mounting shaft. The first motor is installed at the front end of the cylinder, and the top of the mounting shaft is installed on the output end of the first motor; by extending and contracting, the distance of the first motor is adjusted, and by starting the first motor, the mounting shaft rotates, improving the practicability of the device.

[0008] Preferably, the rotation mechanism includes a second motor and an upper arm. The top of the upper arm is installed on the output end of the second motor; by starting the second motor, the upper arm rotates, improving the practicability of the device.

[0009] Preferably, the elbow joint mechanism includes a third motor, a first upper U-shaped groove, a fourth motor, a first gear, a second gear, a first rotating shaft, a first lower U-shaped groove and a first lower arm. The top of the first upper U-shaped groove is installed on the output end of the third motor, the fourth motor is installed on the inner wall of the first upper U-shaped groove, the inner ring of the first gear is installed on the output end of the fourth motor, the outer ring of the first gear meshes with the outer ring of the second gear, the second gear is installed on the first rotating shaft, both ends of the first rotating shaft are rotatably installed on the side walls of the first upper U-shaped groove, the first lower U-shaped groove is fixedly installed on the first rotating shaft, and the top of the first lower U-shaped groove is installed on the top of the first lower arm; by starting the third motor, the first upper U-shaped groove rotates, by starting the fourth motor, the first gear rotates, and through the meshing of the first gear and the second gear, the first lower U-shaped groove rotates to make the first lower arm rotate, improving the practicability of the device.

[0010] Preferably, the wrist joint mechanism includes a second lower arm, a fifth motor, a third gear, a fourth gear, a second rotating shaft, a second lower U-shaped groove, and a connecting member. The fifth motor is installed on the inner wall of the second lower arm. The inner ring of the third gear is installed on the output end of the fifth motor. The outer ring of the third gear meshes with the outer ring of the fourth gear. The inner ring of the fourth gear is installed on the second rotating shaft. The two ends of the second rotating shaft are rotatably installed on the inner wall of the second lower arm. The two ends of the second rotating shaft are fixedly installed on the second lower U-shaped groove. The bottom end of the second lower U-shaped groove is installed on the top end of the connecting member. By starting the fifth motor, the third gear rotates. Through the meshing of the third gear and the fourth gear, the second rotating shaft rotates. Through the connection of the second rotating shaft, the second lower U-shaped groove rotates, improving the practicability of the device.

[0011] Preferably, the dust-proof mechanism includes a plurality of dust-proof pipes, a plurality of support columns, a bearing, a plurality of universal pipes, and an exhaust pipe. The bottom end of the upper dust-proof pipe is installed on the inner ring of the bearing. The lower support columns are installed at the lower end of the upper universal pipe. A plurality of support columns are respectively arranged in the plurality of dust-proof pipes. The outer ring of the bearing is installed at the top end of the upper universal pipe. The upper end of the lower universal pipe is connected to the bottom end of the lower dust-proof pipe. The input end of the exhaust pipe is connected to the outer wall of the lower dust-proof pipe. The plurality of dust-proof pipes are respectively supported by the plurality of support columns. The plurality of dust-proof pipes and the plurality of universal pipes respectively prevent dust from the device. The heat of the plurality of dust-proof pipes is discharged through the exhaust pipe, improving the practicability of the device.

[0012] Preferably, the cooling mechanism includes a mounting plate, an air pump, a refrigerator, a hose, and a rotary joint. The bottom ends of the air pump and the refrigerator are both installed on the top end of the mounting plate. The input end of the refrigerator is connected to the output end of the air pump. The input end of the hose is connected to the output end of the refrigerator. The output end of the hose is connected to the input end of the rotary joint. By starting the air pump, air flow is generated and discharged into the refrigerator. The air flow is cooled by the refrigerator. The cooled air flow is discharged into the dust-proof mechanism through the hose and the rotary joint to cool it, improving the practicability of the device.

[0013] Compared with the prior art, the beneficial effects of the present utility model are as follows: By starting the shoulder joint mechanism, the rotating mechanism rotates. And by extending and contracting the shoulder joint mechanism, the distance of the rotating mechanism is adjusted. By starting the rotating mechanism, the elbow joint mechanism rotates. By starting the elbow joint mechanism, the wrist joint mechanism rotates to adjust the angle of the wrist joint mechanism. By starting the wrist joint mechanism, the angle of its lower structure is adjusted. The dust-proof mechanism is installed on the surface of the device to prevent dust from soiling the device, thereby affecting the use of the device. By starting the cooling mechanism to cool the inside of the dust-proof mechanism, it prevents the device from overheating and affecting the use of the device, improving the practicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is the axonometric sectional view of the present utility model;

[0015] Figure 2 is an axonometric schematic diagram of the shoulder joint mechanism of the present utility model;

[0016] Figure 3 is an axonometric schematic diagram of the rotating mechanism of the present utility model;

[0017] Figure 4 is an axonometric schematic diagram of the elbow joint mechanism of the present utility model;

[0018] Figure 5 is an axonometric schematic diagram of the wrist joint mechanism of the present utility model;

[0019] Figure 6 is a front elevation sectional view of the dust-proof mechanism of the present utility model;

[0020] Figure 7 is an axonometric schematic diagram of the cooling mechanism of the present utility model.

[0021] Reference numerals in the drawings: 01, shoulder joint mechanism; 11, cylinder; 12, first motor; 13, mounting shaft; 02, rotating mechanism; 21, second motor; 22, upper arm; 03, elbow joint mechanism; 31, third motor; 32, first upper U-shaped groove; 33, fourth motor; 34, first gear; 35, second gear; 36, first rotating shaft; 37, first lower U-shaped groove; 38, first lower arm; 04, wrist joint mechanism; 41, second lower arm; 42, fifth motor; 43, third gear; 44, fourth gear; 45, second rotating shaft; 46, second lower U-shaped groove; 47, connecting piece; 05, dust-proof mechanism; 51, dust-proof pipe; 52, support column; 53, bearing; 54, universal joint pipe; 55, exhaust pipe; 06, cooling mechanism; 61, mounting plate; 62, air pump; 63, refrigerator; 64, hose; 65, rotary joint. Detailed implementation manners

[0022] To facilitate the understanding of the present utility model, the present utility model will be described more comprehensively below with reference to the relevant drawings. The present utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present utility model more thorough and comprehensive.

[0023] Embodiment 1

[0024] As Figure 1As shown in the figure, a bionic robot upper limb structure includes a shoulder joint mechanism 01; it also includes a rotation mechanism 02, an elbow joint mechanism 03, a wrist joint mechanism 04, a dust-proof mechanism 05, and a cooling mechanism 06. The top of the rotation mechanism 02 is installed on the shoulder joint mechanism 01. The elbow joint mechanism 03 is installed at the bottom of the rotation mechanism 02. The wrist joint mechanism 04 is installed at the bottom of the elbow joint mechanism 03. The rotation mechanism 02, the elbow joint mechanism 03, and the wrist joint mechanism 04 are all installed on the inner wall of the dust-proof mechanism 05. The cooling mechanism 06 is installed at the top of the shoulder joint mechanism 01;

[0025] By starting the shoulder joint mechanism 01, the rotation mechanism 02 rotates, and by extending and contracting the shoulder joint mechanism 01, the distance of the rotation mechanism 02 is adjusted. By starting the rotation mechanism 02, the elbow joint mechanism 03 rotates. By starting the elbow joint mechanism 03, the wrist joint mechanism 04 rotates to adjust the angle of the wrist joint mechanism 04. By starting the wrist joint mechanism 04, the angle of its lower structure is adjusted. The dust-proof mechanism 05 is installed on the surface of the device to prevent dust from soiling the device, thereby affecting the use of the device. By starting the cooling mechanism 06, the inside of the dust-proof mechanism 05 is cooled to prevent the device from overheating and affecting the use of the device, improving the practicality of the device;

[0026] As Figure 2 shown in the figure, the shoulder joint mechanism 01 includes a cylinder 11, a first motor 12, and a mounting shaft 13. The first motor 12 is installed at the front end of the cylinder 11. The top of the mounting shaft 13 is installed on the output end of the first motor 12;

[0027] As Figure 3 shown in the figure, the rotation mechanism 02 includes a second motor 21 and an upper arm 22. The top of the upper arm 22 is installed on the output end of the second motor 21;

[0028] As Figure 4 shown in the figure, the elbow joint mechanism 03 includes a third motor 31, a first upper U-shaped groove 32, a fourth motor 33, a first gear 34, a second gear 35, a first rotating shaft 36, a first lower U-shaped groove 37, and a first lower arm 38. The top of the first upper U-shaped groove 32 is installed on the output end of the third motor 31. The fourth motor 33 is installed on the inner wall of the first upper U-shaped groove 32. The inner ring of the first gear 34 is installed on the output end of the fourth motor 33. The outer ring of the first gear 34 meshes with the outer ring of the second gear 35. The second gear 35 is installed on the first rotating shaft 36. The two ends of the first rotating shaft 36 are rotatably installed on the side walls of the first upper U-shaped groove 32. The first lower U-shaped groove 37 is fixedly installed on the first rotating shaft 36. The top of the first lower U-shaped groove 37 is installed on the top of the first lower arm 38;

[0029] As Figure 5As shown, the wrist joint mechanism 04 includes a second lower arm 41, a fifth motor 42, a third gear 43, a fourth gear 44, a second rotating shaft 45, a second lower U-shaped groove 46, and a connecting member 47. The fifth motor 42 is installed on the inner wall of the second lower arm 41. The inner ring of the third gear 43 is installed on the output end of the fifth motor 42. The outer ring of the third gear 43 meshes with the outer ring of the fourth gear 44. The inner ring of the fourth gear 44 is installed on the second rotating shaft 45. The two ends of the second rotating shaft 45 are rotatably installed on the inner wall of the second lower arm 41. The two ends of the second rotating shaft 45 are fixedly installed on the second lower U-shaped groove 46. The bottom end of the second lower U-shaped groove 46 is installed on the top end of the connecting member 47;

[0030] The distance of the first motor 12 is adjusted by stretching and contracting. The mounting shaft 13 is rotated by starting the first motor 12. The upper arm 22 is rotated by starting the second motor 21. The first upper U-shaped groove 32 is rotated by starting the third motor 31. The first gear 34 is rotated by starting the fourth motor 33. The first lower U-shaped groove 37 is rotated through the meshing of the first gear 34 and the second gear 35, causing the first lower arm 38 to rotate. The third gear 43 is rotated by starting the fifth motor 42. The second rotating shaft 45 is rotated through the meshing of the third gear 43 and the fourth gear 44. The second lower U-shaped groove 46 is rotated through the connection of the second rotating shaft 45, improving the practicability of the device.

[0031] Embodiment 2

[0032] As Figure 6 shown, on the basis of Embodiment 1, a dust-proof mechanism 05 is further included. The dust-proof mechanism 05 includes a plurality of dust-proof pipes 51, a plurality of support columns 52, a bearing 53, a plurality of universal pipes 54, and an exhaust pipe 55. The bottom end of the upper dust-proof pipe 51 is installed on the inner ring of the bearing 53. The lower support columns 52 are installed at the lower end of the upper universal pipe 54. A plurality of support columns 52 are respectively arranged in a plurality of dust-proof pipes 51. The outer ring of the bearing 53 is installed at the top end of the upper universal pipe 54. The upper end of the lower universal pipe 54 is connected to the bottom end of the lower dust-proof pipe 51. The input end of the exhaust pipe 55 is connected to the outer wall of the lower dust-proof pipe 51;

[0033] A plurality of dust-proof pipes 51 are respectively supported by a plurality of support columns 52. A plurality of dust-proof pipes 51 and a plurality of universal pipes 54 respectively dust-proof the device. The heat of a plurality of dust-proof pipes 51 is discharged through the exhaust pipe 55, improving the practicability of the device.

[0034] Embodiment 3

[0035] As Figure 7As shown in the figure, on the basis of Embodiment 1, it further includes a cooling mechanism 06. The cooling mechanism 06 includes a mounting plate 61, an air pump 62, a refrigerator 63, a hose 64 and a rotary joint 65. The bottoms of the air pump 62 and the refrigerator 63 are both mounted on the top of the mounting plate 61. The input end of the refrigerator 63 is connected to the output end of the air pump 62. The input end of the hose 64 is connected to the output end of the refrigerator 63. The output end of the hose 64 is connected to the input end of the rotary joint 65;

[0036] By starting the air pump 62, the generated air flow is discharged into the refrigerator 63. The air flow is refrigerated by the refrigerator 63. The refrigerated air flow is discharged into the dust-proof mechanism 05 through the hose 64 and the rotary joint 65, and is cooled to improve the practicability of the equipment.

[0037] As Figures 1 to 7 shown, for a bionic robot upper limb structure of the present utility model, when it works, first, the distance of the first motor 12 is adjusted by stretching and contracting. By starting the first motor 12, the mounting shaft 13 rotates. Then, by starting the second motor 21, the upper arm 22 rotates. After that, by starting the third motor 31, the first upper U-shaped groove 32 rotates. By starting the fourth motor 33, the first gear 34 rotates. Through the meshing of the first gear 34 and the second gear 35, the first lower U-shaped groove 37 rotates, and the first lower arm 38 rotates. Then, by starting the fifth motor 42, the third gear 43 rotates. Through the meshing of the third gear 43 and the fourth gear 44, the second rotating shaft 45 rotates. Through the connection of the second rotating shaft 45, the second lower U-shaped groove 46 rotates. After that, multiple dust-proof tubes 51 are respectively supported by multiple support columns 52. The multiple dust-proof tubes 51 and the multiple universal tubes 54 respectively dust-proof the equipment. The heat of the multiple dust-proof tubes 51 is discharged through the exhaust pipe 55. Finally, by starting the air pump 62, the generated air flow is discharged into the refrigerator 63. The air flow is refrigerated by the refrigerator 63. The refrigerated air flow is discharged into the dust-proof mechanism 05 through the hose 64 and the rotary joint 65, and is cooled to improve the practicability of the equipment.

[0038] The first motor 12, the second motor 21, the third motor 31, the fourth motor 33, the fifth motor 42, the air pump 62 and the hose 64 of the present utility model are purchased on the market. Those skilled in the art only need to install and operate according to the attached user manual, without the need for those skilled in the art to perform creative labor.

[0039] The main functions achieved by the present utility model are: installing the dust-proof mechanism 05 on the surface of the equipment to prevent dust from soiling the equipment and thus affecting the use of the equipment. By starting the cooling mechanism 06, the inside of the dust-proof mechanism 05 is cooled to prevent the equipment from overheating and affecting the use of the equipment, thereby improving the practicability of the equipment.

[0040] The above are only the preferred embodiments of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present utility model, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present utility model.

Claims

1. A bionic robot upper limb structure, comprising a shoulder joint mechanism (01); characterized in that: It also includes a rotating mechanism (02), an elbow joint mechanism (03), a wrist joint mechanism (04), a dustproof mechanism (05) and a cooling mechanism (06); the top end of the rotating mechanism (02) is mounted on the shoulder joint mechanism (01); the elbow joint mechanism (03) is mounted on the bottom end of the rotating mechanism (02); the wrist joint mechanism (04) is mounted on the bottom end of the elbow joint mechanism (03); the rotating mechanism (02), the elbow joint mechanism (03) and the wrist joint mechanism (04) are all mounted on the inner wall of the dustproof mechanism (05); and the cooling mechanism (06) is mounted on the top end of the shoulder joint mechanism (01).

2. A bionic robot upper limb structure as claimed in claim 1, characterized in that: The shoulder joint mechanism (01) comprises a cylinder (11), a first motor (12) and a mounting shaft (13), wherein the first motor (12) is mounted at the front end of the cylinder (11), and the top end of the mounting shaft (13) is mounted on the output end of the first motor (12).

3. A bionic robot upper limb structure as claimed in claim 1, characterized in that: The rotating mechanism (02) comprises a second motor (21) and an upper arm (22), wherein the top end of the upper arm (22) is mounted on the output end of the second motor (21).

4. A bionic robot upper limb structure as claimed in claim 1, characterized in that: The elbow joint mechanism (03) comprises a third motor (31), a first upper U-shaped groove (32), a fourth motor (33), a first gear (34), a second gear (35), a first rotating shaft (36), a first lower U-shaped groove (37) and a first lower arm (38), wherein the top end of the first upper U-shaped groove (32) is mounted on the output end of the third motor (31), the fourth motor (33) is mounted on the inner wall of the first upper U-shaped groove (32), the inner ring of the first gear (34) is mounted on the output end of the fourth motor (33), the outer ring of the first gear (34) is meshed with the outer ring of the second gear (35), the second gear (35) is mounted on the first rotating shaft (36), both ends of the first rotating shaft (36) are rotatably mounted on the side walls of the first upper U-shaped groove (32), the first lower U-shaped groove (37) is fixedly mounted on the first rotating shaft (36), and the top end of the first lower U-shaped groove (37) is mounted on the top end of the first lower arm (38).

5. The bionic robot upper limb structure according to claim 1, characterized in that: The wrist joint mechanism (04) comprises a second lower arm (41), a fifth motor (42), a third gear (43), a fourth gear (44), a second rotating shaft (45), a second lower U-shaped groove (46) and a connecting piece (47), wherein the fifth motor (42) is mounted on the inner wall of the second lower arm (41), the inner ring of the third gear (43) is mounted on the output end of the fifth motor (42), the outer ring of the third gear (43) is meshed with the outer ring of the fourth gear (44), the inner ring of the fourth gear (44) is mounted on the second rotating shaft (45), the two ends of the second rotating shaft (45) are rotatably mounted on the inner wall of the second lower arm (41), the two ends of the second rotating shaft (45) are fixedly mounted on the second lower U-shaped groove (46), and the bottom end of the second lower U-shaped groove (46) is mounted on the top end of the connecting piece (47).

6. The bionic robot upper limb structure according to claim 1, characterized in that: The dustproof mechanism (05) comprises a plurality of dustproof tubes (51), a plurality of support columns (52), a bearing (53), a plurality of universal tubes (54) and an exhaust pipe (55); the bottom end of the upper dustproof tube (51) is mounted on the inner ring of the bearing (53); the lower support column (52) is mounted on the lower end of the upper universal tube (54); a plurality of support columns (52) are respectively arranged in the plurality of dustproof tubes (51); the outer ring of the bearing (53) is mounted on the top end of the upper universal tube (54); the upper end of the lower universal tube (54) is connected to the bottom end of the lower dustproof tube (51); and the input end of the exhaust pipe (55) is connected to the outer wall of the lower dustproof tube (51).

7. The bionic robot upper limb structure according to claim 1, characterized in that: The cooling mechanism (06) comprises a mounting plate (61), an air pump (62), a refrigerator (63), a hose (64) and a rotary joint (65); the bottom ends of the air pump (62) and the refrigerator (63) are both mounted on the top end of the mounting plate (61); the input end of the refrigerator (63) is connected to the output end of the air pump (62); the input end of the hose (64) is connected to the output end of the refrigerator (63); and the output end of the hose (64) is connected to the input end of the rotary joint (65).

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