Robotic arm structure

Abstract

The utility model provides a kind of mechanical arm structure, including upper arm part and lower arm part, the upper arm part is sequentially connected by two sections or two sections or more upper arm skeleton, it has the rotation function of at least two degrees of freedom, the lower arm part is sequentially connected by two sections or two sections or more lower arm skeleton, it has the rotation function of at least two degrees of freedom, wherein, the lower arm part uses modularization's drive integrated unit as driving device, the upper arm part uses the drive unit of servo motor and reduction mechanism composition as driving device, the length of upper arm skeleton is longer than the length of lower arm skeleton.The utility model can be combined by servo motor and speed reducer, realize the upper part of robot mechanical arm with low cost and more flexible combination mode, adopt modularization's drive integrated unit in the part needing flexible movement, i.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robots, and more particularly to the robotic arm of a humanoid robot. Background Technology

[0002] Currently, the robotic arms of humanoid robots are mainly composed of modular drive integration units. These drive integration units integrate motors and reduction mechanisms, have a relatively small size, and offer high application flexibility. Robotic arms composed of several drive integration units can perform different motion functions, but they are priced relatively high. Utility Model Content

[0003] The purpose of this invention is to provide a robotic arm structure that retains the characteristics of modular drive integration units while enabling the use of a combination of servo motors and reducers as the drive unit. This leverages a mature and comprehensive family of servo motors, thereby reducing costs and adapting to the needs of different robot designs. To this end, this invention adopts the following technical solution: A robotic arm structure is characterized by comprising an upper arm portion and a lower arm portion. The upper arm portion is composed of two or more upper arm skeleton sections connected sequentially, and has at least two degrees of freedom for rotation. The lower arm portion is composed of two or more lower arm skeleton sections connected sequentially, and has at least two degrees of freedom for rotation. The lower arm portion uses a modular drive integrated unit as a drive device, and the upper arm portion uses a drive unit composed of a servo motor and a reduction mechanism as a drive device. The length of the upper arm skeleton is longer than the length of the lower arm skeleton.

[0004] Based on the above technical solutions, this utility model may also adopt the following further technical solutions, which may be used in combination: The upper arm portion includes a first upper arm frame and a second upper arm frame. The upper end of the first upper arm frame is provided with a part that connects to the drive device in the robot's shoulder joint, and the lower end is equipped with a first drive unit. The second upper arm frame is connected to the first drive unit, and the lower end of the second upper arm frame is equipped with a second drive unit. The lower arm portion includes a first lower arm frame and a second lower arm frame. The upper end of the first lower arm frame is provided with a part that connects to the drive unit at the lowest end of the upper arm portion, and the lower end is equipped with a first drive integration unit. The second lower arm frame is connected to the first drive integration unit, and the lower end is equipped with a second drive integration unit. The rotation axes of the upper arm frame and the lower arm frame are sequentially adjacent and orthogonal.

[0005] The rotation axis of the first upper arm frame is parallel to the length direction of the first upper arm frame, and the rotation axis of the first lower arm frame is parallel to the length direction of the first lower arm frame. The motor of the first drive unit is arranged along the arm length direction, and its reducer is a right-angle steering reducer. The rotation axis of the second upper arm frame and the rotation axis of the second lower arm frame are perpendicular to the rotation axes of the first upper arm frame and the first lower arm frame, respectively.

[0006] The right-angle steering reducer includes a motor shaft connector, a bevel gear pair, a reduction assembly, and an output connection plate. The motor shaft connector is connected to the reduction assembly via the bevel gear pair, thereby causing the motor output to be turned at a right angle. The output connection plate is connected to the reduction assembly.

[0007] The right-angle steering reducer includes a reduction component housing and a motor connection housing. The reduction component is housed in the reduction component housing, and the motor connection housing houses the motor shaft connector and its bearing. The two bevel gears of the bevel gear pair are located outside the reduction component housing and the motor connection housing. A right-angle steering housing is provided between the reduction component housing and the motor connection housing. The two ends of the right-angle steering housing are detachably connected to the reduction component housing and the motor connection housing, respectively. The bevel gear pair is located in the right-angle steering housing.

[0008] The length of the second upper arm skeleton is shorter than the length of the first upper arm skeleton.

[0009] The upper end of the robotic arm is connected to a drive device in the shoulder joint. The shoulder joint is equipped with an X-axis rotation drive device, a Y-axis rotation drive device, and a Z-axis rotation drive device. The Y-axis is oriented along the arm length of the upper arm skeleton connected to the Y-axis rotation drive device, and the Z-axis is oriented along the left and right directions of the robot. The X-axis is perpendicular to the Y-axis and Z-axis. The Z-axis rotation drive device is connected to a fixed base, the X-axis rotation drive device is connected to the Z-axis rotation drive device, and the Y-axis rotation drive device is connected to the X-axis rotation drive device. The uppermost part of the upper arm skeleton is connected to the Y-axis rotation drive device.

[0010] The X-axis rotation drive device includes a first mounting base connected to the Z-axis rotation drive device. An X-axis rotation drive motor and a reduction mechanism are connected to the first mounting base. The Y-axis rotation drive device includes a second mounting base connected to the second mounting base. The reduction mechanism of the X-axis rotation drive motor is connected to the X-axis rotation drive motor through a synchronous belt mechanism, and the reduction mechanism of the X-axis rotation drive motor is arranged on both sides of the upper part of the first mounting base.

[0011] By adopting the technical solution of this utility model, the upper part of the robot arm can be realized in a low-cost and more flexible way by combining servo motors and reducers. Modular drive integration units are used in parts that require flexible movement, which not only ensures the flexibility of movement but also reduces the cost, and at the same time, it has wider adaptability. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of an embodiment of the present invention viewed from one angle.

[0013] Figure 2 An exploded view of the structure of an embodiment of this utility model.

[0014] Figure 3 A schematic diagram showing an embodiment of the present invention viewed from another angle.

[0015] Figure 4 This is a cross-sectional view of the right-angle steering reducer used in this utility model. Detailed Implementation

[0016] Referring to the accompanying drawings, the robotic arm structure provided by this utility model includes an upper arm and a lower arm. The upper arm is composed of two upper arm skeletons connected sequentially, providing two degrees of freedom of rotation. The lower arm is composed of two lower arm skeletons connected sequentially, also providing two degrees of freedom of rotation. The lower arm uses a modular drive integration unit as its drive device, which integrates a motor and a reduction mechanism. The upper arm uses a drive unit composed of a servo motor and a reduction mechanism as its drive device. The length of the upper arm skeleton is longer than that of the lower arm skeleton. This structure reduces the number of drive integration units required, lowering costs. Furthermore, it provides robotic arm manufacturers with a wider range of servo motor options for the upper arm, unrestricted by the type of drive integration unit, while maintaining the lower arm's flexibility.

[0017] The two upper arm frames are a first upper arm frame 1 and a second upper arm frame 2. The upper end of the first upper arm frame 1 is connected to the drive device in the robot's shoulder joint, such as a screw connection, interference fit, or snap-fit. It is driven to rotate by the drive device in the shoulder joint through this connection. The lower end is equipped with a first drive unit, which consists of a servo motor 11 and a reduction mechanism 12. The second upper arm frame 2 is connected to the reduction mechanism 12 and is driven to rotate by the first drive unit. The lower end of the second upper arm frame 2 is equipped with a second drive unit, which consists of a servo motor 21 and a reduction mechanism 22. The two lower arm frames are a first lower arm frame 3 and a second lower arm frame 4. The upper end of the first lower arm frame 3 is connected to the drive unit at the lowest point of the upper arm portion, i.e., the second drive unit in this embodiment. The lower end is equipped with a first drive integration unit 31. The second lower arm frame 4 is connected to the first drive integration unit 31 and is driven to rotate by it. The lower end is equipped with a second drive integration unit 41. The robotic arm 5 is connected to and driven by the second drive integration unit 41. The rotation axis of the first upper arm frame 1 is parallel to the length direction of the first upper arm frame, and the rotation axis of the first lower arm frame 3 is also parallel to the length direction of the first lower arm frame. The motor of the first drive unit is arranged along the arm length direction, and its reducer 12 is a right-angle steering reducer. The rotation axes of the second upper arm frame 2 and the second lower arm frame 4 are perpendicular to the rotation axes of the first upper arm frame 1 and the first lower arm frame 3, respectively. This allows the right-angle steering reducer to be positioned as high as possible, further reducing the rotational torque of the robotic arm, improving its movement flexibility, and reducing energy consumption. In this embodiment, the length of the second upper arm frame 2 is shorter than the length of the first upper arm frame 1.

[0018] The right-angle steering reducer includes a motor shaft connector, a bevel gear pair, a reduction assembly, and an output connection plate. The motor shaft connector is connected to the reduction assembly via the bevel gear pair, thereby causing the motor output to be turned at a right angle. The output connection plate is connected to the reduction assembly.

[0019] The right-angle steering reducer includes a motor shaft connector 61, a bevel gear pair 62, a reduction assembly 63, and an output connection plate 64. The motor shaft connector 61 is connected to the reduction assembly 63 via the bevel gear pair 62, causing the motor output to be turned at a right angle. The output connection plate 64 is connected to the reduction assembly 63. The reduction assembly 63 can be a cycloidal pinwheel, a planetary reducer, or other reducers; in this embodiment, a reduction structure with a cycloidal pinwheel is used. The right-angle steering reducer may also include a reduction assembly housing 66 and a motor connection housing 65. The reduction assembly 63 is housed in the reduction assembly housing 66, and the motor shaft connector 61 and its bearing 611 are housed in the motor connection housing 65. The two bevel gears of the bevel gear pair 62 are located outside the reduction assembly housing 66 and the motor connection housing 65. A right-angle steering housing 67 is located between the reduction assembly housing 66 and the motor connection housing 65. The two ends of the right-angle steering housing 67 are detachably connected to the reduction assembly housing 66 and the motor connection housing 67, respectively. The bevel gear pair 62 is located within the right-angle steering housing 67. This not only makes assembly and maintenance easier, but also results in an attractive appearance.

[0020] The upper end of the robotic arm is connected to the drive device in the shoulder joint. The shoulder joint is equipped with an X-axis rotation drive device, a Y-axis rotation drive device and a Z-axis rotation drive device. The Y-axis is in the direction of the arm length of the upper arm skeleton connected to the Y-axis rotation drive device. The Z-axis is in the left and right direction of the robot. The X-axis is perpendicular to the Y-axis and Z-axis.

[0021] The Z-axis rotation drive device is connected to the fixed base 70, the X-axis rotation drive device is connected to the Z-axis rotation drive device, the Y-axis rotation drive device is connected to the X-axis rotation drive device, and the uppermost upper arm skeleton (in this embodiment, the first upper arm skeleton 1) of the upper arm part is connected to the Y-axis drive device.

[0022] The Z-axis rotation drive device includes a Z-axis servo motor 71 and a reduction mechanism 72. In this embodiment, the reduction mechanism 72 and the Z-axis servo motor 71 are connected by a synchronous belt mechanism 73.

[0023] The X-axis rotation drive device includes a first mounting base 80, which is connected to the reduction mechanism in the Z-axis rotation drive device. The X-axis rotation drive servo motor 81 and the reduction mechanism 82 are connected to the first mounting base 80. The Y-axis rotation drive device includes a second mounting base 90, which is connected to the Y-axis rotation drive servo motor 91 and the reduction mechanism 92.

[0024] The reduction mechanism 82 of the X-axis rotation drive motor 81 is connected to the X-axis rotation drive motor 81 via a synchronous belt mechanism 83. With the robotic arm in a drooping state (as a reference state), the X-axis rotation drive motor 81 and its reduction mechanism 82 (i.e., the output shaft of the simplified mechanism 82) are positioned on either side of the upper part of the first mounting base. The upper part of the first mounting base is located above the connecting shaft between the first mounting base 80 and the reduction mechanism 72 of the Z-axis rotation drive device. In this way, the X-axis rotation drive servo motor 81 can be used as a counterweight mechanism to balance the rotational torque of the robotic arm, reducing energy consumption, while also achieving high space utilization and a harmonious and aesthetically pleasing appearance.

[0025] Unless otherwise specified, in this utility model, terms such as "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "axial" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe orientation or positional relationships in this utility model are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood in conjunction with the accompanying drawings and according to the specific circumstances.

[0026] Unless otherwise expressly specified and limited, the terms "set," "clamped," and "connected" in this utility model should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] The above description is only a specific embodiment of the present utility model, but the structural features of the present utility model are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the protection scope of the present utility model.

Claims

1. A robotic arm structure, characterized in that, The device includes an upper arm and a lower arm. The upper arm is composed of two or more upper arm skeletons connected in sequence and has at least two degrees of freedom of rotation. The lower arm is composed of two or more lower arm skeletons connected in sequence and has at least two degrees of freedom of rotation. The lower arm uses a modular drive integrated unit as the drive device, and the upper arm uses a drive unit composed of a servo motor and a reduction mechanism as the drive device. The length of the upper arm skeleton is longer than the length of the lower arm skeleton.

2. The robotic arm structure as described in claim 1, characterized in that, The upper arm portion includes a first upper arm frame and a second upper arm frame. The upper end of the first upper arm frame is provided with a part that connects to the drive device in the robot's shoulder joint, and the lower end is equipped with a first drive unit. The second upper arm frame is connected to the first drive unit, and the lower end of the second upper arm frame is equipped with a second drive unit. The lower arm portion includes a first lower arm frame and a second lower arm frame. The upper end of the first lower arm frame is provided with a part that connects to the drive unit at the lowest end of the upper arm portion, and the lower end is equipped with a first drive integration unit. The second lower arm frame is connected to the first drive integration unit, and the lower end is equipped with a second drive integration unit. The rotation axes of the upper arm frame and the lower arm frame are sequentially adjacent and orthogonal.

3. The robotic arm structure as described in claim 2, characterized in that, The rotation axis of the first upper arm frame is parallel to the length direction of the first upper arm frame, and the rotation axis of the first lower arm frame is parallel to the length direction of the first lower arm frame. The motor of the first drive unit is arranged along the arm length direction, and its reducer is a right-angle steering reducer. The rotation axis of the second upper arm frame and the rotation axis of the second lower arm frame are perpendicular to the rotation axes of the first upper arm frame and the first lower arm frame, respectively.

4. The robotic arm structure as described in claim 3, characterized in that, The right-angle steering reducer includes a motor shaft connector, a bevel gear pair, a reduction assembly, and an output connection plate. The motor shaft connector is connected to the reduction assembly via the bevel gear pair, thereby causing the motor output to be turned at a right angle. The output connection plate is connected to the reduction assembly.

5. The robotic arm structure as described in claim 4, characterized in that, The right-angle steering reducer includes a reduction component housing and a motor connection housing. The reduction component is housed in the reduction component housing, and the motor connection housing houses the motor shaft connector and its bearing. The two bevel gears of the bevel gear pair are located outside the reduction component housing and the motor connection housing. A right-angle steering housing is provided between the reduction component housing and the motor connection housing. The two ends of the right-angle steering housing are detachably connected to the reduction component housing and the motor connection housing, respectively. The bevel gear pair is located in the right-angle steering housing.

6. The robotic arm structure as described in claim 3, characterized in that, The length of the second upper arm skeleton is shorter than the length of the first upper arm skeleton.

7. The robotic arm structure as described in claim 1, characterized in that, Its upper end is connected to the drive device in the shoulder joint. The shoulder joint is equipped with an X-axis rotation drive device, a Y-axis rotation drive device and a Z-axis rotation drive device. The direction of the Y-axis is the arm length direction of the upper arm skeleton connected to the Y-axis rotation drive device, the direction of the Z-axis is the left and right direction of the robot, and the X-axis is perpendicular to the Y-axis and Z-axis. The Z-axis rotation drive is connected to the fixed base, the X-axis rotation drive is connected to the Z-axis rotation drive, the Y-axis rotation drive is connected to the X-axis rotation drive, and the uppermost upper arm frame of the upper arm portion is connected to the Y-axis rotation drive.

8. The robotic arm structure as described in claim 7, characterized in that, The X-axis rotation drive device includes a first mounting base, which is connected to the Z-axis rotation drive device. The X-axis rotation drive motor and a reduction mechanism are connected to the first mounting base. The Y-axis rotation drive device includes a second mounting base, which is connected to the Y-axis rotation drive motor and a reduction mechanism.

9. A robotic arm structure as described in claim 8, characterized in that, The reduction mechanism of the X-axis rotation drive motor is connected to the X-axis rotation drive motor through a synchronous belt mechanism, and the reduction mechanism of the X-axis rotation drive motor is arranged on both sides of the upper part of the first mounting base.

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