Connecting structure for human-shaped mechanical arm joint

Abstract

The utility model discloses a connecting structure for a human-shaped mechanical arm joint, and relates to the technical field of mechanical arm connection. A protective shell is fixedly mounted at the top of the base; a gear ring is embedded in the protective shell; the protective shell is arranged in a C shape; the gear ring is connected with a straight gear in the driving assembly in a meshed mode. The driving assembly further comprises a mounting shaft; the mounting shaft and the straight gear are fixedly mounted; a worm gear is fixedly mounted on the mounting shaft; one end of the worm and the motor are fixedly installed, the other end of the worm and the bottom plate are installed in a matched mode through the semicircular plate, then the installation shaft provided with the worm gear and the straight gear is movably installed on the bottom plate, the effect that the worm gear is meshed with the worm and the effect that the straight gear is meshed with the gear ring are achieved, and it is guaranteed that the worm gear is meshed with the worm. The effect that the straight gear drives the gear ring to rotate in the protective shell is achieved, and therefore the first mechanical arm connected with the top of the connecting base is effectively driven.

Description

Technical Field

[0001] This utility model specifically relates to the field of robotic arm connection technology, and more specifically to a connection structure for the joints of a humanoid robotic arm. Background Technology

[0002] The joint connection structure of the humanoid robotic arm needs to simulate the movement characteristics of human joints, while taking into account mechanical strength, flexibility and bionic design; it should simulate the flexion, extension, adduction, abduction, internal rotation and external rotation of the human shoulder; and through movement, it should effectively ensure that it can be as flexible as a human arm when in use.

[0003] Currently, most traditional humanoid robotic arms consist of numerous components such as multiple rotating axes, motors, and reducers, resulting in complex structures, large sizes, and heavy weights. This not only increases the load on the robotic arm itself but also affects its mobility and energy efficiency, which is more pronounced in scenarios with high requirements for flexibility and lightweight design. Traditional joint connection structures use multiple motors to drive different degrees of freedom, resulting in energy dispersion. Furthermore, the efficiency of these motors varies under different loads and motion states, leading to low overall energy utilization. In humanoid robotic arms that need to operate for extended periods, this increases energy consumption and limits their working time and endurance. Moreover, traditional robotic arms cannot effectively achieve synchronized movement between two or more arms during operation. This necessitates that robotic arms in different positions require separate drive devices for their movements, resulting in low overall robotic arm efficiency.

[0004] A search revealed Chinese Patent Publication No. CN202222603341.0, which discloses a connection structure for a robotic arm joint. This structure includes a mounting mechanism, two arm positioning mechanisms, and two wire protection structures. The mounting mechanism comprises a mounting base and a connecting rod. The connecting rod is mounted on the mounting base, which has a movable groove for the arm in the center. The two arm positioning mechanisms are symmetrically arranged on both sides of the mounting base, each fixedly connected to the mounting base. A wire protection structure is correspondingly provided on the outer side of each arm positioning mechanism, and the wire protection structure is detachably connected to the arm positioning mechanism. The end of the connecting rod furthest from the mounting base is used to connect to the robotic arm or a fixed base.

[0005] When installing the robotic arm joints, the connection structure in the aforementioned patent can only effectively position and install one robotic arm through the ring positioning plate. Furthermore, after connecting multiple robotic arms, the connection structure in the aforementioned patent cannot effectively achieve the linkage effect between multiple robotic arms. Utility Model Content

[0006] The purpose of this invention is to provide a connection structure for the joint of a humanoid robotic arm. In this device, a first robotic arm is fixedly mounted on a connecting seat. The drive structure of the second robotic arm at the top of the first robotic arm is effectively connected to the rotating shaft. When the drive device drives the connecting seat to rotate, the first robotic arm rotates. At the same time, the active bevel gear on the worm gear meshes with the driven bevel gear, thereby effectively achieving the effect of synchronous movement of the second robotic arm. This reduces the number of drive structures on the robotic arm and ensures the linkage effect between the two robotic arms, thereby improving the working efficiency of the robotic arm and solving the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A connection structure for a humanoid robotic arm joint includes a base; a protective shell is fixedly mounted on the top of the base; a gear ring is embedded inside the protective shell; the protective shell is C-shaped; the gear ring meshes with a spur gear in a drive assembly; the drive assembly further includes a mounting shaft; the mounting shaft is fixedly mounted to the spur gear; a worm gear is also fixedly mounted on the mounting shaft.

[0009] The worm gear meshes with the worm; a drive bevel gear is fixedly mounted on the worm; one end of the worm is movably mounted to the mating assembly via a semi-circular plate, and the other end of the worm is fixedly mounted to the side wall of the base via a bearing;

[0010] As a further technical solution of this utility model, a connecting seat is provided on the top of the protective shell; the bottom inner side of the connecting seat is fixedly installed to the toothed ring by bolts;

[0011] As a further technical solution of this utility model, the mating component includes a base plate; the base plate is welded and fixed to the semi-circular plate; a top plate is integrally provided on the side of the base plate away from the semi-circular plate; and a round tube between the base plate and the top plate is fitted with a bearing.

[0012] As a further technical solution of this utility model, the outer wall of the bearing is embedded and fixed to the inner wall of the connecting seat; the top of the connecting seat is fixedly installed to the first robotic arm by bolts.

[0013] As a further technical solution of this utility model, the bottom plate and the top plate are provided with round holes to facilitate the passage of the rotating shaft, and the rotating shaft is installed by the cooperation of the bearing and the round hole.

[0014] As a further technical solution of this utility model, a driven bevel gear is fixedly installed at one end of the rotating shaft; the driven bevel gear meshes with a driving bevel gear fixedly installed on the worm gear; the end of the rotating shaft away from the driven bevel gear is connected to the second robotic arm.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] 1. In this utility model, when connecting, the drive component is placed inside the base, the gear ring is embedded in the protective shell, the bottom of the protective shell is fixed to the base with bolts, the threaded hole on the gear ring is fixed to the inner side of the bottom of the connecting seat with bolts, and the mating component is installed in the connecting seat with bearings to realize the meshing connection between the driven bevel gear and the driving bevel gear on the worm.

[0017] 2. In this utility model, one end of the worm gear is fixedly installed with the motor, and the other end is installed by fitting between the semi-circular plate and the base plate. Then, the mounting shaft with the worm wheel and spur gear is movably installed on the base plate to achieve the effect of meshing between the worm wheel and the worm, and between the spur gear and the gear ring. This ensures that the meshing between the worm wheel and the worm gear enables the spur gear to drive the gear ring to rotate inside the protective shell, thereby effectively driving the first robotic arm connected to the top of the connecting seat.

[0018] 3. In this utility model, the cylinder between the top plate and the bottom plate is installed inside the connecting seat through a bearing, and holes are opened on the top plate and the bottom plate to facilitate the passage of the rotating shaft. The driven bevel gear fixedly installed at one end of the rotating shaft meshes with the driving bevel gear fixedly installed on the worm gear. In this way, when the connecting seat realizes the connection and drive of the first robotic arm, the connection and drive between the other end of the rotating shaft and the second robotic arm can effectively realize the synchronous movement of the first robotic arm and the second robotic arm, thereby reducing the drive device at the joint of the robotic arm, making the robotic arm lighter, and improving work efficiency through the linkage effect between the two robotic arms. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0020] Figure 2 This utility model Figure 1 A schematic diagram of the rear structure.

[0021] Figure 3 This utility model Figure 1 A breakdown diagram.

[0022] Figure 4 This utility model Figure 3 Bottom view of the structure.

[0023] Figure 5 This utility model Figure 4 Assembly diagram of the connecting components and driving components.

[0024] Figure 6 This utility model Figure 5 The bottom structure split top view.

[0025] Figure 7 This utility model Figure 5 Assembly diagram of the protective shell and gear ring.

[0026] Figure 8 This utility model Figure 7 Sectional view of AA.

[0027] In the diagram: 1-base, 2-connecting seat, 3-fitting component, 30-top plate, 31-rotating shaft, 32-base plate, 33-driven bevel gear, 4-motor, 5-bearing, 6-protective shell, 7-gear ring, 8-drive component, 80-worm gear, 81-worm, 82-driving bevel gear, 83-spur gear, 84-mounting shaft, 85-semi-circular plate. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Please see Figure 1-8 In this embodiment of the present invention, a connection structure for a humanoid robotic arm joint includes a base 1; a protective shell 6 is fixedly installed on the top of the base 1; a gear ring 7 is embedded inside the protective shell 6; the protective shell 6 is C-shaped; the gear ring 7 meshes with a spur gear 83 in a drive assembly 8; the drive assembly 8 further includes a mounting shaft 84; the mounting shaft 84 is fixedly installed with the spur gear 83; a worm gear 80 is also fixedly installed on the mounting shaft 84.

[0030] The worm gear 80 is meshed with the worm 81; a drive bevel gear 82 is fixedly installed on the worm 81; one end of the worm 81 is movably installed with the mating assembly 3 through a semi-circular plate 85, and the other end of the worm 81 is fixedly installed with the side wall of the base 1 through a bearing.

[0031] The protective shell 6 is provided with a connecting seat 2 on its top; the bottom inner side of the connecting seat 2 is fixedly installed to the toothed ring 7 by bolts.

[0032] By adopting the above technical solution, when making the connection, the drive component 8 is placed inside the base 1, the gear ring 7 is embedded in the protective shell 6, the bottom of the protective shell 6 is fixed to the base 1 by bolts, the threaded hole on the gear ring 7 is fixed to the inner side of the bottom of the connecting seat 2 by bolts, and the mating component 3 is installed in the connecting seat 2 by bearing 5, so as to realize the meshing connection between the driven bevel gear 33 and the driving bevel gear 82 on the worm 81;

[0033] In this embodiment, the mating component 3 includes a base plate 32; the base plate 32 is welded and fixed to a semi-circular plate 85; a top plate 30 is integrally provided on the side of the base plate 32 away from the semi-circular plate 85; and the round tube between the base plate 32 and the top plate 30 is fitted with a bearing 5.

[0034] In this embodiment, the outer wall of the bearing 5 is embedded and fixed to the inner wall of the connecting seat 2; the top of the connecting seat 2 is fixedly installed to the first robotic arm by bolts.

[0035] By adopting the above technical solution, one end of the worm 81 is fixedly installed with the motor 4, and the other end is installed with the base plate 32 through the semi-circular plate 85. Then, the mounting shaft 84, which is equipped with the worm wheel 80 and the spur gear 83, is movably installed on the base plate 32, so as to achieve the effect of meshing between the worm wheel 80 and the worm 81, and between the spur gear 83 and the gear ring 7. This ensures that the meshing between the worm wheel 80 and the worm 81 enables the spur gear 83 to drive the gear ring 7 to rotate inside the protective shell 6, thereby effectively driving the first mechanical arm connected to the top of the connecting seat 2.

[0036] Furthermore, the bottom plate 32 and the top plate 30 are provided with round holes to facilitate the passage of the rotating shaft 31, which is installed by the bearing engaging with the round hole.

[0037] In this embodiment, a driven bevel gear 33 is fixedly installed at one end of the rotating shaft 31; the driven bevel gear 33 meshes with the driving bevel gear 82 fixedly installed on the worm 81; the end of the rotating shaft 31 away from the driven bevel gear 33 is connected to the second robotic arm.

[0038] By adopting the above technical solution, the cylinder between the top plate 30 and the bottom plate 32 is installed inside the connecting seat 2 through the bearing 5, and the top plate 30 and the bottom plate 32 are provided with holes for the rotating shaft 31 to pass through. The driven bevel gear 33 fixedly installed at one end of the rotating shaft 31 meshes with the driving bevel gear 82 fixedly installed on the worm 81. In this way, when the connecting seat 2 realizes the connection and drive of the first robotic arm, the connection and drive between the other end of the rotating shaft 31 and the second robotic arm can effectively realize the synchronous movement of the first robotic arm and the second robotic arm, thereby reducing the drive device at the joint of the robotic arm, making the robotic arm lighter, and improving work efficiency through the linkage effect between the two robotic arms.

[0039] The working principle of this utility model is as follows: When connecting, the drive component 8 is placed inside the base 1, the gear ring 7 is embedded in the protective shell 6, the bottom of the protective shell 6 is fixed to the base 1 by bolts, the threaded hole on the gear ring 7 is fixed to the inner side of the bottom of the connecting seat 2 by bolts, and the mating component 3 is installed in the connecting seat 2 by bearing 5, so as to realize the meshing connection between the driven bevel gear 33 and the driving bevel gear 82 on the worm 81;

[0040] One end of the worm 81 is fixedly installed to the motor 4, and the other end is installed with the base plate 32 through the semi-circular plate 85. Then, the mounting shaft 84, which is equipped with the worm wheel 80 and the spur gear 83, is movably installed on the base plate 32 to achieve the effect of meshing between the worm wheel 80 and the worm 81, and between the spur gear 83 and the gear ring 7. This ensures that the meshing between the worm wheel 80 and the worm 81 enables the spur gear 83 to drive the gear ring 7 to rotate inside the protective shell 6, thereby effectively driving the first mechanical arm connected to the top of the connecting seat 2.

[0041] The cylinder between the top plate 30 and the bottom plate 32 is installed inside the connecting seat 2 via the bearing 5. The top plate 30 and the bottom plate 32 are provided with holes for the rotating shaft 31 to pass through. The driven bevel gear 33 fixedly installed at one end of the rotating shaft 31 meshes with the driving bevel gear 82 fixedly installed on the worm 81. In this way, when the connecting seat 2 realizes the connection and drive of the first robotic arm, the other end of the rotating shaft 31 is connected and driven to the second robotic arm, thereby effectively realizing the synchronous movement of the first robotic arm and the second robotic arm. This reduces the drive device at the joint of the robotic arm, making the robotic arm lighter. Through the linkage effect between the two robotic arms, the work efficiency is improved.

[0042] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0043] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A connection structure for a human-shaped robot arm joint, characterized by: The system includes a base (1); a protective shell (6) is fixedly installed on the top of the base (1); a gear ring (7) is embedded inside the protective shell (6); the protective shell (6) is C-shaped; the gear ring (7) meshes with a spur gear (83) in the drive assembly (8); the drive assembly (8) also includes a mounting shaft (84); the mounting shaft (84) is fixedly installed with the spur gear (83); a worm gear (80) is also fixedly installed on the mounting shaft (84); The worm wheel (80) is meshed with the worm (81); a drive bevel gear (82) is fixedly installed on the worm (81); one end of the worm (81) is movably installed with the mating assembly (3) through a semi-circular plate (85), and the other end of the worm (81) is fixedly installed with the side wall of the base (1) through a bearing.

2. The connecting structure for a human type robot arm joint according to claim 1, characterized in that: The protective shell (6) is provided with a connecting seat (2) on the top; the bottom inner side of the connecting seat (2) is fixedly installed to the toothed ring (7) by bolts.

3. The connecting structure for a human type robot arm joint according to claim 1, characterized in that: The mating component (3) includes a base plate (32); the base plate (32) is welded and fixed to a semi-circular plate (85); a top plate (30) is integrally provided on the side of the base plate (32) away from the semi-circular plate (85); the round tube between the base plate (32) and the top plate (30) is fitted with a bearing (5).

4. The connecting structure for a human type robot arm joint according to claim 3, characterized in that: The outer wall of the bearing (5) is embedded and fixed to the inner wall of the connecting seat (2); the top of the connecting seat (2) is fixedly installed to the first robotic arm by bolts.

5. The connecting structure for a human type robot arm joint according to claim 4, characterized in that: The bottom plate (32) and top plate (30) are provided with round holes to facilitate the passage of the rotating shaft (31), which is installed by bearings and the round holes.

6. The connecting structure for a human type robot arm joint according to claim 5, characterized in that: One end of the rotating shaft (31) is fixedly mounted with a driven bevel gear (33); the driven bevel gear (33) meshes with a driving bevel gear (82) fixedly mounted on the worm (81); the end of the rotating shaft (31) away from the driven bevel gear (33) is connected to the second robotic arm.

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