Mechanical arm structure
By setting a counterweight component in the robotic arm, the center of gravity of the robotic arm and the center of gravity of the arm component are distributed on both sides of the axis of the first joint module. The counter-torque of the counterweight component is used to balance the torque of the arm component, which solves the problem of the shoulder component bearing a large torque and improves the stability and service life of the robotic arm.
Patent Information
- Application Number
- CN202520477618.0
- 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 robot arm is quite heavy, which causes the shoulder joint to bear a large torque, affecting the performance of the robot arm.
By setting a counterweight component in the robotic arm structure, the center of gravity of the robotic arm and the center of gravity of the arm assembly are distributed on both sides of the axis of the first joint module. The counter-torque of the counterweight component is used to balance the torque of the arm assembly, thereby reducing the load on the first joint module.
The load on the shoulder joint was reduced, which improved the stability and lifespan of the robotic arm and enabled more flexible movement.
Smart Images
Figure CN223933622U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field especially relates to a mechanical arm structure. BACKGROUND
[0002] In the robot technical field, the robot arm is usually composed of base, arm rod, joint, end effector and other modules, through multi-degree of freedom design, the flexible movement of human arm can be simulated, and complex working space is covered. The length of the robot arm is relatively long, and power needs to be configured between each joint, which leads to a large weight of a single mechanical arm, so that the connection between the mechanical arm and the shoulder part bears a large torque, which causes the joint at the shoulder and neck to always bear a large load, thereby affecting the use performance of the mechanical arm. SUMMARY
[0003] The utility model discloses in order to solve the above -mentioned problems in prior art, provide a kind of with torque compensation, shoulder joint place load smaller, performance more stable mechanical arm structure.
[0004] In order to achieve the above object, the utility model adopts the following technical scheme:
[0005] A kind of mechanical arm structure, including the mechanical arm body being arranged on shoulder mounting seat, the mechanical arm body includes counterweight assembly, arm assembly connected with the front end of counterweight assembly, the counterweight assembly is equipped with connecting arm, the first joint module is equipped on the shoulder mounting seat, the rear end of the connecting arm is connected with counterweight assembly, the front end of the connecting arm is connected with the power output end of the first joint module;The gravity center of the counterweight assembly, the gravity center of arm assembly is distributed in the axis two sides of first joint module.
[0006] By adopting the above technical scheme: this kind of setting one hand makes the distance between the outer end of arm assembly and shoulder mounting seat smaller, so the gravity center of arm assembly is closer to shoulder mounting seat, to reduce the torque of arm assembly;On the other hand, the torque in the opposite direction generated by the gravity center of counterweight assembly is used to balance the torque of arm assembly, to further reduce the load of first joint module, improve the service life of first joint module, and the movement of the mechanical arm of robot is more stable.
[0007] As preferred, the counterweight assembly comprises a connecting seat, a second joint module arranged at the rear end of the connecting seat, and a third joint module arranged at the front end of the connecting seat, the rear end of the connecting arm is provided with a mounting portion, the second joint module is fixedly arranged on the mounting portion, the output end of the second joint module is connected with the rear end of the connecting seat, and the front end of the third joint module is connected with the rear end of the arm assembly; wherein the axes of the output ends of the first joint module and the second joint module are vertically distributed, and the axes of the output ends of the second joint module and the third joint module are vertically distributed. The second joint module and the third joint module are arranged in the counterweight assembly, so that the overall degree of freedom is improved.
[0008] As preferred, the arm assembly comprises a first rotating seat, a first mounting seat, a second rotating seat, and a second mounting seat, the rear end of the first rotating seat is connected with the output end of the third joint module, the front end of the first rotating seat is provided with a fourth joint module, the rear end of the first mounting seat is connected with the output end of the fourth joint module, the front end of the first mounting seat is provided with a fifth joint module, the rear end of the second rotating seat is connected with the output end of the fifth joint module, the front end of the second rotating seat is provided with a sixth joint module, the rear end of the second mounting seat is connected with the output end of the sixth joint module, and the front end of the second mounting seat is provided with a seventh joint module; the axes of the output ends of the adjacent two joint modules are vertically distributed. The entire mechanical arm is moved through the seven joint modules, and the mechanical arm is very flexible.
[0009] As preferred, the arm assembly comprises a first rotating seat, a first mounting seat, a second rotating seat, and a second mounting seat, the rear end of the first rotating seat is connected with the output end of the third joint module, the front end of the first rotating seat is rotatably connected with the first mounting seat, the first rotating seat is provided with a fourth joint module at a position close to the rear end, the output end of the fourth joint module is provided with a driving assembly for driving the first mounting seat to swing, the front end of the first mounting seat is provided with a fifth joint module, the rear end of the second rotating seat is connected with the output end of the fifth joint module, the front end of the second rotating seat is provided with a sixth joint module, the rear end of the second mounting seat is connected with the output end of the sixth joint module, and the front end of the second mounting seat is provided with a seventh joint module; the axes of the output ends of the adjacent two joint modules are vertically distributed. The fourth joint module is arranged at a position close to the rear end of the first rotating seat, so that the overall center of gravity is closer to the shoulder mounting seat, and the moment is further reduced.
[0010] As preferred, the driving assembly comprises a swinging seat and two parallelly distributed swinging arms, the swinging seat is fixedly arranged at the output end of the fourth joint module, the rear ends of the two swinging arms are rotatably connected with the swinging seat, and the front ends of the two swinging arms are rotatably connected with the first mounting seat through rotating shafts. The fourth joint module drives the swinging seat to rotate, the swinging seat drives the two swinging arms to rotate, and the angle adjustment of the first mounting seat is realized.
[0011] Preferably, the robotic arm body is configured in two sets, and the first joint module is configured in two sets. The two sets of first joint modules are symmetrically arranged at both ends of the shoulder mounting base, and the two sets of robotic arm bodies are respectively connected to the two sets of first joint modules.
[0012] Therefore, this invention has the beneficial effect of reducing the load on the shoulder joint through torque compensation and improving stability. Attached Figure Description
[0013] Figure 1 This is a schematic diagram of one structure of the present utility model.
[0014] Figure 2 for Figure 1 Another perspective view.
[0015] Figure 3 for Figure 1 Exploded view.
[0016] Figure 4 This is another implementation of the arm assembly.
[0017] Figure 5 for Figure 4 Exploded view.
[0018] Figure 6 for Figure 5 A magnified view of a portion of the image. Detailed Implementation
[0019] 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.
[0020] 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.
[0021] like Figures 1-3The robotic arm structure shown includes a robotic arm body 1 mounted on a shoulder mounting base 2. The robotic arm body 1 includes a counterweight assembly 10 and an arm assembly 11 connected to the front end of the counterweight assembly 10. A connecting arm 12 is provided on the counterweight assembly 10, and a first joint module 20 is provided on the shoulder mounting base 2. The rear end of the connecting arm 12 is connected to the counterweight assembly 10, and the front end of the connecting arm 12 is connected to the power output end of the first joint module 20. The center of gravity of the counterweight assembly 10 and the center of gravity of the arm assembly 11 are distributed on both sides of the axis of the first joint module 20.
[0022] The counterweight assembly 10 includes a connecting seat 100, a second joint module 101 located at the rear end of the connecting seat 100, and a third joint module 102 located at the front end of the connecting seat 100. The rear end of the connecting arm 12 is provided with a mounting part 120. The second joint module 101 is fixed on the mounting part 120. The output end of the second joint module 101 is connected to the rear end of the connecting seat 100, and the front end of the third joint module 102 is connected to the rear end of the arm assembly 11. The axes of the output ends of the first joint module 20 and the second joint module 101 are perpendicularly distributed, and the axial ends of the output ends of the second joint module 101 and the third joint module 102 are perpendicularly distributed.
[0023] The arm assembly 11 includes a first rotating seat 110, a first mounting seat 111, a second rotating seat 112, and a second mounting seat 113. The rear end of the first rotating seat 110 is connected to the output end of the third joint module 102. The front end of the first rotating seat 110 is provided with a fourth joint module 114. The rear end of the first mounting seat 111 is connected to the output end of the fourth joint module 114. The front end of the first mounting seat 111 is provided with a fifth joint module 115. The rear end of the second rotating seat 112 is connected to the output end of the fifth joint module 115. The front end of the second rotating seat 112 is provided with a sixth joint module 116. The rear end of the second mounting seat 113 is connected to the output end of the sixth joint module 116. The front end of the second mounting seat 113 is provided with a seventh joint module 117. The axes of the output ends of two adjacent joint modules are vertically distributed.
[0024] like Figures 5-6The following is another embodiment of the arm assembly: The arm assembly 11 includes a first rotating seat 110, a first mounting seat 111, a second rotating seat 112, and a second mounting seat 113. The rear end of the first rotating seat 110 is connected to the output end of the third joint module 102, and the front end of the first rotating seat 110 is rotatably connected to the first mounting seat 111. A fourth joint module 114 is provided on the first rotating seat 110 near the rear end. The output end of the fourth joint module 114 is provided with a drive component 13 for driving the first mounting seat 111 to swing. A fifth joint module 115 is provided at the front end of the first mounting seat 111. The rear end of the second rotating seat 112 is connected to the output end of the fifth joint module 115. A sixth joint module 116 is provided at the front end of the second rotating seat 112. The rear end of the second mounting seat 113 is connected to the output end of the sixth joint module 116. A seventh joint module 117 is provided at the front end of the second mounting seat 113. The axes of the output ends of two adjacent joint modules are vertically distributed.
[0025] In some embodiments, the drive assembly 13 includes a swing seat 130 and two parallel swing arms 131. The swing seat 130 is fixed to the output end of the fourth joint module 114. The rear ends of the two swing arms 131 are rotatably connected to the swing seat 130, and the front ends of the two swing arms 131 are rotatably connected to the first mounting base 111 through a rotating shaft 132.
[0026] In some embodiments, the robotic arm body 1 is configured as two sets, and the first joint module 20 is configured as two sets. The two sets of first joint modules 20 are symmetrically arranged at both ends of the shoulder mounting base 2, and the two sets of robotic arm bodies 1 are respectively connected to the two sets of first joint modules 20. The two sets of robotic arm bodies simulate the structure of human hands and can simulate various movements of human arms, making them more flexible.
[0027] Referring to the accompanying drawings, the principle of this utility model is as follows: The robotic arm body is divided into a counterweight assembly and an arm assembly, which are respectively positioned on both sides of the axis of the first joint module. On the one hand, this reduces the length of the arm assembly, thus bringing its center of gravity closer to the shoulder mounting base and reducing the torque generated at the center of the arm assembly. On the other hand, the center of gravity of the counterweight assembly generates a torque opposite to that of the arm assembly to balance the torque of the arm assembly. This significantly reduces the torque borne by the first joint module, improves its service life, and makes the movement of the entire robotic arm more flexible and stable. When this type of robotic arm is used in a robot, the robot's center of gravity is more stable and less prone to tipping over.
[0028] 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.
[0029] 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 robotic arm structure, comprising a robotic arm body (1) mounted on a shoulder mounting base (2), characterized in that, The robotic arm body (1) includes a counterweight assembly (10) and an arm assembly (11) connected to the front end of the counterweight assembly (10). The counterweight assembly (10) is provided with a connecting arm (12). The shoulder mounting base (2) is provided with a first joint module (20). The rear end of the connecting arm (12) is connected to the counterweight assembly (10), and the front end of the connecting arm (12) is connected to the power output end of the first joint module (20). The center of gravity of the counterweight assembly (10) and the center of gravity of the arm assembly (11) are distributed on both sides of the axis of the first joint module (20).
2. The robotic arm structure according to claim 1, characterized in that, The counterweight assembly (10) includes a connecting seat (100), a second joint module (101) located at the rear end of the connecting seat (100), and a third joint module (102) located at the front end of the connecting seat (100). The rear end of the connecting arm (12) is provided with a mounting part (120). The second joint module (101) is fixed on the mounting part (120). The output end of the second joint module (101) is connected to the rear end of the connecting seat (100). The front end of the third joint module (102) is connected to the rear end of the arm assembly (11). The output ends of the first joint module (20) and the second joint module (101) are perpendicularly distributed along their axes, and the output ends of the second joint module (101) and the third joint module (102) are perpendicularly distributed along their axes.
3. The robotic arm structure according to claim 2, characterized in that, The arm assembly (11) includes a first rotating seat (110), a first mounting seat (111), a second rotating seat (112), and a second mounting seat (113). The rear end of the first rotating seat (110) is connected to the output end of the third joint module (102). The front end of the first rotating seat (110) is provided with a fourth joint module (114). The rear end of the first mounting seat (111) is connected to the output end of the fourth joint module (114). The front end of the first mounting seat (111) is provided with a fifth joint module (115). The rear end of the second rotating seat (112) is connected to the output end of the fifth joint module (115). The front end of the second rotating seat (112) is provided with a sixth joint module (116). The rear end of the second mounting seat (113) is connected to the output end of the sixth joint module (116). The front end of the second mounting seat (113) is provided with a seventh joint module (117). The axes of the output ends of two adjacent joint modules are vertically distributed.
4. The robotic arm structure according to claim 2, characterized in that, The arm assembly (11) includes a first rotating seat (110), a first mounting seat (111), a second rotating seat (112), and a second mounting seat (113). The rear end of the first rotating seat (110) is connected to the output end of the third joint module (102), and the front end of the first rotating seat (110) is rotatably connected to the first mounting seat (111). A fourth joint module (114) is provided on the first rotating seat (110) near the rear end. The output end of the fourth joint module (114) is provided with a drive assembly (13) for driving the first mounting seat (111) to swing. The first mounting base (111) has a fifth joint module (115) at its front end, the rear end of the second rotating base (112) is connected to the output end of the fifth joint module (115), the front end of the second rotating base (112) has a sixth joint module (116), the rear end of the second mounting base (113) is connected to the output end of the sixth joint module (116), and the front end of the second mounting base (113) has a seventh joint module (117); the axes of the output ends of two adjacent joint modules are vertically distributed.
5. The robotic arm structure according to claim 4, characterized in that, The drive assembly (13) includes a swing seat (130) and two parallel swing arms (131). The swing seat (130) is fixed at the output end of the fourth joint module (114). The rear ends of the two swing arms (131) are rotatably connected to the swing seat (130), and the front ends of the two swing arms (131) are rotatably connected to the first mounting base (111) through a rotating shaft (132).
6. The robotic arm structure according to claim 1, characterized in that, The robotic arm body (1) is configured in two groups, and the first joint module (20) is configured in two groups. The two groups of first joint modules (20) are symmetrically arranged at both ends of the shoulder mounting base (2). The two groups of robotic arm bodies (1) are respectively connected to the two groups of first joint modules (20).