A smart robot arm degree of freedom adjusting structure

Abstract

The utility model discloses a kind of intelligent robot arm degree of freedom adjusting structure, it is related to intelligent robot technical field, including base, control mechanism is fixedly installed on the base upper, and first motor is fixedly installed on the base upper, the first motor output end is connected with large arm assembly, and one end of large arm assembly is hingedly connected with two small arm assemblies, and small arm assembly terminal is connected with operating end, the joint rotation of large arm assembly and small arm assembly is all provided with second motor, and the joint rotation of large arm assembly and small arm assembly is all provided with angle sensor, the upper of operating end is connected with support frame, and support frame left and right sides are all provided with third motor and fourth motor, and operating end constitutes multi-degree-of-freedom adjusting structure. The intelligent robot arm degree of freedom adjusting structure improves adjusting precision, and rotation angle coverage range expands, can be adapted to complex working conditions such as industrial assembly, material handling, and has high precision, high stability and strong power output characteristics.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot technology, specifically to an intelligent robot arm degree-of-freedom adjustment structure. Background Technology

[0002] Intelligent robots are automated equipment integrating artificial intelligence, sensors, and mechanical transmission technologies. They can autonomously perform various tasks through environmental perception and data analysis, and are widely used in industrial production, service consumption, and medical rescue. Functionally, they can be divided into industrial robots and service robots. Core components include processors and algorithm systems, supporting voice interaction, image recognition, and path planning. Some possess autonomous learning capabilities. They overcome the limitations of manual operation, replacing human labor in high-risk and repetitive scenarios, improving efficiency and safety. Simultaneously, they are upgrading towards precision, miniaturization, and multi-scenario adaptability, becoming an important technological carrier for promoting industrial intelligence and convenient living. However, existing intelligent robots still have certain problems in use: For example, a multi-degree-of-freedom articulated robot arm with application number 201620728587.2 has the following technical solution: a main arm is installed in the middle of the other end of the disk; protrusions are provided on both sides of the end of the main arm away from the disk; circular holes are opened on the protrusions; grooves are provided on both sides of the adjustment arm at the upper end of the main arm; a lifting lug is provided in the middle of one side of the adjustment arm; a guide rail is installed on the side wall of the main arm on the same side as the lifting lug; a slider is provided on the guide rail; a push rod motor is provided on the side wall of the main arm below the guide rail; the push rod of the push rod motor is connected to the lower end of the slider, etc.; however, existing multi-degree-of-freedom articulated robot arms have low joint adjustment accuracy and limited rotation angle, which cannot meet the all-round operation requirements under complex working conditions.

[0003] In view of this, in-depth research was conducted on the above issues, which led to the creation of this case.

[0004] To address the aforementioned issues, an innovative design was developed based on the existing robotic arm. Utility Model Content

[0005] The purpose of this invention is to provide an intelligent robot arm degree-of-freedom adjustment structure to solve the problems of low adjustment accuracy and limited rotation angle mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A multi-degree-of-freedom adjustment structure for an intelligent robot arm includes a base, a control mechanism fixedly mounted on the base, and a first motor fixedly mounted on the base. The output end of the first motor is connected to a large arm assembly, and two small arm assemblies are hinged to one end of each large arm assembly. An operating end is connected to the end of each small arm assembly. A second motor is provided at the joint rotation points of both the large arm assembly and the small arm assembly, and an angle sensor is provided at the joint rotation points of both the large arm assembly and the small arm assembly. A support frame is connected above the operating end, and a third motor and a fourth motor are provided on both the left and right sides of the support frame. A first bevel gear and a second bevel gear are provided inside the support frame, and the first bevel gear and the second bevel gear cooperate with a bushing to drive the operating end to form a multi-degree-of-freedom adjustment structure.

[0007] Preferably, the angle sensor collects rotation angle signals and transmits them to the control mechanism, and the control mechanism is used to control the start and stop of the first motor, the second motor, the third motor and the fourth motor.

[0008] Using the above technical solution, the angle sensor transmits the angle signal to the control mechanism, which then precisely controls the start and stop of the first motor, the second motor, etc., reducing the adjustment deviation and forming a closed-loop system of "acquisition-analysis-control". This avoids joint rotation overtravel or undertravel and improves repeatability positioning accuracy.

[0009] Preferably, a support frame is fixedly welded to the end of the forearm assembly, and a third motor is fixedly installed on the left side of the support frame, and a fourth motor is fixedly installed on the right side of the support frame.

[0010] Using the above technical solution, the support frame welded to the end of the forearm assembly provides a stable mounting base for the third and fourth motors, reducing the vibration amplitude of the motors. The motors are distributed on the left and right sides of the support frame, resulting in balanced force distribution and avoiding joint displacement caused by concentrated weight on one side, thus improving the stability of the operating end posture.

[0011] Preferably, the output end of the third motor is connected to a first bevel gear, and a bushing is installed through the first bevel gear.

[0012] Using the above technical solution, the third motor is used to independently control the rotation of the first bevel gear, providing a power source for the pitch angle adjustment of the operating end.

[0013] Preferably, the output end of the fourth motor is connected to the bushing, and a second bevel gear is meshed below the first bevel gear.

[0014] Using the above technical solution, the output end of the fourth motor is connected to the bushing, which works with the third motor to drive the first bevel gear, thereby increasing the torque output. The first bevel gear meshes with the second bevel gear to achieve power direction conversion, adapting to the multi-directional adjustment needs of the operating end and improving adjustment flexibility.

[0015] Preferably, a connecting shaft is fixedly installed at the bottom of the second bevel gear, and a rotating frame is connected and installed on the outside of the connecting shaft, and the rotating frame is fixedly connected to the left and right sides of the bushing.

[0016] By adopting the above technical solution, the connecting shaft at the bottom of the second bevel gear cooperates with the rotating frame, which improves the rotational stability of the operating end. The rotating frame is fixed on both sides of the bushing, which limits the radial displacement of the connecting shaft, ensures accurate positioning of the operating end, and avoids operational deviations.

[0017] Preferably, an operating end is fixedly connected to the bottom of the connecting shaft.

[0018] The above technical solution is adopted, with the bottom of the connecting shaft fixedly connected to the operating end. The transmission path is short, which is less than the indirect multi-stage transmission and reduces power loss. The integrated design of the connecting shaft has a strong load-bearing capacity, and there is no risk of breakage when the operating end grabs heavy objects, thus ensuring operational safety.

[0019] Compared with the prior art, the beneficial effects of this utility model are: the adjustable degree of freedom structure of this intelligent robot arm, 1. Multi-motor collaboration and closed-loop control break through the limitations of precision and angle. The second motor and angle sensor of the upper arm or forearm joint and the third / fourth motor of the operating end form a multi-level independent drive. With the closed-loop feedback of the control mechanism, the adjustment precision is improved and the repeatability error is reduced. The multi-motor collaborative drive realizes multi-degree-of-freedom adjustment of the operating end and expands the rotation angle coverage range, completely solving the pain points of low adjustment precision and limited rotation angle of traditional structures. 2. Scientific transmission and stable support, balancing power and structural reliability: The support frame provides a stable mounting base for the motor, bevel gear meshing enables power direction conversion, and the bushing and rotating frame optimize the transmission and support structure, improving torque output, reducing vibration amplitude, and reducing gear failure rate. The integrated connecting shaft ensures the load-bearing capacity and transmission efficiency of the operating end, adapting to ≥5kg load operation, balancing power output and structural durability. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the appearance and structure of this utility model; Figure 2 This is a schematic diagram of the front structure of this utility model; Figure 3 This is a schematic diagram of the rear structure of this utility model; Figure 4 This is a schematic diagram of the end structure of the forearm assembly of this utility model; Figure 5 This is a schematic diagram of the operating end structure of this utility model.

[0021] In the diagram: 1. Base; 2. First motor; 3. Boom assembly; 4. Arm assembly; 5. Second motor; 6. Angle sensor; 7. Operating end; 8. Support frame; 9. Third motor; 10. Fourth motor; 11. First bevel gear; 12. Second bevel gear; 13. Connecting shaft; 14. Rotating frame; 15. Bushing. Detailed Implementation

[0022] 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.

[0023] Please see Figure 1-5 This utility model provides a technical solution: A multi-degree-of-freedom adjustment structure for an intelligent robot arm includes a base 1, a control mechanism fixedly mounted on the top of the base 1, and a first motor 2 fixedly mounted on the top of the base 1. The output end of the first motor 2 is connected to a large arm assembly 3, and two small arm assemblies 4 are hinged to one end of each large arm assembly 3. An operating end 7 is connected to the end of each small arm assembly 4. A second motor 5 is provided at the joint rotation points of both the large arm assembly 3 and the small arm assembly 4, and an angle sensor 6 is provided at the joint rotation points of both the large arm assembly 3 and the small arm assembly 4. A support frame 8 is connected above the operating end 7, and a third motor 9 and a fourth motor 10 are provided on both the left and right sides of the support frame 8. A first bevel gear 11 and a second bevel gear 12 are provided inside the support frame 8, and the first bevel gear 11 and the second bevel gear 12 cooperate with the bushing 15 to drive the operating end 7 to form a multi-degree-of-freedom adjustment structure.

[0024] Angle sensor 6 collects rotation angle signals and transmits them to the control mechanism. The control mechanism is used to control the start and stop of the first motor 2, the second motor 5, the third motor 9, and the fourth motor 10. Angle sensor 6 transmits angle signals to the control mechanism, and the control mechanism precisely controls the start and stop of the first motor 2, the second motor 5, etc., reducing adjustment deviation and forming a "collection-analysis-control" closed-loop system to avoid joint rotation overtravel or undertravel and improve repeatability positioning accuracy.

[0025] A support frame 8 is fixedly welded to the end of the forearm assembly 4. A third motor 9 is fixedly installed on the left side of the support frame 8, and a fourth motor 10 is fixedly installed on the right side of the support frame 8. The output end of the third motor 9 is connected to a first bevel gear 11, and a bushing 15 is installed through the first bevel gear 11. The output end of the fourth motor 10 is connected to the bushing 15, and a second bevel gear 12 is meshed below the first bevel gear 11. The support frame 8 welded to the end of the forearm assembly 4 provides a stable mounting base for the third motor 9 and the fourth motor 10, reducing the vibration amplitude of the motor operation. The motors are distributed on the left and right sides of the support frame 8, resulting in balanced force and avoiding joint displacement caused by concentrated weight on one side. The posture stability of the operating end 7 is improved. The third motor 9 is used to control the rotation of the first bevel gear 11 independently. The output end of the fourth motor 10 is connected to the bushing 15 and works with the third motor 9 to drive the first bevel gear 11, increasing the torque output. The first bevel gear 11 meshes with the second bevel gear 12 to achieve power direction conversion, adapting to the multi-directional adjustment needs of the operating end 7 and improving adjustment flexibility.

[0026] The bottom of the second bevel gear 12 is fixedly mounted with a connecting shaft 13, and a rotating frame 14 is connected and mounted on the outside of the connecting shaft 13. The rotating frame 14 is fixedly connected to the left and right sides of the bushing 15. The bottom of the connecting shaft 13 is fixedly connected with an operating end 7. The connecting shaft 13 at the bottom of the second bevel gear 12 cooperates with the rotating frame 14, which improves the rotational stability of the operating end 7. The rotating frame 14 is fixed on both sides of the bushing 15, which limits the radial displacement of the connecting shaft 13, ensures the precise alignment of the operating end 7, and avoids operational deviations. The bottom of the connecting shaft 13 is fixedly connected to the operating end 7, resulting in a short transmission path and reduced power loss compared to indirect multi-stage transmission. The integrated design of the connecting shaft 13 has a strong load-bearing capacity, and there is no risk of breakage when the operating end 7 grabs heavy objects, ensuring operational safety.

[0027] Working principle: When using this utility model, Basic adjustment stage: The control mechanism starts the first motor 2, which drives the upper arm assembly 3 to rotate around the base 1 to achieve coarse adjustment of the arm in the horizontal direction. The second motor 5 at the joint of the upper arm and forearm drives the joint to rotate, adjusting the pitch angle of the forearm assembly 4. The angle sensor 6 collects the joint angle signal in real time and feeds it back to the control mechanism to correct the deviation, ensuring the accurate posture of the upper arm and forearm. In the driving stage of the operating end 7: the third motor 9 and the fourth motor 10 on the support frame 8 work together. The output end of the third motor 9 drives the first bevel gear 11 to rotate through the through bushing 15. The fourth motor 10 assists in stable transmission through the bushing 15. The first bevel gear 11 meshes with the second bevel gear 12 to transmit power to the connecting shaft 13. The rotating frame 14 restricts the offset of the connecting shaft 13 to ensure stable power output. End-efficiency stage: Connecting shaft 13 drives operating end 7 to achieve multi-directional posture adjustment, such as rotation and pitch, to meet the needs of grasping, assembly and other operations. Throughout the process, angle sensor 6 continuously provides feedback on the angle of each joint, and the control mechanism adjusts the motor start / stop and speed in real time to ensure that operating end 7 is accurately aligned. After the operation is completed, the motor reverses and drives the arm to reset.

[0028] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0029] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A structure for adjusting the degrees of freedom of an intelligent robot arm, comprising a base (1), a control mechanism fixedly mounted on the base (1), and a first motor (2) fixedly mounted on the base (1), the output end of the first motor (2) being connected to a large arm assembly (3), and two small arm assemblies (4) hinged to one end of each large arm assembly (3), and an operating end (7) connected to the end of each small arm assembly (4), characterized in that: The upper arm assembly (3) and the lower arm assembly (4) are each equipped with a second motor (5) at their joint rotation points, and the upper arm assembly (3) and the lower arm assembly (4) are each equipped with an angle sensor (6) at their joint rotation points. The upper part of the operating end (7) is connected to a support frame (8), and the left and right sides of the support frame (8) are each equipped with a third motor (9) and a fourth motor (10). The support frame (8) is equipped with a first bevel gear (11) and a second bevel gear (12), and the first bevel gear (11) and the second bevel gear (12) work together with the bushing (15) to drive the operating end (7) to form a multi-degree-of-freedom adjustment structure.

2. The intelligent robot arm degree-of-freedom adjustment structure according to claim 1, characterized in that: The angle sensor (6) collects rotation angle signals and transmits them to the control mechanism, which is used to control the start and stop of the first motor (2), the second motor (5), the third motor (9) and the fourth motor (10).

3. The intelligent robot arm degree-of-freedom adjustment structure according to claim 1, characterized in that: The end of the forearm assembly (4) is fixedly welded with a support frame (8), and a third motor (9) is fixedly installed on the left side of the support frame (8), and a fourth motor (10) is fixedly installed on the right side of the support frame (8).

4. The intelligent robot arm degree-of-freedom adjustment structure according to claim 3, characterized in that: The output end of the third motor (9) is connected to the first bevel gear (11), and a bushing (15) is installed through the first bevel gear (11).

5. The intelligent robot arm degree-of-freedom adjustment structure according to claim 4, characterized in that: The output end of the fourth motor (10) is connected to the bushing (15), and the second bevel gear (12) is meshed below the first bevel gear (11).

6. The intelligent robot arm degree-of-freedom adjustment structure according to claim 5, characterized in that: The bottom of the second bevel gear (12) is fixedly mounted with a connecting shaft (13), and a rotating frame (14) is connected and mounted on the outside of the connecting shaft (13), and the rotating frame (14) is fixedly connected to the left and right sides of the bushing (15).

7. The intelligent robot arm degree-of-freedom adjustment structure according to claim 6, characterized in that: The bottom of the connecting shaft (13) is fixedly connected to the operating end (7).

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