CN112372627A - Robot motion arm structure, system and robot - Google Patents

Abstract

The invention relates to the technical field of robots, and particularly discloses a robot motion arm structure, which comprises: an arm joining part, an upper arm part and a lower arm part; the upper arm part comprises a shoulder clamping plate and an upper swing arm, one end of the shoulder clamping plate is rotatably connected with the arm connecting part, and the other end of the shoulder clamping plate is rotatably connected with the upper part of the upper swing arm; the lower arm part comprises a steering engine support and a lower swing arm, one end of the steering engine support is rotatably connected with the lower part of the upper swing arm, and the other end of the steering engine support is rotatably connected with the upper part of the lower swing arm. The embodiment of the invention has the beneficial effects that: the robot motion arm structure enables the corresponding part of the robot motion arm structure to realize the execution of actions such as rotation or swing and the like by rotationally connecting the parts, so that the actions of the robot motion arm structure are flexible and changeable and are rich and interesting.

Description

Robot motion arm structure, system and robot

Technical Field

The invention relates to the technical field of robots, in particular to a robot motion arm structure, a system and a robot.

Background

The service type robot generally has the functions of autonomous walking, voice interaction and specific service handling, and along with the gradual improvement of the robot technology, the application of the functions is more and more mature. However, the limb movements of the existing service robots are still in a development stage, and the limb movements are not flexible enough and are single in stiffness.

Disclosure of Invention

The embodiment of the invention provides a robot moving arm structure, a system and a robot, which are used for solving the problems that the existing service type robot is inflexible in limb actions and single in stiffness.

According to a first aspect of embodiments of the present invention there is provided a robotic motion arm structure comprising:

an arm joining part, an upper arm part and a lower arm part; the upper arm part comprises a shoulder clamping plate and an upper swing arm, one end of the shoulder clamping plate is rotatably connected with the arm connecting part, and the other end of the shoulder clamping plate is rotatably connected with the upper part of the upper swing arm; the lower arm part comprises a steering engine support and a lower swing arm, one end of the steering engine support is rotatably connected with the lower part of the upper swing arm, and the other end of the steering engine support is rotatably connected with the upper part of the lower swing arm.

The embodiment of the invention has the beneficial effects that: the robot motion arm structure enables the corresponding part of the robot motion arm structure to realize the execution of actions such as rotation or swing and the like by rotationally connecting the parts, so that the actions of the robot motion arm structure are flexible and changeable and are rich and interesting.

On the basis of the technical scheme, the invention can be further improved as follows:

optionally, the upper swing arm comprises a support frame and a support frame, the upper portion of the support frame is rotatably connected in the opening at the other end of the shoulder clamping plate, and the lower portion of the support frame is connected with the upper portion of the support frame.

The invention adopts the above alternatives and has the beneficial effects that: the whole supporting frame and the supporting frame can rotate and swing relative to the shoulder clamping plate, so that the lower arm part is driven to swing correspondingly, and the flexibility and the diversity of the limb actions of the arm structure of the robot movement are further enriched.

Optionally, the steering engine support comprises an elbow splint, a first support plate and a second support plate of a rectangular frame structure, and support tables are arranged at the lower parts of the first support plate and the second support plate; elbow splint one end with the support frame lower part is rotated and is connected, the both sides of the other end respectively with first mounting panel reaches second mounting panel fixed connection.

The invention adopts the above alternatives and has the beneficial effects that: the steering engine support is rotatably connected with the support frame through one end of the elbow clamping plate, so that the whole lower arm part can rotate relative to the axial direction of the support frame of the upper arm part.

Optionally, the swing arm further comprises an arm-hand joint rotating shaft, and the arm-hand joint rotating shaft is rotatably connected to the lower portion of the lower swing arm.

The invention adopts the above alternatives and has the beneficial effects that: so that the moving arm structure of the robot can drive the arm-hand joint rotating shaft to rotate.

According to a second aspect of embodiments of the present invention there is provided a robotic motion arm system comprising: the robot comprises a main control device, a robot motion arm structure and a power driving mechanism arranged in the robot motion arm structure; the power driving mechanism comprises a plurality of steering engines, and the steering engines are in communication connection with the main control device through a CAN bus; the main control device controls the steering engine to rotate to drive the robot to move an arm structure to complete movement operation.

The embodiment of the invention has the beneficial effects that: the steering engines of a power driving mechanism in the system are mounted on a data communication line in a bus mode, each steering engine has a single ID address, a master control device serves as a master machine, the master machine sends an instruction packet to the slave machines to control the slave machines to rotate in a master-slave communication mode, and accordingly all parts of the arm structure of the robot can execute movement actions such as rotation and swing.

Optionally, the power driving mechanism includes a first steering engine and a first transmission mechanism, the first steering engine and the first transmission mechanism are disposed in the arm joining part, one end of the first transmission mechanism is rotatably connected to the first steering engine, and the other end of the first transmission mechanism is fixedly connected to one end of the shoulder splint, so that the first steering engine transmits power to the upper arm part through the first transmission mechanism.

The embodiment of the invention has the beneficial effects that: under the control of the main control device, a first steering engine arranged at the arm connecting part transmits power to the upper arm part through a first transmission mechanism, so that the upper arm part of the robot moving arm structure can rotate relative to the axial direction of the arm connecting part.

Optionally, the power driving mechanism further includes a second steering engine, a third steering engine and a second transmission mechanism, which are arranged in the upper swing arm; the second steering engine is arranged in the supporting frame, and the supporting frame is rotatably connected in an opening at the other end of the shoulder splint through the second steering engine;

the third steering engine is fixed between the supporting frame and the supporting frame, the second transmission mechanism is arranged in the supporting frame, one end of the second transmission mechanism is rotatably connected with the third steering engine, and the other end of the second transmission mechanism is fixedly connected with one end of the elbow clamping plate, so that the third steering engine transmits power to the lower arm part through the second transmission mechanism.

The embodiment of the invention has the beneficial effects that: under the control of the main control device, the support frame and the support frame of the whole upper arm part are driven to swing along the axial direction of the output end of the second steering engine through the rotation of the second steering engine, so that the lower arm part is driven to swing correspondingly, and the third steering engine transmits power to the lower arm part through the second transmission mechanism, so that the lower arm part can swing along the axial direction of the output end of the second steering engine and can rotate along the axial direction of the second transmission mechanism, and the flexibility and diversity of the limb actions of the robot motion arm structure are further enriched.

Optionally, the power driving mechanism further comprises a fourth steering engine arranged in the steering engine support and a fifth steering engine arranged in the lower swing arm, the lower swing arm is rotatably connected with the steering engine support through the fourth steering engine, and the fifth steering engine is rotatably connected with the arm-hand joint rotating shaft.

The invention adopts the above alternatives and has the beneficial effects that: when the lower swing arm swings along the axial direction of the output end of the fourth steering engine, the arm structure of the robot can drive the arm-hand joint rotating shaft to rotate along the axial direction of the output end of the fifth steering engine under the rotation of the fifth steering engine.

Optionally, the first transmission mechanism and the second transmission mechanism each include a connecting shaft, a coupler, a rotating shaft, and a plurality of bearings matched with the rotating shaft, one end of the coupler is connected with one end of the connecting shaft, and the other end of the coupler is connected with one end of the rotating shaft; the other end of the connecting shaft of the first transmission mechanism is rotatably connected with the first steering engine, and the other end of the rotating shaft is fixedly connected with the shoulder splint; the other end of the connecting shaft of the second transmission mechanism is rotatably connected with the third steering engine, and the other end of the rotating shaft is fixedly connected with the elbow clamping plate.

The invention adopts the above alternatives and has the beneficial effects that: the first steering engine transmits power to the upper arm part through the first transmission mechanism, and the third steering engine transmits power to the lower arm part through the second transmission mechanism, so that the upper arm part and the lower arm part can swing and can rotate at the same time, and the movement of the arm structure of the robot is flexible and changeable, and is rich and interesting.

According to a third aspect of the embodiments of the present invention, there is provided a robot including a robot body and a robot moving arm system; the robot body is connected with the arm connecting part of the robot motion arm structure.

The embodiment of the invention has the beneficial effects that: the steering engines in the robot motion arm system on the robot are mounted on a data communication line in a bus mode, each steering engine has a single ID address, a master control device is used as a host, a plurality of steering engines in a power driving mechanism are used as slaves in a master-slave communication mode, the host sends an instruction packet to the slaves to control the slaves to rotate, and then all parts of the robot motion arm system can execute motion actions such as rotation, swing and the like. The limb actions of the robot are enriched, so that the robot is more vivid and interesting when interacting with people.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic structural diagram of a moving arm structure of a robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of an arm joint according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of the fixing plate of FIG. 2;

fig. 4 is a schematic view of the first riser or the second riser of fig. 2;

FIG. 5 is a schematic structural view of the first cross plate in FIG. 2;

FIG. 6 is a schematic structural view of a connecting shaft or a fourth connecting shaft according to an embodiment of the present invention;

FIG. 7 is a schematic illustration of the construction of the coupling or second coupling in one embodiment of the present invention;

FIG. 8 is a schematic view of a bearing according to an embodiment of the present invention;

FIG. 9 is a schematic structural view of a rotating shaft or a third connecting shaft according to an embodiment of the present invention;

FIG. 10 is a schematic view of the structure of the upper arm part according to an embodiment of the present invention;

FIG. 11 is a schematic view of the shoulder splint of FIG. 10;

FIG. 12 is a schematic view of the first rotating plate or the second rotating plate shown in FIG. 10;

FIG. 13 is a schematic structural view of the fourth cross plate in FIG. 10;

FIG. 14 is a schematic structural view of the fifth cross plate in FIG. 10;

FIG. 15 is a schematic structural view of the I-shaped cross plate of FIG. 10;

FIG. 16 is a schematic structural view of the sixth cross plate in FIG. 10;

FIG. 17 is a schematic view of the lower arm portion of an embodiment of the present invention;

FIG. 18 is a schematic view of the elbow splint of FIG. 17;

FIG. 19 is a schematic view of the first or second brace panel of FIG. 17;

FIG. 20 is a schematic view of the third U-shaped frame plate of FIG. 17;

FIG. 21 is a schematic view of the cross plate of FIG. 17;

figure 22 is a schematic view of the connector tile of figure 17;

fig. 23 is a schematic structural view of an arm-hand joint rotating shaft according to an embodiment of the present invention.

In the figure: 1-arm connecting part, 111-fixing plate, 112-first vertical plate, 113-second vertical plate, 1121-right-angle hexagonal wing plate, 1122-V-shaped plate, 114-first transverse plate, 115-second transverse plate, 116-third transverse plate, 12-first steering gear, 13-connecting shaft, 131-base, 132-connecting rod, 14-coupler, 15-first bearing, 16-second bearing and 17-rotating shaft;

2-upper arm part, 21-shoulder clamping plate, 211-first U-shaped frame plate, 212-first U-shaped clamping plate, 221-first rotating plate, 222-second rotating plate, 223-fourth transverse plate, 2231-first fixed seat, 2232-second fixed seat, 23-second steering engine, 24-third steering engine, 251-fifth transverse plate, 2511-fixed ear plate, 252-fixed rod, 253-I-shaped transverse plate, 254-sixth transverse plate, 2541-mounting hole, 26-third bearing and 27-fourth bearing;

the lower arm part 3, 311-elbow splint, 3111-second U-shaped frame plate, 3311-first long rod through hole, 3112-second U-shaped splint, 312-first bracket plate, 313-second bracket plate, 3121-support table, 32-fourth steering engine, 331-third U-shaped frame plate, 332-long rod, 333-cross plate, 3331-steering engine support table, 3332-first rotating shaft hole, 3333-second long rod through hole, 334-joint plate, 3341-second rotating shaft hole, 3342-third long rod through hole, 335-fifth bearing, 34-fifth steering engine;

4-arm-hand joint rotating shaft, 41-round bottom plate, 42-rotating shaft rod; 5-fixing the clamping seat.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

In a first embodiment of the present invention, there is provided a robot motion arm structure, please refer to fig. 1, including: an arm joint part 1, an upper arm part 2 and a lower arm part 3. The upper arm part 2 comprises a shoulder clamping plate 21 and an upper swing arm, one end of the shoulder clamping plate 21 is rotatably connected with the arm connecting part 1, and the other end is rotatably connected with the upper part of the upper swing arm. The lower arm part 3 comprises a steering engine bracket and a lower swing arm, one end of the steering engine bracket is rotatably connected with the lower part of the upper swing arm, and the other end of the steering engine bracket is rotatably connected with the upper part of the lower swing arm. The robot motion arm structure provided by the embodiment of the invention has the advantages that the parts are rotationally connected, so that the corresponding parts of the robot motion arm structure realize the execution of actions such as rotation or swinging, and the like, and the actions of the robot motion arm structure are flexible and changeable, and are rich and interesting.

Specifically, referring to fig. 2-9, the arm connecting portion 1 includes a fixing plate 111, a first vertical plate 112, a second vertical plate 113, a first horizontal plate 114, a second horizontal plate 115 and a third horizontal plate 116. The first vertical plate 112 and the second vertical plate 113 both include right-angle hexagonal wing plates 1121, and V-shaped plates 1122 that are integrated with the right-angle hexagonal wing plates 1121, and the first vertical plate 112 and the second vertical plate 113 are relatively fixed on both sides of the fixing plate 111 through right-angle edges of the right-angle hexagonal wing plates 1121. The first horizontal plate 114 is a rectangular frame structure, and two ends of the first horizontal plate 114 are respectively fixed inside the right-angle hexagonal wing plate 1121, the second horizontal plate 115 and the third horizontal plate 116 are both rectangular plate-shaped structures provided with circular through holes, and the second horizontal plate 115 and the third horizontal plate 116 are fixed inside the first vertical plate 112 and the second vertical plate 113 at intervals and are located at the tail of the V-shaped plate 1122.

In the embodiment of the invention, the upper swing arm comprises a support frame and a support frame, the upper part of the support frame is rotatably connected in the opening at the other end of the shoulder splint 21, and the lower part of the support frame is connected with the upper part of the support frame. The whole supporting frame and the supporting frame can rotate and swing relative to the shoulder clamping plate 21, so that the lower arm part 3 is driven to swing correspondingly, and the flexibility and the diversity of the limb actions of the arm structure of the robot motion are further enriched.

Specifically, referring to fig. 10-16, the supporting frame includes a first rotating plate 221, a second rotating plate 222 and a fourth horizontal plate 223. The fourth horizontal plate 223 has a rectangular plate-shaped structure, and the upper surface of the fourth horizontal plate is disposed opposite to the first fixing seat 2231 and the second fixing seat 2232. The first rotating plate 221 and the second rotating plate 222 are both rectangular frame structures, and the lower portions of the first rotating plate 221 and the second rotating plate 222 are respectively fixed at the outer sides of the first fixing seat 2231 and the second fixing seat 2232. The supporting frame includes a fifth horizontal plate 251, four fixing rods 252, an I-shaped horizontal plate 253 and a sixth horizontal plate 254. The fifth horizontal plate 251 has a rectangular frame structure, and four fixing lugs 2511 are disposed outside the fifth horizontal plate 251. The middle part and the four ports of the I-shaped transverse plate 253 are respectively provided with a through hole. The sixth transverse plate 254 has a rectangular plate-like structure, and a through hole is provided in the middle, and mounting holes 2541 are provided at four ports. One end of each of the four fixing rods 252 is fixed to the fixing ear plate 2511, and the other end passes through the through holes at the four ends of the i-shaped transverse plate 253 and then is fixed in the mounting hole 2541 of the sixth transverse plate 254, thereby forming the support frame of the upper swing arm.

Referring to fig. 17-22, the steering engine bracket includes an elbow splint 311, a first bracket plate 312 and a second bracket plate 313 having a rectangular frame structure, and a support table 3121 is disposed at lower portions of the first bracket plate 312 and the second bracket plate 313. One end of the elbow splint 311 is rotatably connected with the lower part of the support frame, and the two sides of the other end are respectively fixedly connected with the first support plate 312 and the second support plate 313. Specifically, the toggle clamp plate 311 includes a second U-shaped frame plate 3111 and a second U-shaped clamp plate 3112 disposed at the bottom of the second U-shaped frame plate 3111, and the upper portions of the first bracket plate 312 and the second bracket plate 313 are fixed to the inner side of the second U-shaped frame plate 3111 of the toggle clamp plate 311. The steering engine support is rotatably connected with the support frame through one end of the elbow clamping plate 311, so that the lower arm part 3 can integrally rotate relative to the support frame of the upper arm part 2 in the axial direction.

Referring to fig. 1 and 23, in the embodiment of the present invention, the robot motion arm structure further includes an arm-hand connecting rotating shaft 4, and the arm-hand connecting rotating shaft 4 is rotatably connected to the lower portion of the lower swing arm, so that the robot motion arm structure can drive the arm-hand connecting rotating shaft 4 to rotate. Referring to fig. 17-22, the lower swing arm includes a third U-shaped frame plate 331, two long rods 332, a cross-shaped plate 333 and a connecting plate 334. The two sides of the bottom of the third U-shaped frame plate 331 are provided with first long rod through holes 3311. The middle part of the cross-shaped plate 333 is provided with a steering engine bearing table 3331, the bottom of the steering engine bearing table 3331 is provided with a first rotating shaft hole 3332, and the two transverse ends of the steering engine bearing table 3331 are provided with second long rod through holes 3333. The connection plate 334 is a diamond plate structure, the middle of the connection plate 334 is provided with a second rotation shaft hole 3341, the two horizontal ends are provided with a third long rod through hole 3342, one end of each of the two long rods 332 is fixed in the first long rod through hole 3311, and the other end of each of the two long rods 332 passes through the second long rod through hole 3333 and then is fixed in the third long rod through hole 3342.

In a second embodiment of the present invention, there is provided a robotic motion arm system comprising: the robot motion arm structure comprises a main control device, a robot motion arm structure in the first embodiment and a power driving mechanism arranged in the robot motion arm structure. The power driving mechanism comprises a plurality of steering engines, the steering engines are in communication connection with the main control device through a CAN bus, the main control device controls the rotation of the steering engines to drive the robot to move an arm structure to complete movement operation, and the main control device comprises a microcontroller chip STM 32. The steering engines of the power driving mechanism in the system provided by the embodiment of the invention are mounted on a data communication line in a bus mode, referring to fig. 2, the robot motion arm mechanism is also uniformly provided with a fixed clamping seat 5 for fixing the steering engine wiring, each steering engine has an independent ID address, a master-slave communication mode is adopted, a plurality of steering engines are used as slaves, a master control device is used as a master, the master sends an instruction packet to the slaves to control the slaves to rotate, and then all parts of the robot motion arm structure can execute motion actions such as rotation, swing and the like, and the actions are flexible, changeable and interesting.

Specifically, referring to fig. 2, in the embodiment of the present invention, the power driving mechanism includes a first steering engine 12 and a first transmission mechanism, the first steering engine 12 and the first transmission mechanism are disposed in the arm joint portion 1, one end of the first transmission mechanism is rotatably connected to the first steering engine 12, and the other end of the first transmission mechanism is fixedly connected to one end of the shoulder splint 21, so that the first steering engine 12 transmits power to the arm portion 2 through the first transmission mechanism. Under the control of a main control device (a microcontroller chip STM32), a first steering engine 12 arranged on an arm connecting part 1 transmits power to an upper arm part 2 through a first transmission mechanism, so that the upper arm part 2 of a robot moving arm structure can rotate relative to the axial direction of the arm connecting part 1.

The first transmission mechanism comprises a connecting shaft 13, a coupler 14, a rotating shaft 17, and a first bearing 15 and a second bearing 16 which are matched with the rotating shaft 17. The connecting shaft 13 includes a base 131 and a connecting rod 132, the rotating shaft 17 includes a shaft rod and a shaft handle, one end of the coupling 14 is connected with the connecting rod 132 at one end of the connecting shaft 13, and the other end is connected with the shaft rod at one end of the rotating shaft 17, wherein the first bearing 15 is disposed in the circular through hole of the second transverse plate 115 of the arm joint portion 1, the second bearing 16 is disposed in the circular through hole of the third transverse plate 116, the shaft rod of the rotating shaft 17 is sequentially matched with the second bearing 16 and the first bearing 15 and extends out of the second transverse plate 115, namely, the shaft rod of the extending part of the rotating shaft 17 is connected with the other end of. The base 131 at the other end of the connecting shaft 13 of the first transmission mechanism is connected with a steering engine flange plate at the output end of the first steering engine 12, and the shaft handle at the other end of the rotating shaft 17 is fixedly connected with the shoulder clamping plate 21. Specifically, the shoulder splint 21 includes a first U-shaped frame plate 211 and a first U-shaped clip plate 212 disposed at the bottom of the first U-shaped frame plate 211, and the shaft of the rotating shaft 17 of the first transmission mechanism is fixed in the first U-shaped clip plate 212, so that the arm joint portion 1 rotates the upper arm portion 2 in the axial direction of the rotating shaft 17 of the first transmission mechanism.

Therefore, in the embodiment of the invention, the upper arm part 2 and the lower arm part 3 are driven to rotate along the axial direction of the steering engine flange plate (or the axial direction of the rotating shaft 17) at the output end of the first steering engine 12 simultaneously through the rotation of the first steering engine 12 and the first transmission mechanism of the power driving mechanism arranged in the arm connecting part 1, so that the limb movement direction of the arm structure of the robot is enriched.

In the embodiment of the invention, the power driving mechanism further comprises a second steering engine 23, a third steering engine 24 and a second transmission mechanism which are arranged in the upper swing arm in the first embodiment. The second steering wheel 23 sets up in the carriage, and the carriage passes through second steering wheel 23 and rotates to be connected in the opening of shoulder splint 21 other end. Specifically, a steering engine flange plate arranged at one end of a power output end of the second steering engine 23 in the supporting frame penetrates through a rectangular through hole of a first rotating plate 221 of the supporting frame to be rotatably connected to the inner side of one end of a first U-shaped frame plate 211 of the shoulder clamping plate 21, a connecting flange plate 231 is fixed on the steering engine flange plate at the other end of the second steering engine 23, and the connecting flange plate 231 penetrates through a rectangular through hole of a second rotating plate 222 to be connected to the inner side of the other end of the first U-shaped frame plate 211 of the shoulder clamping plate 21.

The third steering engine 24 is fixed between the support frame and the support frame, the second transmission mechanism is arranged in the support frame, one end of the second transmission mechanism is rotatably connected with the third steering engine 24, and the other end of the second transmission mechanism is fixedly connected with one end of the elbow clamping plate 311, so that the third steering engine 24 transmits power to the lower arm part 3 through the second transmission mechanism. Specifically, referring to fig. 10, the second transmission mechanism includes a connecting shaft 13 (not shown in the figure due to an angle), a coupler 14, a rotating shaft 17, and a third bearing 26 and a fourth bearing 27 which are matched with the rotating shaft 17, the connecting shaft 13 includes a base 131 and a connecting rod 132, the rotating shaft 17 includes a shaft rod and a shaft handle, one end of the coupler 14 is connected with the connecting rod 132 at one end of the connecting shaft 13, and the other end is connected with the shaft rod at one end of the rotating shaft 17, specifically, the third bearing 26 is disposed in a through hole in the middle of an i-shaped transverse plate 253 of the upper swing arm, the fourth bearing 27 is disposed in a through hole in the middle of a sixth transverse plate 254, the shaft rod of the rotating shaft 17 of the second transmission mechanism is sequentially matched with the fourth bearing 27 and the third bearing 26 and extends out of the i-shaped transverse plate 253. Meanwhile, the base 131 at the other end of the connecting shaft 13 of the second transmission mechanism is rotatably connected with the third steering engine 24 (specifically, the base 131 at the other end of the connecting shaft 13 is connected with a steering engine flange at the output end of the third steering engine 24), the shaft handle at the other end of the rotating shaft 17 is fixedly connected with the elbow clamping plate 311, specifically, the shaft handle of the rotating shaft 17 of the second transmission mechanism is connected in the second U-shaped clamping plate 3112 at the top end of the elbow clamping plate 311 of the lower arm part 3, so that the third steering engine 24 can transmit power to the lower arm part 3 through the second transmission mechanism, so that the lower arm part 3 can rotate along the axial direction of the rotating shaft 17.

Therefore, under the control of the main control device, the embodiment of the invention drives the support frame and the support frame of the whole upper arm part 2 to swing along the axial direction of the steering engine flange plate at the output end of the second steering engine 23 through the rotation of the second steering engine 23, further drives the lower arm part 3 to swing correspondingly, and transmits power to the lower arm part 3 through the third steering engine 24 through the second transmission mechanism, so that the lower arm part 3 can swing along the axial direction of the steering engine flange plate at the output end of the second steering engine 23 and can also rotate along the axial direction of the rotating shaft 17 of the second transmission mechanism, thereby further enriching the flexibility and diversity of limb actions of the arm structure of the robot in motion.

In the embodiment of the invention, the power driving mechanism further comprises a fourth steering engine 32 arranged in the steering engine bracket and a fifth steering engine 34 arranged in the lower swing arm, the lower swing arm is rotatably connected with the steering engine bracket through the fourth steering engine 32, and the fifth steering engine 34 is rotatably connected with the arm-hand connecting rotating shaft 4. Specifically, the steering engine flange plates on two sides of the output end of the fourth steering engine 32 are respectively rotatably connected with the inner sides of two ends of the third U-shaped frame plate 331 of the lower swing arm, and when the fourth steering engine 32 rotates, the lower swing arm is driven to swing along the axial direction of the steering engine flange plate on the power output end of the fourth steering engine 32. A steering engine bearing platform 3331 arranged in the middle of the cross-shaped plate 333 of the lower swing arm is used for bearing and fixing the fifth steering engine 34, specifically, in this embodiment, the arm-hand joint rotating shaft 4 includes a circular base 41 and a rotating shaft rod 42, the circular base 41 of the arm-hand joint rotating shaft 4 is connected with a steering engine flange at the output end of the fifth steering engine 34, and the rotating shaft rod 42 is matched with a fifth bearing 335 arranged in a second rotating shaft hole 3341 in the middle of the joint plate 334 and extends out of the joint plate 334.

Therefore, in the embodiment of the invention, while the lower swing arm swings along the axial direction of the steering engine flange at the output end of the fourth steering engine 32, the arm structure of the robot motion can drive the arm-hand joint rotating shaft to rotate along the axial direction of the steering engine flange at the output end of the fifth steering engine 34 under the rotation of the fifth steering engine 34. In practical application, the arm-hand joint rotating shaft 4 can also be designed in different structural forms to realize that the mechanical arms with different functions are assembled on the robot motion arm structure, so the arm-hand joint rotating shaft 4 in the invention is not limited to the structural form shown in fig. 23.

In a third embodiment of the present invention, a robot is provided, which includes a robot body and a robot motion arm system. The robot motion arm system comprises a main control device, a robot motion arm structure and a power driving mechanism arranged in the robot motion arm structure. The power driving mechanism comprises a plurality of steering engines, and the steering engines are in communication connection with the main control device through a CAN bus. The robot body is connected to the arm joint part 1 of the robot moving arm structure, specifically, the robot body is connected to the fixing plate 111 of the arm joint part 1, in practice, the fixing plate 111 can be assembled to the body of a robot of different model such as a service robot by designing different structural forms, and therefore the fixing plate 111 in the embodiment of the present invention is not limited to the structural form shown in fig. 3.

The steering engines of the power driving mechanism arranged in the robot motion arm structure are in communication connection with the main control device through a CAN bus, the main control device controls the steering engines to rotate to drive all parts of the robot motion arm structure to complete motion operation, the steering engines are mounted on a data communication line in a bus mode, each steering engine has an individual ID address, a plurality of steering engines in the robot motion arm structure are used as slave machines in a master-slave communication mode, the main control device is used as a master machine, the master machine sends an instruction packet to the slave machines to control the slave machines to rotate, and therefore all parts of the robot motion arm structure CAN execute motion actions such as rotation and swing. Specifically, the main control device comprises a microcontroller chip STM32, a robot motion arm structure of the robot drives an upper arm part 2 and a lower arm part 3 to rotate along the axial direction of a rotating shaft 17 through the rotation of a first steering engine 12 in an arm connecting part 1 under the control of a microcontroller chip STM32, the upper swing arm is driven to swing along the axial direction of steering engine flange plates at two sides of the output end of the second steering engine 23 under the rotation of a second steering engine 23 in the upper arm part 2, the lower arm part 3 is driven to rotate along the axial direction of the rotating shaft 17 through a second transmission mechanism under the rotation of a third steering engine 24, the lower swing arm is driven to swing along the axial direction of a flange plate at the output end of a fourth steering engine 32 under the rotation of the fourth steering engine 32, an arm-hand connecting rotating shaft is driven to rotate along the axial direction of the flange plate at the output end of a fifth steering engine 34 under the rotation of the fifth steering engine 34, and the robot serves a person with a service function, the embodiment of the invention enables the service robot provided with the robot motion arm structure to flexibly show different gestures, enriches the limb actions of the service robot, and enables the service robot to be more vivid and interesting when interacting with people.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), and includes a plurality of instructions for controlling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A robotic motion arm structure, comprising:

an arm joining part, an upper arm part and a lower arm part; the upper arm part comprises a shoulder clamping plate and an upper swing arm, one end of the shoulder clamping plate is rotatably connected with the arm connecting part, and the other end of the shoulder clamping plate is rotatably connected with the upper part of the upper swing arm; the lower arm part comprises a steering engine support and a lower swing arm, one end of the steering engine support is rotatably connected with the lower part of the upper swing arm, and the other end of the steering engine support is rotatably connected with the upper part of the lower swing arm.

2. The robotic motion arm structure of claim 1, wherein the upper swing arm includes a support frame and a support frame, an upper portion of the support frame being pivotally connected within an opening at the other end of the shoulder splint and a lower portion of the support frame being connected to an upper portion of the support frame.

3. The robot motion arm structure of claim 1, wherein the steering engine support comprises an elbow splint, a first support plate and a second support plate of a rectangular frame structure, and support tables are arranged on the lower parts of the first support plate and the second support plate; elbow splint one end with the support frame lower part is rotated and is connected, the both sides of the other end respectively with first mounting panel reaches second mounting panel fixed connection.

4. The robotic motion arm structure of claim 1, further comprising an arm-hand engagement shaft rotatably coupled to a lower portion of the lower swing arm.

5. A robotic motion arm system, comprising: a master control device, the robotic motion arm structure of claims 1-4, and a power drive mechanism disposed within the robotic motion arm structure; the power driving mechanism comprises a plurality of steering engines, and the steering engines are in communication connection with the main control device through a CAN bus; the main control device controls the steering engine to rotate to drive the robot to move an arm structure to complete movement operation.

6. The robotic motion arm system of claim 5, wherein the power drive mechanism comprises a first steering engine and a first transmission mechanism, the first steering engine and the first transmission mechanism are arranged in the arm joint, one end of the first transmission mechanism is rotatably connected with the first steering engine, and the other end of the first transmission mechanism is fixedly connected with one end of the shoulder splint, so that the first steering engine transmits power to the upper arm part through the first transmission mechanism.

7. The robotic motion arm system of claim 5, wherein the power drive mechanism further comprises a second steering engine, a third steering engine, and a second transmission mechanism disposed within the upper swing arm; the second steering engine is arranged in the supporting frame, and the supporting frame is rotatably connected in an opening at the other end of the shoulder splint through the second steering engine;

the third steering engine is fixed between the supporting frame and the supporting frame, the second transmission mechanism is arranged in the supporting frame, one end of the second transmission mechanism is rotatably connected with the third steering engine, and the other end of the second transmission mechanism is fixedly connected with one end of the elbow clamping plate, so that the third steering engine transmits power to the lower arm part through the second transmission mechanism.

8. The robotic motion arm system according to claim 5, wherein the power drive mechanism further comprises a fourth steering engine disposed in the steering engine bracket and a fifth steering engine disposed in the lower swing arm, the lower swing arm is rotatably connected to the steering engine bracket through the fourth steering engine, and the fifth steering engine is rotatably connected to the arm-hand joint rotating shaft.

9. The robotic motion arm system according to claims 6 and 7, wherein the first transmission mechanism and the second transmission mechanism each comprise a connecting shaft, a coupling, a rotating shaft, and a plurality of bearings fitted to the rotating shaft, the coupling having one end connected to one end of the connecting shaft and the other end connected to one end of the rotating shaft; the other end of the connecting shaft of the first transmission mechanism is rotatably connected with the first steering engine, and the other end of the rotating shaft is fixedly connected with the shoulder splint; the other end of the connecting shaft of the second transmission mechanism is rotatably connected with the third steering engine, and the other end of the rotating shaft is fixedly connected with the elbow clamping plate.

10. A robot comprising a robot body and a robotic motion arm system according to any of claims 5-8; the robot body is connected with the arm connecting part of the robot motion arm structure.

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