Robot arm and robot

Abstract

The utility model provides a robot arm and a robot, and relates to the technical field of automation equipment. The robot arm comprises a large arm, a first small arm connecting base, a second small arm connecting base, a connecting base and a wrist base, the first small arm connecting base is hinged to the large arm to achieve vertical pitching of the first small arm connecting base, and the second small arm connecting base is rotatably installed on the first small arm connecting base to achieve overturning of the second small arm connecting base. A first rotating driving part is installed on the second small arm connecting seat and connected with the connecting seat through a connecting rod mechanism so that the connecting seat can swing left and right relative to the second small arm connecting seat under the driving of the first rotating driving part, and the wrist seat is hinged to the connecting seat so that the up-down pitching motion of the wrist seat can be achieved. Wherein the wrist seat has multiple degrees of freedom and fully simulates the degrees of freedom of the wrist joint of the human body, and compared with a traditional serial transmission mode adopting end-to-end connection, the connecting rod mechanism enables the first rotary driving piece to be arranged at the rear, and the space structure is more compact.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a robot arm and a robot. Background Art

[0002] Robots are widely used in production and daily life. Currently, common robotic arms mostly mimic the freedom of movement of the human shoulder and elbow, but rarely mimic the freedom of movement of the human wrist. This results in a limited range of motion for the robotic hand, making it difficult to perform precise operations. Utility Model Content

[0003] The utility model provides a robot arm and a robot, which are used to solve the defects of the robot arm in the prior art, such as low freedom of movement and limited range of movement, which are not conducive to fine operation.

[0004] The utility model provides a robot arm, including an upper arm, a first forearm connecting seat, a second forearm connecting seat, a connecting seat and a wrist seat, the first forearm connecting seat is hinged to the upper arm to realize the up and down pitching of the first forearm connecting seat, the second forearm connecting seat can be rotatably installed on the first forearm connecting seat to realize the flipping of the second forearm connecting seat, a first rotating driving member is installed on the second forearm connecting seat, the first rotating driving member is connected to the connecting seat through a connecting rod mechanism, so that the connecting seat swings left and right relative to the second forearm connecting seat under the drive of the first rotating driving member, and the wrist seat is hinged to the connecting seat to realize the up and down pitching movement of the wrist seat.

[0005] According to a robot arm provided by the present invention, the connecting rod mechanism includes at least one connecting rod, one end of the connecting rod is connected to the first rotating drive member, and the other end of the connecting rod is rotatably connected to the connecting seat.

[0006] According to a robot arm provided by the present invention, the first rotary driving component is a hollow motor.

[0007] According to a robot arm provided by the utility model, the second forearm connecting seat has an open cavity and two first connecting ears arranged opposite to each other, the two first connecting ears are located at the cavity opening of the open cavity and extend to the outside of the open cavity, the connecting seat is located between the two first connecting ears and is rotatably connected to the first connecting ears, and the first rotating drive member is installed in the open cavity.

[0008] According to a robot arm provided by the utility model, a second rotating drive component is installed in the connecting seat, and the second rotating drive component is used to drive the wrist seat to rotate relative to the connecting seat. The swing axis of the connecting seat relative to the second forearm connecting seat and the rotation axis of the wrist seat relative to the connecting seat intersect vertically.

[0009] According to a robot arm provided by the utility model, the second rotary drive member is a hollow motor, the wrist seat has two oppositely arranged second connecting ears, the connecting seat is clamped between the two second connecting ears, and the second rotary drive member is used to drive the connecting seat to rotate relative to the second connecting ears.

[0010] According to a robot arm provided by the utility model, a first hollow motor is installed at the end of the upper arm, and the driving end of the first hollow motor is connected to the first small arm connecting seat to drive the first small arm connecting seat to rotate relative to the upper arm.

[0011] According to a robot arm provided by the utility model, it also includes a first shoulder connecting seat and a second shoulder connecting seat that are hingedly connected. The first shoulder connecting seat is fixedly installed with a third rotating drive component, and the driving end of the third rotating drive component is connected to an end of the upper arm away from the first lower arm connecting seat.

[0012] According to a robot arm provided by the present invention, the second shoulder connecting seat is connected to the main body connecting seat through a fourth rotation driving member.

[0013] The utility model also provides a robot, comprising a robot body and the robot arm as described above.

[0014] The robot arm and robot provided by the utility model realize the eversion and internal rotation of the wrist seat by hinged connection of the first forearm connecting seat and the second forearm connecting seat, realize the left and right swing of the wrist seat by hinged connection of the connecting seat and the second forearm connecting seat, and realize the up and down pitch of the wrist seat by hinged connection of the second forearm connecting seat and the wrist seat. As a result, the wrist seat has multiple degrees of freedom, fully simulating the degrees of freedom of the human wrist joint, and is lighter to use. Moreover, compared with the traditional serial transmission method with head-to-tail connection, the embodiment of the utility model uses a connecting rod mechanism to place the first rotating drive component at the rear, so that the second forearm connecting seat, the connecting seat and the wrist seat are connected in sequence, and the spatial structure is more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 It is a three-dimensional diagram of the robot arm provided by the utility model.

[0017] Figure 2 It is a partial structural diagram of the robot arm provided by the utility model.

[0018] Figure 3 yes Figure 2 An exploded view of the partial structure of the robot arm is shown.

[0019] Reference numerals:

[0020] 10. Upper arm; 11. First forearm connection seat; 12. Second forearm connection seat; 121. First connection lug; 122. Turntable; 123. Accommodation channel; 13. Connecting seat; 14. Wrist seat; 141. Second connection lug; 15. First shoulder connection seat; 16. Second shoulder connection seat; 17. Body connection seat;

[0021] 20. First rotary drive member; 21. Second rotary drive member; 22. Third rotary drive member; 23. Fourth rotary drive member; 24. First hollow motor; 25. Second hollow motor; 26. Fifth rotary drive member; 30. Connecting rod. DETAILED DESCRIPTION

[0022] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will provide a clear and complete description of the technical solutions of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] The terms "first" and "second" in the specification and claims of this utility model may explicitly or implicitly refer to one or more of these features. In the description of this utility model, unless otherwise specified, "plurality" means two or more. Furthermore, "and / or" in the specification and claims refers to at least one of the connected items, and the character " / " generally indicates an "or" relationship between the connected items.

[0024] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present invention.

[0025] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0026] The following combination Figure 1-Figure 3 The present invention describes a robot arm.

[0027] The utility model provides a robot arm, such as Figure 1 As shown, it includes an upper arm 10, a first lower arm connection seat 11, a second lower arm connection seat 12, a connecting seat 13 and a wrist seat 14. The first lower arm connection seat 11 is hinged to the upper arm 10 to achieve the up and down pitching of the first lower arm connection seat 11, and the second lower arm connection seat 12 can be rotatably mounted on the first lower arm connection seat 11 to achieve the flipping of the second lower arm connection seat 12. Figure 2 and Figure 3 As shown, a first rotary drive member 20 is mounted on the second forearm connecting base 12. The first rotary drive member 20 is connected to the connecting base 13 via a linkage mechanism, so that the connecting base 13 can swing left and right relative to the second forearm connecting base 12 under the drive of the first rotary drive member 20. The wrist base 14 is hinged to the connecting base 13 to achieve up and down pitching motion of the wrist base 14.

[0028] The hinge between the upper arm 10 and the first forearm connecting seat 11 is used to simulate the flexion and extension movement of the human elbow joint, and the relative rotation of the upper arm 10 and the first forearm connecting seat 11 drives the entire forearm to move up and down. The first forearm connecting seat 11 and the second forearm connecting seat 12 are connected by a second hollow motor 25. Specifically, the rotating motor is fixed on the first forearm connecting seat 11, and the motor shaft of the second hollow motor 25 is fixedly connected to the second forearm connecting seat 12. Driven by the second hollow motor 25, the second forearm connecting seat 12 rotates relative to the first forearm connecting seat 11, thereby simulating the flipping movement of the human elbow joint and realizing the eversion and internal rotation of the wrist seat 14. The second hollow motor 25 is hollow inside, which is convenient for laying communication wires.

[0029] like Figure 2 and Figure 3 As shown, under the action of the first rotary drive member 20, the connecting rod mechanism drives the connecting seat 13 to swing. The connecting rod mechanism can be arranged only on one side of the connecting seat 13, or on two opposite sides of the connecting seat 13. For example, a connecting rod mechanism is arranged on the upper side or the lower side of the connecting seat 13. For another example, a connecting rod mechanism is arranged on both the upper and lower sides of the connecting seat 13. Of course, the connecting rod mechanism can also be arranged on the left and / or right side of the connecting seat 13. As long as the first rotary drive member 20 can drive the connecting seat 13 to swing relative to the second forearm connecting seat 12 through the connecting rod mechanism, it will be sufficient.

[0030] The wrist seat 14 is used to connect the manipulator. Figure 2 As shown, the wrist seat 14 is hinged to the connecting seat 13 to simulate the pitch motion of the wrist joint through the rotation of the wrist seat 14 and the connecting seat 13.

[0031] The robot arm provided by the embodiment of the present invention realizes the eversion and internal rotation of the wrist seat 14 by hinged connection of the first forearm connecting seat 11 and the second forearm connecting seat 12, realizes the left and right swing of the wrist seat 14 by hinged connection of the connecting seat 13 and the second forearm connecting seat 12, and realizes the up and down pitch of the wrist seat 14 by hinged connection of the second forearm connecting seat 12 and the wrist seat 14. As a result, the wrist seat 14 has multiple degrees of freedom, fully simulating the degrees of freedom of the human wrist joint, and is lighter to use. Moreover, compared with the traditional head-to-tail connected serial transmission method, the embodiment of the present invention uses a connecting rod mechanism to place the first rotating drive member 20 at the rear, so that the second forearm connecting seat 12, the connecting seat 13 and the wrist seat 14 are connected in sequence, and the spatial structure is more compact.

[0032] Specifically, the connecting rod mechanism includes at least one connecting rod 30 , one end of the connecting rod 30 is connected to the first rotary driving member 20 , and the other end of the connecting rod 30 is rotatably connected to the connecting seat 13 .

[0033] like Figure 2 and Figure 3As shown, there are two connecting rods 30, one on each side of the rotation axis between the connecting base 13 and the second forearm connecting base 12. The axis of relative rotation between the connecting base 13 and the second forearm connecting base 12 is located between the two connection points formed by the two connecting rods and the connecting base 13. When the first rotary drive member 20 rotates, the two connecting rods 30 push and pull, driving the connecting base 13 and the wrist base 14 to swing left and right.

[0034] Specifically, the driving end of the first rotary drive member 20 is fixedly connected to the turntable 122, and each connecting rod 30 is rotatably connected to the turntable 122. Under the driving action of the first rotary drive member 20, the turntable 122 rotates, driving the connecting rod 30 to pull the connecting seat 13 to swing left and right.

[0035] Optionally, the first rotary drive member 20 is a hollow motor, which facilitates the laying of communication wires.

[0036] The second forearm connecting seat 12 has an open cavity and two first connecting ears 121 arranged opposite to each other. The two first connecting ears 121 are located at the cavity opening of the open cavity and extend to the outside of the open cavity. The connecting seat 13 is located between the two first connecting ears 121 and is rotatably connected to the first connecting ears 121. The first rotating drive member 20 is installed in the open cavity.

[0037] Optionally, the second arm connecting seat 12 is a U-shaped seat, and the recessed area of ​​the U-shaped seat is an open cavity for accommodating the first rotary drive member 20. Figure 3 As shown, a through hole is provided on one side wall of the open cavity, and the turntable 122 is located outside the open cavity. An accommodating channel 123 is formed between the first connecting lug 121 and the outer wall of the open cavity. The connecting rod 30 passes through the accommodating channel 123, and the two ends of the connecting rod 30 are located on opposite sides of the accommodating channel 123, respectively connected to the turntable 122 and the wrist seat 14. In one embodiment, the maximum left and right swinging range of the connecting seat 13 and the wrist seat 14 can be limited by the left and right side walls of the accommodating channel 123. Of course, the left and right swinging range of the connecting seat 13 relative to the second forearm connecting seat 12 can also be controlled by limiting the rotation range of the first rotating drive member 20.

[0038] A second rotary drive member 21 is installed in the connecting seat 13, and the second rotary drive member 21 is used to drive the wrist seat 14 to rotate relative to the connecting seat 13. The swing axis of the connecting seat 13 relative to the second forearm connecting seat 12 and the rotation axis of the wrist seat 14 relative to the connecting seat 13 are perpendicularly intersected.

[0039] The second rotary drive member 21 drives the wrist seat 14 to rotate relative to the connecting seat 13. Figure 2 and Figure 3As shown, the connecting base 13 is cylindrical. The second rotary shaft drives the wrist base 14 along the axis of the connecting base 13. The first rotary drive member 20 drives the connecting base 13 to swing along the radial direction of the connecting base 13 through a linkage mechanism. The two axes intersect. Therefore, only the second rotary drive member 21 is required within the connecting base 13 to enable the wrist base 14 to flip and swing vertically. Compared to using a series drive system at the wrist joint, this can reduce the size of the robot wrist joint.

[0040] The second rotary drive member 21 is a hollow motor. The wrist seat 14 has two oppositely arranged second connecting ears 141. The connecting seat 13 is clamped between the two second connecting ears 141. The second rotary drive member 21 is used to drive the connecting seat 13 to rotate relative to the second connecting ears 141.

[0041] The outer wall of the adapter 13 is rotatably connected to the two first connecting lugs 121. The second rotary drive member 21 is fixedly received within the adapter 13. Opposite ends of the adapter 13 rotate in tandem with the two second connecting lugs 141. The drive shaft of the second rotary drive member 21 extends through the adapter 13's barrel and connects to one of the second connecting lugs 141. Driven by the second rotary drive member 21, the wrist base 14 pitches up and down relative to the adapter 13, simulating the movements of the human wrist.

[0042] A first hollow motor 24 is mounted at the end of the upper arm 10. The driving end of the first hollow motor 24 is connected to the first forearm connecting seat 11 to drive the first forearm connecting seat 11 to rotate relative to the upper arm 10. Driven by the first hollow motor 24, the upper arm 10 rotates relative to the first forearm connecting seat 11 to simulate the extension and flexion movements of the human elbow joint.

[0043] like Figure 1 As shown, the boom 10 is cylindrical, with the first hollow motor 24 fixed to the bottom end of the boom 10. The first arm connecting base 11 is a U-shaped base, and the first hollow motor 24 is accommodated within the U-shaped base. The driving end of the first hollow motor 24 is connected to one lug of the U-shaped base, and the other lug of the U-shaped base is rotatably connected to the end of the boom 10. Therefore, the cooperation between the U-shaped base and the first hollow motor 24 makes the connection more compact, reducing space occupation.

[0044] The robot arm also includes a first shoulder connecting seat 15 and a second shoulder connecting seat 16 that are hingedly connected. The first shoulder connecting seat 15 is fixedly installed with a third rotating drive member 22, and the driving end of the third rotating drive member 22 is connected to the end of the upper arm 10 away from the first lower arm connecting seat 11.

[0045] like Figure 1As shown, both the first shoulder connector 15 and the second shoulder connector 16 are U-shaped, with their lugs fitting snugly and rotating in unison. A fifth rotary drive 26 provides rotational power to the first and second shoulder connectors 15, 16. Driven by this fifth rotary drive 26, the first and second shoulder connectors 15, 16 rotate relative to each other, simulating the abduction and adduction motion of the human arm around the shoulder joint.

[0046] Specifically, if Figure 1 As shown, the fifth rotary drive member 26 is housed in the U-shaped recess of the second shoulder connection seat 16. The driving end of the fifth rotary drive member 26 passes through the lug of the second shoulder connection seat 16 and connects with the lug of the first shoulder connection seat 15, thereby driving the first shoulder connection seat 15 and the second shoulder connection seat 16 to rotate relative to each other. Optionally, the fifth rotary drive member 26 is a hollow motor.

[0047] The third rotary drive member 22 is fixed to the first shoulder connector 15 and drives the upper arm 10 to rotate about the drive shaft of the third rotary drive member 22, thereby causing the upper arm 10 to drive the entire arm to simulate the internal and external rotation of the human arm around the shoulder joint. Optionally, the third rotary drive member 22 is a hollow motor to facilitate internal wiring of the third rotary drive member 22.

[0048] The robot arm provided by the present invention realizes the rotational coordination of the first shoulder connecting seat 15 and the second shoulder connecting seat 16 through an articulated connection, and the third rotating driving member 22 to realize the rotational coordination of the first shoulder connecting seat 15 and the upper arm 10, thereby simulating the abduction, adduction, external rotation and internal rotation movements of the human shoulder joint.

[0049] The second shoulder connection seat 16 is connected to the body connection seat 17 via a fourth rotation driving member 23 .

[0050] like Figure 1 As shown, the fourth rotary drive member 23 is fixed to the main body connection base 17, and the driving end of the fourth rotary drive member 23 is connected to the second shoulder connection base 16. Driven by the rotation of the fourth rotary drive member 23, the second shoulder connection base 16 drives the entire robot arm to rotate relative to the main body connection base 17, thereby simulating the back and forth swing of a human arm around the shoulder joint. Optionally, the fourth rotary drive member 23 is a hollow motor, allowing electrical conductors such as communication lines and power lines to pass through the hollow motor, facilitating wiring.

[0051] The robot arm provided by the present invention can simulate the forward and backward swinging of the human shoulder joint through the rotational cooperation of the second shoulder connecting seat 16 and the main body connecting seat 17 driven by the fourth rotating driving member 23, so as to better fit the human body's freedom.

[0052] The present invention also provides a robot comprising a robot body and the aforementioned robot arms. Specifically, a robot arm is mounted on each of the left and right sides of the robot body. A body connection base 17 in each robot arm is fixedly connected to the robot body via bolts.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A robot arm, characterized in that: The invention comprises an upper arm, a first forearm connecting seat, a second forearm connecting seat, a connecting seat and a wrist seat, wherein the first forearm connecting seat is hinged to the upper arm to realize the up and down pitching of the first forearm connecting seat, the second forearm connecting seat can be rotatably installed on the first forearm connecting seat to realize the flipping of the second forearm connecting seat, a first rotating driving member is installed on the second forearm connecting seat, the first rotating driving member is connected to the connecting seat through a connecting rod mechanism, so that the connecting seat swings left and right relative to the second forearm connecting seat under the drive of the first rotating driving member, and the wrist seat is hinged to the connecting seat to realize the up and down pitching movement of the wrist seat.

2. The robot arm according to claim 1, characterized in that: The connecting rod mechanism includes at least one connecting rod, one end of the connecting rod is connected to the first rotation driving member, and the other end of the connecting rod is rotatably connected to the connecting seat.

3. The robot arm according to claim 1 or 2, characterized in that: The first rotary driving component is a hollow motor.

4. The robot arm according to claim 1, characterized in that The second forearm connecting seat has an open cavity and two first connecting ears arranged opposite to each other. The two first connecting ears are located at the cavity opening of the open cavity and extend to the outside of the open cavity. The connecting seat is located between the two first connecting ears and is rotatably connected to the first connecting ears. The first rotating drive member is installed in the open cavity.

5. The robot arm according to claim 1, characterized in that: A second rotating drive member is installed in the connecting seat, and the second rotating drive member is used to drive the wrist seat to rotate relative to the connecting seat. The swing axis of the connecting seat relative to the second forearm connecting seat and the rotation axis of the wrist seat relative to the connecting seat are perpendicular to each other.

6. The robot arm according to claim 5, characterized in that: The second rotary drive member is a hollow motor, the wrist seat has two oppositely arranged second connecting ears, the connecting seat is clamped between the two second connecting ears, and the second rotary drive member is used to drive the connecting seat to rotate relative to the second connecting ears.

7. The robot arm according to claim 1, characterized in that: A first hollow motor is installed at the end of the upper arm, and a driving end of the first hollow motor is connected to the first small arm connecting seat to drive the first small arm connecting seat to rotate relative to the upper arm.

8. The robot arm according to claim 1 or 7, characterized in that: It also includes a first shoulder connecting seat and a second shoulder connecting seat that are hingedly connected. The first shoulder connecting seat is fixedly installed with a third rotary drive member, and the driving end of the third rotary drive member is connected to an end of the upper arm away from the first lower arm connecting seat.

9. The robot arm according to claim 8, characterized in that: The second shoulder connecting seat is connected to the main body connecting seat through a fourth rotation driving member.

10. A robot, characterized in that: The robot comprises a robot body and a robot arm as claimed in any one of claims 1 to 9.

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