Upper arm structure of robot
By rationally setting the center of gravity distribution and motor layout of the shoulder joint and arm components, the problems of large weight and large torque of the robot arm were solved, achieving more stable and flexible robotic arm movement.
Patent Information
- Application Number
- CN202520473762.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-18
- Publication Date
- 2026-02-24
- Estimated Expiration
- 2035-03-18
AI Technical Summary
The robotic arm is quite long, and power needs to be configured between each joint, resulting in a large weight for a single robotic arm. The shoulder joint is subjected to a large torque, which affects the performance of the robotic arm.
By rationally configuring the shoulder joint assembly and arm assembly, their centers of gravity are distributed on both sides of the transmission axis. The reverse torque of the shoulder joint assembly is used to balance the torque of the arm assembly. Furthermore, by rationally arranging the motor position, the load on the first motor is reduced, thereby improving service life and stability.
It reduces the load on the shoulder joint, improves the stability and lifespan of the robotic arm, reduces motor wear, and enhances the movement flexibility of the robot's upper arm.
Smart Images
Figure CN223933621U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics, and in particular to a robot upper arm structure. Background Technology
[0002] In the field of robotics, robotic arms typically consist of modules such as a base, arm, joints, and end effector. Through multi-degree-of-freedom design, they can simulate the flexible movements of a human arm and cover complex workspaces. The relatively long length of robotic arms and the need for power at each joint result in a significant weight for a single arm. This causes a large torque to be applied at the connection between the arm and the shoulder, resulting in constant high loads on the shoulder joints and ultimately affecting the performance of the robotic arm. Utility Model Content
[0003] In order to solve the above-mentioned problems in the prior art, this utility model provides a robot upper arm structure with torque compensation, less load at the shoulder joint, and more stable performance.
[0004] To achieve the above objectives, the present invention adopts the following technical solution:
[0005] A robot upper arm structure includes an upper arm body mounted on a shoulder mount. The upper arm body includes a shoulder joint assembly and an arm assembly connected to the front end of the shoulder joint assembly. A first transmission member is provided at the end of the shoulder mount, and a first motor for driving the first transmission member to rotate is provided inside the shoulder mount. The shoulder joint assembly includes a joint bracket and a joint seat rotatably connected to the joint bracket. The front end of the joint bracket is connected to the first transmission member, and a second motor for driving the joint seat to rotate within the joint bracket is provided at the rear end of the joint bracket. The center of gravity of the shoulder joint assembly and the center of gravity of the arm assembly are distributed on both sides of the axis of the first transmission member.
[0006] By adopting the above technical solution, and by reasonably setting the shoulder joint assembly and arm assembly, on the one hand, the distance between the outer end of the arm assembly and the shoulder mounting seat is reduced, so the center of gravity of the arm assembly is closer to the shoulder mounting seat, thereby reducing the torque of the arm assembly; on the other hand, the torque generated in the opposite direction by the center of gravity of the shoulder joint assembly is used to balance the torque of the arm assembly, further reducing the load on the first motor, improving the service life of the first motor, and making the robot's robotic arm movement more stable.
[0007] Preferably, the rear end of the joint bracket is provided with a second transmission component, the joint seat is connected to the second transmission component, the second transmission component is provided with a second driven wheel, and the second motor is provided with a second driving wheel that drives the second driven wheel to rotate; the axis of the first motor is perpendicular to the axis of the second motor.
[0008] Preferably, the joint seat is provided with a third motor, the axis of the third motor is perpendicular to the axis of the second motor, the front end of the joint seat is provided with a third transmission component driven by the third motor, and the inner end of the arm assembly is connected to the third transmission component.
[0009] Preferably, the second motor is located on the inner side of the joint bracket, and the third motor is located on the outer side of the joint seat. This arrangement is more compact and reasonable.
[0010] Preferably, the joint seat is provided with a connecting shaft connected to the third transmission component, the connecting shaft is provided with a third driven wheel, and the shaft end of the third motor is provided with a third driving wheel that drives the third driven wheel to rotate.
[0011] Preferably, the arm assembly includes a first connecting arm, a second connecting arm, a third connecting arm, and a fourth connecting arm. The rear end of the first connecting arm is connected to the shoulder joint assembly, and the front end of the first connecting arm is rotatably connected to the second connecting arm. A fourth motor is located at the rear end of the first connecting arm, and a drive assembly for driving the second connecting arm to swing is provided between the fourth motor and the rear end of the second connecting arm. By placing the fourth motor at the rear end of the first connecting arm and connecting it to the second connecting arm via a drive assembly, the center of gravity of the fourth motor is closer to the shoulder mounting base, further reducing the torque of the arm assembly.
[0012] Preferably, the second connecting arm has a first joint module at its front end, the rear end of the third connecting arm is connected to the output end of the first joint module, the front end of the third connecting arm has a second joint module, the rear end of the fourth connecting arm is connected to the output end of the second joint module, and the front end of the fourth connecting arm has a third joint module; the output axes of adjacent joint modules are perpendicularly distributed. The joints on the second, third, and fourth connecting arms all use joint modules, resulting in a lighter overall weight, a more streamlined structure, and greater flexibility in use.
[0013] Preferably, the drive assembly includes a fourth transmission member disposed at the front end of the first connecting arm, the second connecting arm is connected to the fourth transmission member, the fourth transmission member is provided with a fourth driven wheel, the shaft end of the fourth motor is provided with a fourth driving wheel, and a transmission belt is provided between the fourth driving wheel and the fourth driven wheel.
[0014] Preferably, the first connecting arm houses a motor base with limiting grooves on both sides. The fourth motor is fixedly connected to the motor base. A slot is provided on the side of the first connecting arm corresponding to the limiting groove. A fixing member is provided on the outer side of the slot, and a limiting protrusion adapted to the limiting groove is provided at the inner end of the fixing member. The limiting protrusion is inserted into the limiting groove from the slot. The fixing member and the motor base are connected by fasteners. Moving the motor base along the slot allows adjustment of the transmission belt tension to meet requirements.
[0015] Preferably, the drive assembly includes a swing seat and two parallel swing arms. The middle part of the first connecting arm is provided with a fourth transmission component connected to the swing seat. The rear ends of the two swing arms are rotatably connected to the swing seat, and the front ends of the two swing arms are rotatably connected to the second connecting arm through a rotating shaft. The fourth transmission component is provided with a fourth driven wheel, and the shaft end of the fourth motor is provided with a fourth driving wheel that drives the fourth driven wheel to rotate.
[0016] Preferably, the first motor is positioned below the first transmission component, with a first drive wheel at the shaft end of the first motor, and a first driven wheel connected to the first drive wheel via a first transmission belt on the first transmission component. Positioning the first motor below the first transmission component lowers the robot's overall center of gravity, making it more stable during movement.
[0017] Preferably, the first motor is located at the rear end of the shoulder mount, and the shaft end of the first motor is provided with a first drive wheel. The first transmission component is provided with a first driven wheel connected to the first drive wheel via a first transmission belt. The center of gravity of the first motor and the center of gravity of the arm assembly are distributed on both sides of the axis of the first transmission component. The weight of the first motor is used to balance the overall center of gravity of the robot, making the robot's walking more stable.
[0018] Therefore, this invention has the beneficial effect of reducing the load on the shoulder joint through torque compensation and improving stability. Attached Figure Description
[0019] Figure 1 This is a schematic diagram of the structure of Example 1.
[0020] Figure 2 for Figure 1 Another perspective view.
[0021] Figure 3 for Figure 1 Exploded view.
[0022] Figure 4 for Figure 3 A magnified view of a portion of the image.
[0023] Figure 5 This is a schematic diagram of the structure of Example 2.
[0024] Figure 6 for Figure 5 Exploded view.
[0025] Figure 7 for Figure 6 A magnified view of a portion of the image. Detailed Implementation
[0026] To make the technical problem to be solved, the technical solution, and the beneficial technical effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the scope of protection of the present utility model.
[0027] It should be understood that the terms "first," "second," etc., used herein are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated. Features specified as "first" or "second" may expressly or implicitly indicate that at least one of those features is included.
[0028] Example 1: As Figures 1-4 The robot upper arm structure shown includes an upper arm body 2 mounted on a shoulder mounting base 1. The upper arm body 2 includes a shoulder joint assembly 3 and an arm assembly 4 connected to the front end of the shoulder joint assembly 3. The end of the shoulder mounting base 1 is provided with a first transmission member 10, and a first motor 11 for driving the first transmission member to rotate is provided inside the shoulder mounting base 1. The shoulder joint assembly 3 includes a joint bracket 30 and a joint seat 31 rotatably connected to the joint bracket 30. The front end of the joint bracket 30 is connected to the first transmission member 10, and the rear end of the joint bracket 30 is provided with a second motor 32 for driving the joint seat 31 to rotate within the joint bracket 30. The center of gravity of the shoulder joint assembly 3 and the center of gravity of the arm assembly 4 are distributed on both sides of the axis of the first transmission member 10.
[0029] In this embodiment, the first motor 11 is disposed on the lower side of the first transmission member 10, the shaft end of the first motor 11 is provided with a first driving wheel 12, and the first transmission member 10 is provided with a first driven wheel 14 connected to the first driving wheel 12 via a first transmission belt 13.
[0030] The second motor 32 is located inside the joint bracket 30. The rear outer side of the joint bracket 30 is provided with a second transmission member 33. The joint seat 31 is connected to the second transmission member 33. The second transmission member 33 is provided with a second driven wheel 330. The second motor 32 is provided with a second driving wheel 320 that drives the second driven wheel 330 to rotate. The axis of the first motor 11 is perpendicular to the axis of the second motor 32.
[0031] A third motor 34 is provided on the outer side of the joint seat 31. The axis of the third motor 34 is perpendicular to the axis of the second motor 32. A third transmission member 35 driven by the third motor 34 is provided at the front end of the joint seat 31. The inner end of the arm assembly 4 is connected to the third transmission member 35. A connecting shaft 350 connected to the third transmission member 35 is provided inside the joint seat 31. A third driven wheel 351 is provided on the connecting shaft 350. A third driving wheel 340 that drives the third driven wheel 351 to rotate is provided at the shaft end of the third motor 34.
[0032] The arm assembly 4 includes a first connecting arm 41, a second connecting arm 42, a third connecting arm 43, and a fourth connecting arm 44. The rear end of the first connecting arm 41 is connected to the shoulder joint assembly 3, and the front end of the first connecting arm 41 is rotatably connected to the second connecting arm 42. A fourth motor 410 is provided at the rear end of the first connecting arm 41, and a drive assembly 45 for driving the second connecting arm 42 to swing is provided between the fourth motor 410 and the rear end of the second connecting arm 42. A first joint module 420 is provided at the front end of the second connecting arm 42. The rear end of the third connecting arm 43 is connected to the output end of the first joint module 420, and a second joint module 430 is provided at the front end of the third connecting arm 43. The rear end of the fourth connecting arm 44 is connected to the output end of the second joint module 430, and a third joint module 440 is provided at the front end of the fourth connecting arm 44. The axes of the output ends of two adjacent joint modules are vertically distributed.
[0033] like Figure 4 As shown, the drive assembly 45 includes a fourth transmission member 452 located at the front end of the first connecting arm 41. The second connecting arm 42 is connected to the fourth transmission member 452. The fourth transmission member 452 is provided with a fourth driven wheel 453. The shaft end of the fourth motor 410 is provided with a fourth driving wheel 412. A transmission belt 411 is provided between the fourth driving wheel 412 and the fourth driven wheel 453. A motor base 413 is provided inside the first connecting arm 41. Limiting grooves 414 are provided on both sides of the motor base 413. The fourth motor 410 is fixedly connected to the motor base 413. A slot 415 is provided on the side of the first connecting arm 41 corresponding to the limiting groove 414. A fixing member 416 is provided on the outside of the slot 415. A limiting protrusion 417 adapted to the limiting groove 414 is provided at the inner end of the fixing member 416. The limiting protrusion 417 is inserted into the limiting groove 414 from the slot 415. The fixing member 416 and the motor base 413 are connected by fasteners.
[0034] Example 2 Figure 5 and Figure 7As shown, the difference between Embodiment 2 and Embodiment 1 is that: the first motor 11 is located at the rear end of the shoulder mounting base 1, the shaft end of the first motor 11 is provided with a first drive wheel 12, and the first transmission component 10 is provided with a first driven wheel connected to the first drive wheel 12 via a first transmission belt 13; the center of gravity of the first motor 11 and the center of gravity of the arm assembly 4 are distributed on both sides of the axis of the first transmission component, and the center of gravity of the entire robot can be balanced by the weight of the first motor.
[0035] The drive assembly 45 includes a swing base 450 and two parallel swing arms 451. The middle part of the first connecting arm 41 is provided with a fourth transmission component 452 connected to the swing base 450. The rear ends of the two swing arms 451 are rotatably connected to the swing base 450, and the front ends of the two swing arms 451 are rotatably connected to the second connecting arm 42 through a rotating shaft 454. The fourth transmission component 452 is provided with a fourth driven wheel 453, and the shaft end of the fourth motor 410 is provided with a fourth driving wheel 412 that drives the fourth driven wheel 453 to rotate.
[0036] In some embodiments, the upper arm body 2 is configured as two sets, and the two sets of upper arm bodies 2 are symmetrically arranged at both ends of the shoulder mounting seat 1; in the above embodiments, the first driving wheel and the first driven wheel, the second driving wheel and the second driven wheel, the third driving wheel and the third driven wheel, and the fourth driving wheel and the fourth driven wheel are all driven by a transmission belt. In order to further improve the transmission accuracy, the driving wheel and the driven wheel are synchronous pulleys, and the transmission belt is a synchronous belt.
[0037] In some embodiments, the first, second, third, and fourth transmission components are all configured as speed reducers, and the first, second, third, and fourth motors are all configured as servo motors. The speed reducers can be harmonic speed reducers, which have an input end and an output end, with the corresponding driven wheels connected to the input end of the speed reducer. In some embodiments, the first, second, third, and fourth transmission components are all configured as drive shafts, and the corresponding first, second, third, and fourth motors are all configured as geared motors.
[0038] Referring to the accompanying drawings, the principle of this utility model is as follows: The upper arm body is divided into a shoulder joint assembly and an arm assembly, which are respectively positioned on both sides of the axis of the first transmission component. On the one hand, this reduces the length of the arm assembly, bringing its center of gravity closer to the shoulder mounting seat and reducing the torque generated by the arm assembly's center of gravity. On the other hand, the center of gravity of the shoulder joint assembly generates a torque opposite to that of the arm assembly to balance the arm assembly's torque. This reduces the torque borne by the first transmission component (first motor), increases the lifespan of the first motor, and makes the movement of the entire upper arm more flexible and stable. Furthermore, since the first motor drives the first transmission component through the first driving wheel, transmission belt, and first driven wheel, the position of the first motor can be set more flexibly, for example, by placing it on the lower or rear side of the shoulder mounting seat to lower or balance the robot's center of gravity.
[0039] In the description of this utility model, it should be understood that the directions or positional relationships indicated by up, down, left, right, inner end, outer end, one end, and the other end are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the purpose of more clearly describing the technical solution of this utility model, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as a limitation of this utility model.
[0040] Although specific embodiments of the present invention are described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the present invention. Various substitutions, alterations, and modifications may be conceived without departing from the spirit and scope of the present invention.
Claims
1. A robot upper arm structure, comprising an upper arm body (2) mounted on a shoulder mounting base (1), characterized in that, The upper arm body (2) includes a shoulder joint assembly (3) and an arm assembly (4) connected to the front end of the shoulder joint assembly (3). The end of the shoulder mounting seat (1) is provided with a first transmission member (10), and the shoulder mounting seat (1) is provided with a first motor (11) that drives the first transmission member to rotate. The shoulder joint assembly (3) includes a joint bracket (30) and a joint seat (31) rotatably connected to the joint bracket (30). The front end of the joint bracket (30) is connected to the first transmission member (10), and the rear end of the joint bracket (30) is provided with a second motor (32) for driving the joint seat (31) to rotate within the joint bracket (30). The center of gravity of the shoulder joint assembly (3) and the center of gravity of the arm assembly (4) are distributed on both sides of the axis of the first transmission member (10).
2. The robot upper arm structure according to claim 1, characterized in that, The joint support (30) has a second transmission component (33) at its rear end. The joint seat (31) is connected to the second transmission component (33). The second transmission component (33) has a second driven wheel (330). The second motor (32) has a second driving wheel (320) that drives the second driven wheel (330) to rotate. The axis of the first motor (11) is perpendicular to the axis of the second motor (32).
3. The robot upper arm structure according to claim 2, characterized in that, The joint seat (31) is provided with a third motor (34), the axis of the third motor (34) is perpendicular to the axis of the second motor (32), the front end of the joint seat (31) is provided with a third transmission component (35) driven by the third motor (34), and the inner end of the arm assembly (4) is connected to the third transmission component (35).
4. The robot upper arm structure according to claim 3, characterized in that, The second motor (32) is located on the inner side of the joint bracket (30), and the third motor (34) is located on the outer side of the joint seat (31).
5. The robot upper arm structure according to claim 3, characterized in that, The joint seat (31) is provided with a connecting shaft (350) connected to the third transmission component (35). The connecting shaft (350) is provided with a third driven wheel (351). The shaft end of the third motor (34) is provided with a third driving wheel (340) that drives the third driven wheel (351) to rotate.
6. A robot upper arm structure according to claim 1, 2, 3, 4, or 5, characterized in that, The arm assembly (4) includes a first connecting arm (41), a second connecting arm (42), a third connecting arm (43), and a fourth connecting arm (44). The rear end of the first connecting arm (41) is connected to the shoulder joint assembly (3), and the front end of the first connecting arm (41) is rotatably connected to the second connecting arm (42). A fourth motor (410) is provided at the rear end of the first connecting arm (41), and a drive assembly (45) for driving the second connecting arm (42) to swing is provided between the fourth motor (410) and the rear end of the second connecting arm (42).
7. A robot upper arm structure according to claim 6, characterized in that, The front end of the second connecting arm (42) is provided with a first joint module (420), the rear end of the third connecting arm (43) is connected to the output end of the first joint module (420), the front end of the third connecting arm (43) is provided with a second joint module (430), the rear end of the fourth connecting arm (44) is connected to the output end of the second joint module (430), and the front end of the fourth connecting arm (44) is provided with a third joint module (440); the axes of the output ends of two adjacent joint modules are vertically distributed.
8. A robot upper arm structure according to claim 6, characterized in that, The drive assembly (45) includes a fourth transmission member (452) located at the front end of the first connecting arm (41), the second connecting arm (42) being connected to the fourth transmission member (452), the fourth transmission member (452) being provided with a fourth driven wheel (453), the shaft end of the fourth motor (410) being provided with a fourth driving wheel (412), and a transmission belt (411) being provided between the fourth driving wheel (412) and the fourth driven wheel (453).
9. A robot upper arm structure according to claim 8, characterized in that, The first connecting arm (41) is provided with a motor base (413), and the motor base (413) is provided with limiting grooves (414) on both sides. The fourth motor (410) is fixedly connected to the motor base (413). The side of the first connecting arm (41) is provided with a slot (415) corresponding to the limiting groove (414). The outside of the slot (415) is provided with a fixing member (416). The inner end of the fixing member (416) is provided with a limiting protrusion (417) adapted to the limiting groove (414). The limiting protrusion (417) is inserted into the limiting groove (414) from the slot (415). The fixing member (416) and the motor base (413) are connected by fasteners.
10. A robot upper arm structure according to claim 6, characterized in that, The drive assembly (45) includes a swing seat (450) and two parallel swing arms (451). The middle part of the first connecting arm (41) is provided with a fourth transmission component (452) connected to the swing seat (450). The rear ends of the two swing arms (451) are rotatably connected to the swing seat (450), and the front ends of the two swing arms (451) are rotatably connected to the second connecting arm (42) through a rotating shaft (454). The fourth transmission component (452) is provided with a fourth driven wheel (453), and the shaft end of the fourth motor (410) is provided with a fourth driving wheel (412) that drives the fourth driven wheel (453) to rotate.
11. A robot upper arm structure according to claim 1, characterized in that, The first motor (11) is located on the lower side of the first transmission member (10). The shaft end of the first motor (11) is provided with a first driving wheel (12). The first transmission member (10) is provided with a first driven wheel (14) connected to the first driving wheel (12) via a first transmission belt (13).
12. The robot upper arm structure according to claim 1, characterized in that, The first motor (11) is located at the rear end of the shoulder mounting base (1). The shaft end of the first motor (11) is provided with a first drive wheel (12). The first transmission member (10) is provided with a first driven wheel connected to the first drive wheel (12) via a first transmission belt (13). The center of gravity of the first motor (11) and the center of gravity of the arm assembly (4) are distributed on both sides of the axis of the first transmission member.