A new multi-joint robot arm

Abstract

The utility model discloses a novel multi -joint mechanical arm belongs to mechanical arm technical field, and it includes main arm pole, connecting seat, driving bevel gear, driven bevel gear, transmission intermediate shaft, small arm drive shaft, wrist joint seat, finger structure and finger drive link, and driving bevel gear is engaged with driven bevel gear, and the path of the power transmission to main arm pole is constituted through transmission intermediate shaft and small arm drive shaft, and the wrist joint seat is fixed in the main arm pole end, and the finger structure that is formed by multiple joints is rotatably connected on it through the wrist joint axle, and finger drive link is provided with wrist joint seat and is connected with the first joint of finger. The utility model constructs the power transmission chain of coherence, solved the power transmission loss of prior art, arm, wrist, the problem of poor cooperation of finger, has the advantages of high -efficient power transmission, wrist posture adjustment nimble, gripping action accurate bionic.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a novel multi-joint robotic arm. Background Technology

[0002] As an important branch of robotics, bionic robotic arms aim to mimic the structure and function of the human arm to replace or assist humans in performing tasks in high-risk, high-intensity, or delicate work scenarios. To achieve highly bionic movement, existing robotic arms are typically designed with wrist joints containing multiple degrees of freedom and bionic hands with multiple finger joints.

[0003] In practical applications, the performance of a robotic arm depends not only on the flexibility of the end effectors such as the wrist and hand, but more importantly on the power transmission efficiency and motion coordination of the entire arm. An ideal bionic robotic arm should be able to smoothly and efficiently transmit the power input from the base to the end of the arm, and accurately convert it into wrist posture adjustment and finger grasping movements, achieving a high degree of coordination between the arm, wrist, and fingers.

[0004] However, in many existing technical solutions, the integration design of the power transmission system and the end effector is still insufficient. These designs often fail to balance transmission efficiency and structural flexibility. Power is lost when transmitted through multiple joints, and response delay is obvious, resulting in stiff and unsmooth overall movements of the robotic arm.

[0005] Therefore, this utility model proposes a novel multi-joint robotic arm to address the shortcomings of existing technologies. Utility Model Content

[0006] In view of the problems in the existing technology of novel multi-joint robotic arms, such as insufficient integration design of the power transmission system and end effector, resulting in large power transmission loss and poor coordination of arm, wrist and finger movements, this utility model aims to provide a novel multi-joint robotic arm with an improved structure that can effectively solve the above problems.

[0007] This utility model provides a novel multi-joint robotic arm, comprising: a main arm rod, a connecting seat, an active bevel gear, a driven bevel gear, a transmission intermediate shaft, a forearm drive shaft; and a wrist joint seat, a finger structure, a wrist joint shaft, and a finger drive linkage.

[0008] The power transmission and execution mechanism of the robotic arm form an organic whole. A connecting seat is set at the power input end, and the driving bevel gear is rotatably mounted on the connecting seat. The driven bevel gear meshes with the driving bevel gear for transmission. One end of the transmission intermediate shaft is fixedly connected to the driven bevel gear, and the other end is connected to the arm drive shaft housed in the main arm. The arm drive shaft and the main arm form a telescopic transmission relationship, which is used to drive the main arm to complete the basic actions of extension or retraction.

[0009] Furthermore, a wrist joint seat is fixedly connected to the end of the main arm away from the connecting seat. The finger structure is rotatably connected to the wrist joint seat through the wrist joint axis. The finger structure is formed by the sequential rotatable connection of the first segment joint, the middle segment joint, and the last segment joint of the finger. The finger drive linkage is movably inserted through the wrist joint seat, and one end of it is hinged to the first segment joint of the finger, thus forming a complete continuous mechanical transmission and execution system from the power input end through the arm and wrist to the fingertip.

[0010] Preferably, the wrist joint seat and the main arm are also rotatably connected by an auxiliary joint axis, the rotation axis of the auxiliary joint axis being perpendicular to the rotation axis of the wrist joint axis. This dual-axis structure forms a multi-degree-of-freedom wrist joint, which can significantly enhance the posture adjustment flexibility of the robotic arm end effector.

[0011] Preferably, the intermediate transmission shaft and the forearm drive shaft are also connected by a full-angle rotating shaft. The full-angle rotating shaft allows for stable power transmission even when there is a certain angle between the transmission shafts, thereby improving the transmission reliability of the robotic arm when it swings a large distance.

[0012] Preferably, the first joint of the finger, the middle joint of the finger, and the last joint of the finger are rotatably connected by a finger joint axis, which is a standard pin structure, ensuring smooth and stable rotation of the interphalangeal joints.

[0013] Preferably, the finger structure further includes a joint axis that runs through and rotatably connects multiple finger proximal joints, providing a common reference axis for the synchronous opening and closing movements of multiple fingers, effectively simplifying the overall drive and control structure of the hand.

[0014] Preferably, the end of the main arm away from the wrist joint seat is also provided with an arm connecting flange. This arm connecting flange serves as a standardized mechanical interface, facilitating the rapid and stable installation and docking of the entire robotic arm with other equipment or robot bases.

[0015] Preferably, the meshing point of the driving bevel gear and the driven bevel gear is located at the base of the main arm. This arrangement helps to concentrate the heavier drive components at the root of the robotic arm, thereby reducing the moment of inertia of the arm during movement and improving its dynamic response performance.

[0016] This utility model has the following beneficial effects: 1. This utility model solves the problems of discontinuous and inefficient power transmission paths and poor coordination of various components in the prior art by setting up a complete power transmission chain consisting of an active bevel gear, a driven bevel gear, a transmission intermediate shaft and a forearm drive shaft. The stable and efficient transmission of power from the input end to the execution end ensures the continuity of the overall movement of the robotic arm and its rapid response capability.

[0017] 2. This utility model solves the problem of limited wrist joint freedom and posture adjustment ability in the prior art, which makes it difficult to adapt to grasping tasks in complex spaces, by setting a multi-axis wrist joint structure composed of mutually perpendicular wrist joint axes and auxiliary joint axes. It endows the wrist with multi-dimensional rotation ability, enhances the flexibility and accuracy of hand operations, and enables more complex bionic postures.

[0018] 3. This utility model solves the problem of complex and cumbersome finger-driven structures in the prior art, which make it difficult to accurately simulate the multi-joint coordinated grasping action of the human hand, by using a finger-driven linkage to drive a multi-segment finger composed of a first segment, middle segment and last segment joint connected in sequence. It realizes the coordinated control of the multi-joint movement of the finger, accurately simulates the bionic action of human hand grasping and releasing, and improves the precision and reliability of operation. Attached Figure Description

[0019] Figure 1 This is a three-dimensional schematic diagram of a novel multi-joint robotic arm proposed in this utility model; Figure 2 This is a schematic diagram of the distal phalanx joint of a novel multi-joint robotic arm proposed in this utility model. Figure 3 This is a schematic diagram of the wrist joint axis of a novel multi-joint robotic arm proposed in this utility model; Figure 4 This is a schematic diagram of the transmission intermediate shaft of a novel multi-joint robotic arm proposed in this utility model.

[0020] Legend: 1. Main arm; 2. Wrist joint seat; 3. Finger drive linkage; 4. Finger distal joint; 5. Joint assembly shaft; 6. Finger proximal joint; 7. Finger mid-segment joint; 8. Arm connecting flange; 9. Forearm drive shaft; 10. Full-angle rotation shaft; 11. Driving bevel gear; 12. Driven bevel gear; 13. Transmission intermediate shaft; 14. Connecting seat; 15. Finger joint shaft; 16. Wrist joint shaft; 17. Auxiliary joint shaft. Detailed Implementation

[0021] 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.

[0022] Please refer to Figures 1 to 4 This utility model provides a novel multi-joint robotic arm, which aims to solve the problem that existing bionic robotic arms have shortcomings in the integrated design of power transmission, wrist posture adjustment and finger linkage grasping, resulting in low motion coordination and bionic precision.

[0023] like Figure 1 As shown, this novel multi-joint robotic arm includes a main arm 1 and a power transmission and execution mechanism integrated into and passing through the main arm 1. The basic frame of the power transmission and execution mechanism starts from a connecting seat 14, on which a driving bevel gear 11 is rotatably mounted. A driven bevel gear 12 meshes with the driving bevel gear 11 to change the direction of power transmission. One end of a transmission intermediate shaft 13 is fixedly connected to the driven bevel gear 12 to transmit power to the arm. A forearm drive shaft 9 is connected to the other end of the transmission intermediate shaft 13 and is housed within the main arm 1. The forearm drive shaft 9 and the main arm 1 form a telescopic transmission relationship to drive the main arm. The lever 1 enables extension or retraction. A wrist joint seat 2 is fixedly connected to the end of the main arm lever 1 away from the connecting seat 14. The wrist joint seat 2 is used to connect the finger structure. The finger structure is rotatably connected to the wrist joint seat 2 via the wrist joint axis 16. The finger drive link 3 is movably inserted through the wrist joint seat 2. One end of the finger drive link 3 is connected to the finger structure to drive the finger movement. Specifically, the finger structure includes the first segment joint 6, the middle segment joint 7, and the last segment joint 4 of the finger, which are rotatably connected in sequence. One end of the finger drive link 3 is hinged to the first segment joint 6 of the finger, thereby converting linear motion into coordinated rotation of the finger joints to achieve the biomimetic action of grasping and releasing.

[0024] To achieve more flexible wrist posture adjustment, the wrist joint of this new multi-joint robotic arm adopts a multi-axis design. Please refer to the following for details. Figure 1 and Figure 3 The wrist joint seat 2 and the main arm 1 are also rotatably connected by an auxiliary joint axis 17. The rotation axis of the auxiliary joint axis 17 is perpendicular to the rotation axis of the wrist joint axis 16. Through the synergistic action of the two mutually perpendicular joint axes, the wrist joint seat 2 can drive the finger structure connected to its end, realizing multi-dimensional rotation such as pitch and yaw similar to the human wrist. This greatly enhances the posture adjustment capability of the robotic arm when performing grasping operations in complex spaces, and provides a flexible positional basis for precise hand operation.

[0025] To improve the adaptability and range of motion of the transmission system, such as Figure 1 and Figure 4 As shown, the intermediate transmission shaft 13 and the forearm drive shaft 9 are also connected by a full-angle rotating shaft 10. The structure of the full-angle rotating shaft 10 is similar to a universal joint, which allows torque to be transmitted smoothly even when there is a certain angle between the input shaft and the output shaft. This setting makes it less likely for the internal power transmission chain to interfere or jam when the main arm 1 swings or bends over a wide range, ensuring that the power transmission from the power source to the end of the arm is always smooth and reliable, further enhancing the overall multi-directional rotation capability of the robotic arm and its adaptability to complex operating scenarios.

[0026] Based on the above embodiments, the present invention may further include the following preferred technical solutions: As a preferred embodiment, to make the rotation of the finger joints smoother, please refer to... Figure 2 The first joint 6, the middle joint 7, and the last joint 4 of the finger are rotatably connected by a finger joint axis 15. The finger joint axis 15 is a standard pin structure, which ensures the reliability of the connection between the finger segments and low resistance to rotation.

[0027] As another preferred embodiment, to achieve synchronous or differential actuation of multiple fingers and simplify the hand structure, please refer to... Figure 2 The finger structure also includes a joint axis 5, which passes through and rotatably connects multiple finger joints 6, enabling multiple fingers to open and close around a common axis. The joint axis 5 is fixed in the palm base structure, providing a uniform mounting reference for all fingers.

[0028] As another preferred embodiment, to facilitate the installation and docking of the robotic arm with other equipment or robot bases, please refer to... Figure 1 The main boom 1 is also provided with a boom connecting flange 8 at the end away from the wrist joint seat 2. The boom connecting flange 8 has multiple mounting through holes, providing a standardized mechanical interface.

[0029] As a specific structural layout, in order to make the overall structure more compact, the meshing point of the driving bevel gear 11 and the driven bevel gear 12 is located at the base of the main boom 1, near the boom connecting flange 8. This layout is conducive to concentrating heavier components such as the power source at the root of the robotic arm, reducing the moment of inertia of the boom and improving motion performance.

[0030] The working principle of this novel multi-joint robotic arm is as follows: Power is input from the connecting seat 14, driving the drive bevel gear 11 to rotate. Since the drive bevel gear 11 and the driven bevel gear 12 are always meshed, the rotation of the drive bevel gear 11 will drive the driven bevel gear 12 to rotate, which in turn drives the transmission intermediate shaft 13 fixedly connected to it to rotate. The transmission intermediate shaft 13 transmits the rotational motion to the arm drive shaft 9 through the full-angle rotating shaft 10. After receiving the power, the main boom 1, which forms a telescopic transmission relationship with it, will perform the action of extending or retracting. At the same time, the boom connecting flange 8 ensures that the connection between the main boom 1 and other equipment is stable.

[0031] The power continues to be transmitted to the wrist along the transmission path. Through the coordinated rotation of the wrist joint axis 16 and the auxiliary joint axis 17, the wrist joint seat 2 can achieve multi-dimensional posture adjustment, providing a flexible angle for hand operation. Finally, the power is transmitted to the finger drive linkage 3 through a conversion mechanism (not shown), causing it to produce an axial pulling or pushing action. Since the finger drive linkage 3 is hinged to the first segment joint 6 of the finger, the linear motion of the linkage pulls the first segment joint 6, the middle segment joint 7, and the last segment joint 4 of the finger to rotate around their respective finger joint axis 15 and joint group axis 5, thereby coordinating to complete the bionic action of grasping or releasing.

[0032] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A novel multi-joint robotic arm, comprising a main arm (1), characterized in that, The robotic arm also includes: Connector (14); A drive bevel gear (11) is rotatably mounted on the connecting seat (14); Driven bevel gear (12) meshes with driving bevel gear (11) for transmission; The transmission intermediate shaft (13) is fixedly connected at one end to the driven bevel gear (12); The forearm drive shaft (9) is connected to the other end of the transmission intermediate shaft (13) and is housed in the main boom (1); A wrist joint seat (2) is fixedly connected to the end of the main arm (1) away from the connecting seat (14); The finger structure is rotatably connected to the wrist joint seat (2) via a wrist joint axis (16). A finger-driven linkage (3) is movably inserted through the wrist joint seat (2), and one end of it is connected to the finger structure for transmission. Furthermore, the finger structure includes a first finger joint (6), a middle finger joint (7), and a last finger joint (4) that are rotatably connected in sequence, and one end of the finger drive link (3) is hinged to the first finger joint (6).

2. The novel multi-joint robotic arm according to claim 1, characterized in that, The wrist joint seat (2) and the main arm (1) are rotatably connected by an auxiliary joint shaft (17), the rotation axis of the auxiliary joint shaft (17) being perpendicular to the rotation axis of the wrist joint shaft (16).

3. The novel multi-joint robotic arm according to claim 1, characterized in that, The intermediate transmission shaft (13) and the forearm drive shaft (9) are also connected by a full-angle rotating shaft (10).

4. The novel multi-joint robotic arm according to claim 1, characterized in that, The first joint (6), the middle joint (7), and the last joint (4) of the finger are rotatably connected by a finger joint axis (15).

5. A novel multi-joint robotic arm according to claim 4, characterized in that, The finger structure also includes a joint shaft (5), which passes through and rotatably connects multiple finger proximal joints (6).

6. A novel multi-joint robotic arm according to claim 1, characterized in that, The main boom (1) is also provided with a boom connecting flange (8) at the end away from the wrist joint seat (2).

7. A novel multi-joint robotic arm according to claim 1, characterized in that, The meshing point of the driving bevel gear (11) and the driven bevel gear (12) is located at the base of the main boom (1).

8. A novel multi-joint robotic arm according to claim 1, characterized in that, The forearm drive shaft (9) and the main boom (1) form a telescopic transmission relationship to drive the main boom (1) to extend or retract.

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