Six-degree-of-freedom mechanical arm and four-foot and six-foot dual-mode robot
By installing a six-degree-of-freedom robotic arm on a quadruped robot, and using three main connecting rods and a rear-mounted joint structure, the problem of insufficient walking and obstacle-crossing ability of the quadruped robot when the mechanical legs are damaged is solved. This enables dual-arm collaborative operation and multi-functional operation, improving the robot's motion performance and working range.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-18
- Publication Date
- 2026-03-13
AI Technical Summary
Existing quadruped robots cannot walk when their mechanical legs are damaged, have limited obstacle-crossing capabilities, and lack the ability to manipulate objects in multiple ways.
Design a six-degree-of-freedom robotic arm, which is constructed using standardized joint modules and links. It is mounted on a quadruped robot via three main links and a rear-mounted joint structure, enabling dual-arm collaborative operation and can be transformed into a six-legged robot to improve its motion performance.
It enables quadruped robots to continue walking even when their mechanical legs are damaged, enhancing their obstacle-crossing ability and multi-functional object manipulation capabilities, and expanding their operational range and task types.
Smart Images
Figure CN223989527U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a six-degree-of-freedom robotic arm and a quadrupedal bimodal robot. Background Technology
[0002] A robot is an automated device capable of sensing its environment, processing information, and performing actions. It can assist or replace humans in completing various tasks. Robots have a wide range of applications, including industry, military, medicine, education, and entertainment. They can perform tasks such as welding, painting, assembly, handling, inspection, reconnaissance, surveillance, combat, and mine clearance. Therefore, stability, flexibility, and load capacity are all factors that need to be considered when designing a robot.
[0003] In existing technologies, common quadruped robots can carry objects of a certain mass and move to other locations using their four legs. However, the movement of the four legs requires the cooperation of all four mechanical legs to achieve walking, and none of them can be missing. If one mechanical leg is damaged, the robot cannot achieve the function of walking, and it has no function of manipulating objects and has limited obstacle crossing ability. Utility Model Content
[0004] The technical problem to be solved by this utility model is to provide a lightweight six-degree-of-freedom robotic arm body structure with a long arm span, which can be installed on a quadruped robot or other platform to perform dual-arm collaborative work. At the same time, it provides a quadrupedal six-legged bimodal robot with the above-mentioned six-degree-of-freedom robotic arm structure installed.
[0005] This utility model provides a technical solution for a six-degree-of-freedom robotic arm, comprising a base, a first axis joint module movably connected to the base, the first axis joint module being movably connected to a second axis joint module, the two ends of the upper arm connecting rod being fixedly connected to the second axis joint module and the third axis joint module respectively, the third axis joint module being movably connected to a steering connector, the two ends of the lower arm connecting rod being fixedly connected to the steering connector and the fourth axis joint module respectively, the fourth axis joint module being movably connected to a fifth axis joint module, the two ends of the wrist connecting rod being movably connected to the fifth axis joint module and fixedly connected to the sixth axis joint module respectively, and the sixth axis joint module being movably connected to an end flange.
[0006] This utility model discloses a six-degree-of-freedom robotic arm, wherein the movable end of the first axis joint module is fixedly connected to the base, and the fixed end of the first axis joint module is fixedly connected to the movable end of the second axis joint module.
[0007] This utility model discloses a six-degree-of-freedom robotic arm, wherein the two ends of the upper arm connecting rod are respectively connected to the fixed end of the second axis joint module and the fixed end of the third axis joint module.
[0008] This utility model discloses a six-degree-of-freedom robotic arm, wherein the steering connector has two connection ports, and the included angle between the two connection ports is 90 degrees.
[0009] This utility model discloses a six-degree-of-freedom robotic arm, wherein the fixed end of the fourth axis joint module is connected to the forearm connecting rod, and the movable end of the fourth axis joint module is fixedly connected to the fixed end of the fifth axis joint module.
[0010] This utility model discloses a six-degree-of-freedom robotic arm, wherein the two ends of the wrist link are respectively connected to the movable end of the fifth-axis joint module and the fixed end of the sixth-axis joint module.
[0011] This invention relates to a six-degree-of-freedom robotic arm, wherein an actuator can be mounted on the end flange.
[0012] This utility model discloses a six-degree-of-freedom robotic arm, wherein the axes of the second axis joint module, the third axis joint module, and the fourth axis joint module are parallel to each other; the positions of the forearm link, the upper arm link, and the wrist link are staggered, and the axes of the three links are parallel.
[0013] This utility model discloses a six-degree-of-freedom robotic arm, wherein a nylon buffer block is installed on the outside of the sixth axis joint module.
[0014] Another technical solution provided by this utility model is a quadrupedal hexapod dual-modal robot, which includes a quadrupedal robot and two parallel six-degree-of-freedom robotic arms mounted on the quadrupedal robot.
[0015] The difference between this utility model of a four-six-legged dual-modal robot and the existing technology is that the six-degree-of-freedom robotic arm of this utility model is constructed by standardized joint modules and links, which greatly simplifies the structure of the robotic arm control cabinet. At the same time, the robotic arm can be freely constructed by selecting the corresponding joint modules and links as needed.
[0016] This utility model uses three main connecting rods. By placing the fourth and fifth joints of the robotic arm at the rear, the rotational inertia of the robotic arm is effectively reduced, thereby reducing the overall weight of the robotic arm. At the same time, the robotic arm has only one joint at the end, and the end structure is smaller and easier to move in confined spaces.
[0017] Two six-degree-of-freedom robotic arms are mounted on a quadruped robot, enabling the quadruped robot to perform collaborative work with both arms, allowing for more types of tasks and a wider range of operations. It can also be converted into a six-legged robot as needed to improve its mobility. Furthermore, it can continue to move even if the front legs of the quadruped robot are damaged.
[0018] The following description, in conjunction with the accompanying drawings, further illustrates a six-degree-of-freedom robotic arm and a four-legged, six-legged, dual-modal robot according to this utility model. Attached Figure Description
[0019] Figure 1 This is a structural schematic diagram of a quadrupedal bimodal robot according to the present invention;
[0020] Figure 2 This is a front view of a six-degree-of-freedom robotic arm according to this utility model;
[0021] Figure 3 This is a side view of a six-degree-of-freedom robotic arm according to the present invention;
[0022] Figure 4 This is a structural schematic diagram of the six-degree-of-freedom robotic arm in the retracted state of a quadrupedal bimodal robot according to this utility model;
[0023] Figure 5 This is a front view of the six-degree-of-freedom robotic arm in the retracted state of a quadrupedal bimodal robot according to this utility model;
[0024] Figure 6 This is a schematic diagram of the structure of a quadrupedal bimodal robot of the present invention when grasping an object;
[0025] Figure 7 This is a front view of a quadrupedal bimodal robot of the present invention when grasping an object;
[0026] Figure 8 This is a schematic diagram of the structure of a six-degree-of-freedom robotic arm extending forward in a quadrupedal bimodal robot of this utility model;
[0027] Figure 9 This is a front view of the six-degree-of-freedom robotic arm of a quadrupedal bimodal robot of this invention when it extends forward;
[0028] Figure 10 This is a schematic diagram of the structure of a four-legged, six-legged bimodal robot of this utility model in a six-legged state;
[0029] Figure 11 This is a front view of a bimodal four-legged robot of the present invention in a six-legged state;
[0030] The markings in the diagram are as follows: 1-base; 2-first axis joint module; 3-second axis joint module; 4-upper arm connecting rod; 5-third axis joint module; 6-forearm connecting rod; 7-fourth axis joint module; 8-fifth axis joint module; 9-wrist connecting rod; 10-sixth axis joint module; 11-end flange; 12-nylon buffer block. Detailed Implementation
[0031] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
[0032] Example 1
[0033] like Figure 2 and Figure 3 As shown, the present invention provides a six-degree-of-freedom robotic arm, which includes a base 1 on which the main structure of the robotic arm is mounted.
[0034] The main structure of the robotic arm includes a first-axis joint module. The movable end of the first-axis joint module is fixedly connected to the base and can rotate around the base. The fixed end of the first-axis joint module is fixedly connected to the movable end of a second-axis joint module. The second-axis joint module can rotate around the fixed end of the first-axis joint module, and its fixed end is fixedly connected to one end of a large arm link. The other end of the large arm link is fixedly connected to the fixed end of a third-axis joint module. A steering connector is fixedly connected to one end of the movable end of the third-axis joint module. The steering connector has two connection ports with an included angle of 90 degrees. The steering connector can rotate around the movable end of the third-axis joint module, and its other end is fixedly connected to one end of a forearm link. The other end of the forearm link is fixedly connected to the fixed end of a fourth-axis joint module. The movable end of the fourth-axis joint module is fixedly connected to the fixed end of a fifth-axis joint module, and the fourth-axis joint module can rotate around its fixed end. The movable end of the fifth-axis joint module is fixedly connected to one end of a wrist link. The wrist linkage can rotate around the movable end of the fifth-axis joint module, and the other end of the wrist linkage is fixedly connected to the fixed end of the sixth-axis joint module. The movable end of the sixth-axis joint module is fixedly connected to an end flange. The end flange can rotate around the movable end of the sixth-axis joint module, and an actuator can be mounted on the end flange. Through the movement of each joint module and linkage, the actuator performs a grasping action, such as... Figure 1 , Figure 6 and Figure 7 As shown.
[0035] The axes of the second, third, and fourth axis joint modules are parallel to each other, and they have a closed-form solution, which makes the inverse kinematics of the robotic arm simpler and the control more convenient.
[0036] A steering connector is installed between the third-axis joint module and the forearm link, so that the forearm link is staggered from the upper arm link and the wrist link, and the axes of the three links are parallel, which allows the robotic arm to achieve a greater arm span.
[0037] The six-degree-of-freedom robotic arm in this embodiment has a rated load of 3kg and a reach of 1200mm. Under the premise that the overall weight is comparable to that of a robotic arm with a reach of about 700mm, it has a larger reach.
[0038] This invention adopts a three-link structure, with the fourth and fifth axis joint modules positioned between the forearm link and the wrist link. By placing the fourth and fifth joints at the rear, the burden on the first, second, and third axes is effectively reduced, allowing for the design of smaller joint modules and a reduction in the overall weight of the machine.
[0039] The sixth axis joint module is equipped with a nylon buffer block on the outside, which can buffer and protect the robot arm when it touches the ground.
[0040] In this embodiment, each axis joint module is a standardized joint module, which integrates a motor, reducer, brake, encoder, driver, etc., which greatly simplifies the structure of the robotic arm control cabinet. At the same time, the robotic arm can be freely assembled by selecting the appropriate joint modules and links as needed.
[0041] Example 2
[0042] The six-degree-of-freedom robotic arm in Example 1 can be used in pairs to form a dual-arm structure, improving its grasping ability. Furthermore, it can be integrated with a quadruped robot via an adapter to create a bimodal quadruped robot. Figure 1 As shown.
[0043] In one quadrupedal-hexapod bimodal robot, an adapter is mounted on top of the quadrupedal robot, and fixing components are fixedly connected to two six-degree-of-freedom (6DOF) robotic arms. The two 6DOF robotic arms are arranged side by side, and the actuators mounted on their end flanges can work collaboratively. In other embodiments, the two 6DOF robotic arms can also be directly mounted on the quadrupedal robot.
[0044] In practical use, two six-degree-of-freedom robotic arms can have multiple working states, such as the robotic arm retracted state, etc. Figure 4 and Figure 5 As shown. Due to the use of a three-bar linkage structure with rear-mounted joints and staggered arrangement, the two six-degree-of-freedom robotic arms can be effectively retracted within the limited space on the back of the quadruped robot, without affecting the robot's normal walking.
[0045] During the movement of a quadruped robot, the motion performance of the quadruped robot can be improved by adjusting the posture and position of the six-degree-of-freedom robotic arm, thereby adjusting the center of gravity or other parameters of the six-degree-of-freedom robotic arm and the quadruped robot as a whole.
[0046] When used in bomb disposal robots, the quadrupedal bimodal robot in this embodiment has a large arm span, which improves its long-distance grasping ability and makes it easier to protect the safety of personnel and the robot itself when grasping explosives. Figure 8 and Figure 9 As shown.
[0047] like Figure 10 and Figure 11As shown, when needed, the six-DOF robotic arm can rotate its joints to bring its nylon buffer block to the ground, thus transforming the quadruped robot into a hexapod, improving its mobility and obstacle-crossing ability. Only the first, third, and fourth joints of the robotic arm are required to achieve leg-like movement functions similar to a quadruped robot. When encountering large ditches, the six-DOF robotic arm can act as the robot's legs, increasing its stride. Furthermore, if the quadruped robot's front legs are damaged, the robotic arm can be used to replace them, ensuring the quadruped robot does not lose its walking ability, and providing stability and preventing tipping.
[0048] The dual-arm collaboration and arm-as-leg scheme in this embodiment are not limited to quadruped robots; they can be widely applied to various platforms, such as wheeled mobile platforms. The proposed long-arm-length lightweight six-DOF robotic arm has no specific structural form and can be modified as needed.
[0049] This invention relates to a six-degree-of-freedom robotic arm and a quadrupedal bimodal robot, constructed using standardized joint modules and links. The joint modules integrate motors, reducers, brakes, encoders, and drivers, greatly simplifying the robotic arm control cabinet structure. Furthermore, the robotic arm can be freely assembled by selecting appropriate joint modules and links as needed.
[0050] Compared to the common six-degree-of-freedom robotic arm that uses two main connecting rods, this invention uses three main connecting rods. By placing the fourth and fifth joints of the robotic arm at the rear, the rotational inertia of the robotic arm is effectively reduced, thereby reducing the overall weight of the robotic arm. At the same time, the robotic arm has only one joint at the end, resulting in a smaller end structure volume and easier movement in confined spaces.
[0051] A six-degree-of-freedom robotic arm can be mounted on a quadruped robot via an adapter, enabling the quadruped robot to perform collaborative work with both arms. Compared to common single-arm quadruped robots, it can perform more types of tasks and has a wider operating range.
[0052] A six-degree-of-freedom robotic arm can transform a quadruped robot into a hexapod robot, improving its mobility; at the same time, it can still enable a quadruped robot to continue moving even if its front legs are damaged.
[0053] Although the present invention has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.
Claims
1. A six degree of freedom robotic arm characterized by: The base is movably connected with a first shaft joint module, the first shaft joint module is movably connected with a second shaft joint module, two ends of the large arm link are fixedly connected with the second shaft joint module and a third shaft joint module, the third shaft joint module is movably connected with a steering connecting piece, two ends of the small arm link are fixedly connected with the steering connecting piece and a fourth shaft joint module, the fourth shaft joint module is movably connected with a fifth shaft joint module, two ends of the wrist link are movably connected with the fifth shaft joint module and fixedly connected with a sixth shaft joint module, and the sixth shaft joint module is movably connected with an end flange.
2. The six degree of freedom robotic arm of claim 1, wherein: The movable end of the first shaft joint module is fixedly connected with the base, and the fixed end of the first shaft joint module is fixedly connected with the movable end of the second shaft joint module.
3. The six degree of freedom robotic arm of claim 1, wherein: The two ends of the large arm link are connected with the fixed end of the second shaft joint module and the fixed end of the third shaft joint module respectively.
4. The six degree of freedom robotic arm of claim 1, wherein: The steering connecting piece has two connecting ports, and the included angle between the two connecting ports is 90 degrees.
5. The six degree of freedom robotic arm of claim 1, wherein: The fixed end of the fourth shaft joint module is connected with the small arm link, and the movable end of the fourth shaft joint module is fixedly connected with the fixed end of the fifth shaft joint module.
6. The six degree of freedom robotic arm of claim 1, wherein: The two ends of the wrist link are connected with the movable end of the fifth shaft joint module and the fixed end of the sixth shaft joint module respectively.
7. The six degree of freedom robotic arm of claim 1, wherein: The end flange can be installed with an execution component.
8. The six degree of freedom robotic arm of claim 1, wherein: The axes of the second shaft joint module, the third shaft joint module and the fourth shaft joint module are parallel to each other, the position of the small arm link is staggered with the large arm link and the wrist link, and the axes of the three links are parallel.
9. The six degree of freedom robotic arm of claim 1, wherein: The sixth shaft joint module is externally installed with a nylon buffer block.
10. A tetrahexapod bimodal robot, characterized in that: The quadruped robot is installed with two parallel six-degree-of-freedom mechanical arms as claimed in any one of claims 1-9.