Joint structure robot

Abstract

The utility model discloses a joint structure robot which comprises a robot body and arms, the arms are symmetrically installed on the side wall of the robot body, basin frameworks are symmetrically installed at the bottom end of the robot body, big arms are arranged on the outer portions of the arms, small arms are arranged on the outer portions of the big arms, and thighs are arranged on the outer portions of the small arms. According to the joint structure robot, the mechanical arm is conveniently controlled through mechanical transmission, convenient movement of the robot is facilitated, height adjustment standing of the whole robot is facilitated, moving flexibility of the joint structure robot is improved, and convenience of height adjustment standing of the joint structure robot is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely is a joint structure robot. BACKGROUND

[0002] The principle of the joint structure robot is mainly based on the cooperative work of its mechanical structure, movement mode and control system, the joint structure robot is connected by multiple joint modules, and cooperates with each other, so that the robot can realize various complex movements, the joint structure robot is designed by imitating human joints, is connected by multiple joint modules, forms a flexible structure similar to human joints, and the principle of the joint structure robot is to realize the complex movement and function of the robot through the cooperative work of the precise mechanical structure, various movement modes and intelligent control system.

[0003] The utility model discloses a kind of mechanical joint structure, mechanical arm or robot, including: first base, second base, first connecting seat, second connecting seat, first motor, second motor, first transmission gear and transmission assembly;

[0004] Although it realizes that structure volume is small, structure is simple, assembly is convenient, operating precision is more easily controlled, application is more widely, can be rotated on multiple degrees of freedom, is flexible in use, and wiring hole design is favorable to better protection circuit connecting wire, so that the external of mechanical structure has no connecting wire, improve the collision and hitting ability of outside, in addition, multiple motors can be arranged on the mechanical arm along the mechanical arm, conducive to reducing the space between first base and second base, conducive to making more operating space on appearance;

[0005] But it does not solve the existing such robot when using generally not conducive to the mechanical hand of convenient control through mechanical transmission, not convenient for robot to move conveniently, not convenient for robot overall to carry out height adjustment stand, greatly influence the flexibility of joint structure robot movement, affect the convenience of joint structure robot height adjustment stand. UTILITY MODEL CONTENTS

[0006] The utility model aims at providing a kind of joint structure robot, to solve the problem that robot is not convenient for the mechanical hand of convenient control through mechanical transmission in the above background art, not convenient for robot to move conveniently, not convenient for robot overall to carry out height adjustment stand, affect the flexibility of joint structure robot movement, affect the convenience of joint structure robot height adjustment stand.

[0007] To achieve the above object, the utility model provides the following technical scheme: a joint structure robot, including fuselage and arm, the lateral wall of fuselage is symmetrical and is installed with arm, the bottom of fuselage is symmetrical and is installed with basin framework, the outside of arm is all provided with big arm, the outside of big arm is all provided with small arm, the outside of small arm is all provided with thigh, the outside of thigh is all provided with shank, the lateral wall of shank is all installed with support block, the outside of support block is all provided with machine foot, the bottom of arm is all movably installed with first electric push rod, the output of first electric push rod is all with big arm swing joint, the one end close to arm of big arm is all movably installed with first shaft, big arm is all swing joint with arm through first shaft, the one end away from arm of big arm is all movably installed with second electric push rod, the output of second electric push rod is all with small arm swing joint.

[0008] Preferably, the one end close to big arm of small arm is movably installed with second shaft, and the small arm is swing joint with the big arm through the second shaft.

[0009] Preferably, the bottom of basin framework is movably installed with third electric push rod, and the output of third electric push rod is swing joint with thigh.

[0010] Preferably, the one end close to basin framework of thigh is movably installed with third shaft, and the thigh is swing joint with the basin framework through the third shaft.

[0011] Preferably, the one end away from basin framework of thigh is movably installed with fourth electric push rod, and the output of fourth electric push rod is swing joint with shank.

[0012] Preferably, the one end close to thigh of shank is movably installed with fourth shaft, and the shank is swing joint with the thigh through the fourth shaft.

[0013] Preferably, the bottom of support block is installed with fifth electric push rod, and the fifth electric push rod is fixedly connected with the support block.

[0014] Preferably, the output of fifth electric push rod is installed with telescopic rod, and the one end away from fifth electric push rod of telescopic rod is connected with machine foot.

[0015] Compared with the prior art, the utility model has the advantages that the robot not only realizes the joint structure robot convenient through mechanical transmission control mechanical arm, and the robot is convenient to move, but also the robot is convenient to adjust the height and stand, improves the flexibility of the joint structure robot movement, and improves the convenience of the joint structure robot height adjustment and standing;

[0016] When using an articulated robot, the first electric actuator drives the first axis, upper arm, and forearm to rotate around the first axis, allowing the upper arm and forearm to rotate to a certain angle. The second electric actuator is then activated, and with the support of the upper arm, the second electric actuator drives the second axis and forearm to rotate around the second axis, allowing the forearm to rotate to a certain angle again. This facilitates the convenient rotation angle movement of the robotic arm, enabling the articulated robot to easily control the robotic arm through mechanical transmission. This improves the ease of controlling the robotic arm and enhances the convenience of controlling the robotic arm.

[0017] When the robot needs to be moved, the third electric actuator drives the third axis, thigh, and lower leg to rotate around the third axis, allowing the thigh and lower leg to rotate to a certain angle. Then, the fourth electric actuator is activated, and with the support of the thigh, the fourth electric actuator drives the fourth axis and lower leg to rotate around the fourth axis, allowing the lower leg to rotate to a certain angle again. This facilitates the convenient movement of the robot and enables the articulated robot to move flexibly through mechanical transmission, thus improving the flexibility of the articulated robot's movement.

[0018] When the robot's height needs to be adjusted, the fifth electric actuator drives the telescopic rod to move up and down, which in turn moves the robot's legs up and down, making it easier to raise the lower legs to a higher position. This allows the robot to stand upright with its overall height adjusted, thus enabling convenient height adjustment for the jointed robot and improving its ease of use. Attached Figure Description

[0019] Figure 1 This is a front view structural diagram of the present utility model;

[0020] Figure 2 This is a three-dimensional structural diagram of the present invention;

[0021] Figure 3 This is a three-dimensional structural diagram of the arm of this utility model;

[0022] Figure 4 This is a three-dimensional structural diagram of the forearm of this utility model;

[0023] Figure 5 This is a three-dimensional structural diagram of the thigh of this utility model;

[0024] Figure 6 This is a three-dimensional structural diagram of the fourth axis of this utility model;

[0025] Figure 7 This is a schematic diagram of the three-dimensional structure of the lower leg of this utility model.

[0026] In the diagram: 1. Fuselage; 2. Arm; 3. Upper arm; 4. Forearm; 5. Frame; 6. Thigh; 7. Lower leg; 8. Support block; 9. First electric actuator; 10. First shaft; 11. Second electric actuator; 12. Second shaft; 13. Third electric actuator; 14. Third shaft; 15. Fourth electric actuator; 16. Fourth shaft; 17. Fifth electric actuator; 18. Telescopic rod; 19. Foot. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0028] Please see Figures 1-7 The present invention provides an embodiment of a joint structure robot, comprising a body 1 and arms 2. Arms 2 are symmetrically mounted on the side walls of the body 1, and a pelvic frame 5 is symmetrically mounted on the bottom of the body 1. Each arm 2 has a large arm 3 on its exterior, a small arm 4 on its exterior, a thigh 6 on its exterior, and a small leg 7 on its exterior. Each small leg 7 has a support block 8 on its side wall, and a foot 19 on its exterior. Each arm 2 has a first electric push rod 9 movably mounted on its bottom, and the output end of the first electric push rod 9 is movably connected to the large arm 3. Each large arm 3 has a first shaft 10 movably mounted on its end near the arm 2, and the large arm 3 is movably connected to the arm 2 through the first shaft 10. Each large arm 3 has a second electric push rod 11 movably mounted on its end away from the arm 2, and the output end of the second electric push rod 11 is movably connected to the small arm 4.

[0029] A second shaft 12 is movably installed at the end of the forearm 4 near the upper arm 3, and the forearm 4 is movably connected to the upper arm 3 through the second shaft 12.

[0030] When using the articulated robot, the first electric push rod 9 is activated. With the support of the arm 2, the first electric push rod 9 drives the first axis 10, the upper arm 3, and the lower arm 4 to rotate around the first axis 10, allowing the upper arm 3 and the lower arm 4 to rotate to a certain angle. The second electric push rod 11 is activated. With the support of the upper arm 3, the second electric push rod 11 drives the second axis 12, and the lower arm 4 to rotate around the second axis 12, allowing the lower arm 4 to rotate to a certain angle again. This facilitates the convenient rotation angle movement of the robotic arm, enabling the articulated robot to conveniently control the robotic arm through mechanical transmission, thus improving the ease of control of the robotic arm by the articulated robot.

[0031] The bottom of the basin frame 5 is movably equipped with a third electric push rod 13, and the output end of the third electric push rod 13 is movably connected to the thigh 6.

[0032] The thigh 6 is movably mounted with a third shaft 14 at the end near the pelvic frame 5. The thigh 6 is movably connected to the pelvic frame 5 through the third shaft 14. The thigh 6 is movably mounted with a fourth electric push rod 15 at the end away from the pelvic frame 5. The output end of the fourth electric push rod 15 is movably mounted with the lower leg 7.

[0033] A fourth axis 16 is movably installed at the end of the lower leg 7 near the thigh 6, and the lower leg 7 is movably connected to the thigh 6 through the fourth axis 16.

[0034] When the robot needs to be moved, the third electric push rod 13 is activated. With the support of the pelvic frame 5, the third electric push rod 13 drives the third axis 14, thigh 6, and lower leg 7 to rotate around the third axis 14, allowing the thigh 6 and lower leg 7 to rotate to a certain angle. The fourth electric push rod 15 is activated. With the support of the thigh 6, the fourth electric push rod 15 drives the fourth axis 16 and lower leg 7 to rotate around the fourth axis 16, allowing the lower leg 7 to rotate to a certain angle again. This facilitates the convenient movement of the robot and enables the articulated robot to move flexibly through mechanical transmission, improving the flexibility of the articulated robot's movement.

[0035] The bottom end of each support block 8 is equipped with a fifth electric push rod 17, which is fixedly connected to the support block 8. The output end of each fifth electric push rod 17 is equipped with a telescopic rod 18, and the end of the telescopic rod 18 away from the fifth electric push rod 17 is connected to the machine foot 19.

[0036] When the robot needs to be height adjusted, the fifth electric push rod 17 is activated. With the support of the support block 8, the fifth electric push rod 17 drives the telescopic rod 18 to move up and down. The telescopic rod 18 drives the robot feet 19 to move up and down, so that the lower legs 7 can be raised to a higher position, allowing the robot to stand up with its overall height adjusted. This realizes the convenient height adjustment and standing of the joint structure robot, and improves the convenience of height adjustment and standing of the joint structure robot.

[0037] Working principle: When using the articulated robot, the first electric actuator 9 drives the first axis 10, the upper arm 3, and the forearm 4 to rotate around the first axis 10, allowing the upper arm 3 and forearm 4 to rotate to a certain angle. Then, the second electric actuator 11 is activated. With the support of the upper arm 3, the second electric actuator 11 drives the second axis 12, allowing the forearm 4 to rotate around the second axis 12, causing the forearm 4 to rotate again to a certain angle. This facilitates convenient rotation and movement of the robotic arm. When further movement of the robot is required, the third electric actuator 13 drives the third axis... 14. Thigh 6 and lower leg 7 rotate around the third axis 14, allowing thigh 6 and lower leg 7 to rotate to a certain angle. The fourth electric push rod 15 drives the fourth axis 16 and lower leg 7 to rotate around the fourth axis 16, allowing lower leg 7 to rotate to a certain angle again, facilitating convenient movement of the robot. The fifth electric push rod 17 drives the telescopic rod 18 to move up and down, and the telescopic rod 18 drives the robot feet 19 to move up and down, so that lower leg 7 can be raised to a higher position, allowing the robot to adjust its overall height and stand upright to complete the robot's work.

Claims

1. A joint structure robot characterized by comprising: The utility model provides a kind of robot, including fuselage (1) and arm (2), the arm (2) is symmetrically installed on the side wall of fuselage (1), the bottom end of the fuselage (1) is symmetrically installed with basin framework (5), the outside of the arm (2) is provided with large arm (3), the outside of the large arm (3) is provided with small arm (4), the outside of the small arm (4) is provided with thigh (6), the outside of the thigh (6) is provided with small leg (7), the side wall of the small leg (7) is installed with support block (8), the outside of the support block (8) is provided with machine foot (19), the bottom end of the arm (2) is movably installed with first electric push rod (9), the output end of the first electric push rod (9) is movably connected with large arm (3), the one end close to arm (2) of the large arm (3) is movably installed with first shaft (10), the large arm (3) is movably connected with arm (2) by first shaft (10), the one end away from arm (2) of the large arm (3) is movably installed with second electric push rod (11), the output end of the second electric push rod (11) is movably connected with small arm (4).

2. The articulated structure robot according to claim 1, characterized in that: The one end close to large arm (3) of the small arm (4) is movably installed with second shaft (12), and the small arm (4) is movably connected with large arm (3) by second shaft (12).

3. The articulated structure robot of claim 1, wherein: The bottom end of the basin framework (5) is movably installed with third electric push rod (13), and the output end of the third electric push rod (13) is movably connected with thigh (6).

4. The articulated structure robot of claim 1, wherein: The one end close to basin framework (5) of the thigh (6) is movably installed with third shaft (14), and the thigh (6) is movably connected with basin framework (5) by third shaft (14).

5. The articulated structure robot of claim 1, wherein: The one end away from basin framework (5) of the thigh (6) is movably installed with fourth electric push rod (15), and the output end of the fourth electric push rod (15) is movably installed with small leg (7).

6. The articulated structure robot of claim 1, wherein: The one end close to thigh (6) of the small leg (7) is movably installed with fourth shaft (16), and the small leg (7) is movably connected with thigh (6) by fourth shaft (16).

7. The articulated structure robot of claim 1, wherein: The bottom end of the support block (8) is installed with fifth electric push rod (17), and the fifth electric push rod (17) is fixedly connected with support block (8).

8. The articulated structure robot of claim 7, wherein: The output end of the fifth electric push rod (17) is installed with telescopic rod (18), and the one end away from fifth electric push rod (17) of the telescopic rod (18) is connected with machine foot (19).

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