CN209936927U

CN209936927U - Arm moving mechanism and robot

Info

Publication number: CN209936927U
Application number: CN201920370231.XU
Authority: CN
Inventors: 覃争鸣; 李忠峰
Original assignee: Rich Intelligent Science And Technology Ltd Is Reflected In Guangzhou
Current assignee: Rich Intelligent Science And Technology Ltd Is Reflected In Guangzhou
Priority date: 2019-03-21
Filing date: 2019-03-21
Publication date: 2020-01-14
Anticipated expiration: 2029-03-21

Abstract

The utility model discloses an arm moving mechanism, which comprises a transmission component, a motor and a motor fixing component, wherein the motor comprises a motor shell and a rotor; one side of the motor fixing piece is fixedly connected with the motor shell, and the other side of the motor fixing piece is used for fixedly connecting a body; one end of the transmission assembly is fixedly connected with the rotor, and the other end of the transmission assembly is fixedly connected with the arm; when the motor rotates, the rotor is used for driving the transmission assembly and the arms, so that the arms rotate relative to the body. The utility model discloses a robot. The utility model discloses arm moving mechanism can assist the nimble rotation of robot arm portion, has high emulation effect, and the arm passes through arm moving mechanism with the body to be connected, makes things convenient for the dismouting.

Description

Arm moving mechanism and robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to an arm moving mechanism who is applied to robot and robot including this arm moving mechanism.

Background

A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.

"bionic robot" refers to a robot that simulates a living being and performs the work of biological characteristics. At present, mechanical pets are very popular, and in addition, the sparrow-imitating robot can play a role in environmental monitoring and has wide development prospect. In the twenty-first century, people will enter an aging society, the development of a humanoid robot can make up for the serious shortage of young labor, solve the social problems of family service, medical treatment and the like of the aging society, such as a partner robot, and can open up a new industry and create a new employment opportunity. Each joint of the bionic robot is similar to a biological joint, and the movement form of the bionic robot is similar to that of a human. The rotation of the arms of the traditional bionic robot is not flexible, and the disassembly and the assembly of the arms of the traditional bionic robot are inconvenient, so that the problems of inconvenient fault maintenance and the like are caused.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, one of the purposes of the utility model is to provide an arm moving mechanism to overcome the problems of the robot arm such as inflexible rotation and inconvenient disassembly and assembly.

A second object of the present invention is to provide a robot, which overcomes the problems of the conventional robot arm, such as inflexible rotation and inconvenient disassembly.

The utility model discloses an one of the purpose adopts following technical scheme to realize:

an arm moving mechanism comprises a transmission assembly, a motor and a motor fixing piece, wherein the motor comprises a motor shell and a rotor;

one side of the motor fixing piece is fixedly connected with the motor shell, and the other side of the motor fixing piece is used for fixedly connecting a body;

one end of the transmission assembly is fixedly connected with the rotor, and the other end of the transmission assembly is fixedly connected with the arm;

when the motor rotates, the rotor is used for driving the transmission assembly and the arms, so that the arms rotate relative to the body.

Further, the transmission assembly comprises a coupler and a limiting rotating shaft;

one end of the limiting rotating shaft is provided with a coupling hole for accommodating the coupling, the coupling is sleeved with the rotor, and the other end of the limiting rotating shaft is fixedly connected with the arm.

Furthermore, the motor fixing part comprises a motor support, a limiting circuit board is arranged on one side, facing the arm, of the motor support, a limiting switch is arranged on one side, facing the arm, of the limiting circuit board, and a limiting touch part is arranged on one side, facing the motor, of the limiting rotating shaft;

the motor bracket is fixedly connected with the motor shell, the transmission assembly penetrates through the limiting circuit board, and two ends of the transmission assembly are respectively used for being connected with an arm and a rotor;

the motor drives the limiting rotating shaft and the limiting touch piece to rotate, and when the limiting touch piece rotates to touch the limiting switch, the motor stops rotating.

Furthermore, a pair of limiting conducting strips is arranged on the limiting circuit board, and the pair of limiting conducting strips are respectively arranged at two positions of the limiting circuit board;

when the motor rotates forwards and touches one of the limiting conducting strips to the limiting touch piece, the motor rotates forwards and stops, and when the motor rotates reversely and touches the other limiting conducting strip to the limiting touch piece, the motor rotates reversely and stops.

Furthermore, the outer profile of the cross section of the coupler is polygonal, and the cross section of the coupler hole is set to be a corresponding polygon;

the pair of limiting conducting strips are arranged in a staggered mode by 180 degrees.

Furthermore, the transmission assembly further comprises a bearing fixing piece and a bearing inner ring, the bearing inner ring is movably connected with the bearing fixing piece, the bearing fixing piece is used for being fixedly connected with the body, and the bearing inner ring is used for being sleeved with a limiting rotating shaft;

the limiting rotating shaft drives the bearing inner ring to rotate relative to the bearing fixing piece.

Furthermore, the coupler is provided with rotor holes penetrating through two ends of the coupler, and the rotor holes are used for accommodating the rotor when being matched with the rotor;

the cross section of the rotor end is arranged to be semi-circular-like, and the cross section of the rotor hole is arranged to be semi-circular-like corresponding to the rotor end.

The second purpose of the utility model is realized by adopting the following technical scheme:

a robot comprises the arm moving mechanism.

Furthermore, a sound outlet hole is formed in the outer surface of the robot and is formed below the transmission assembly;

and a loudspeaker is further arranged on the inner side of the sound outlet hole, and a vibrating diaphragm of the loudspeaker faces the sound outlet hole.

Compared with the prior art, the beneficial effects of the utility model reside in that:

(1) the utility model discloses arm moving mechanism includes drive assembly, motor and motor mounting, and the motor mounting is fixed the motor in the body of robot, and drive assembly passes through the transmission effect and rotates the rotation kinetic energy transmission of motor to arm and drive arm. When the motor rotates, the rotor drives the transmission assembly and the arms to rotate, and then the arms rotate relative to the body. The arm moving mechanism can assist the arm of the robot to flexibly rotate, has a high simulation effect, and the arm and the body are connected through the arm moving mechanism, so that the robot is convenient to disassemble and assemble.

(2) The utility model discloses the arm of robot can rotate in a flexible way, and the arm passes through arm moving mechanism with the body to be connected, makes things convenient for the dismouting.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the robot of the present invention;

FIG. 2 is a disassembled view of the arm and the arm moving mechanism shown in FIG. 1;

FIG. 3 is an exploded view of the arm and arm activation mechanism of FIG. 2;

fig. 4 is a partial exploded view of the arm and arm moving mechanism shown in fig. 3.

In the figure: 1. an arm; 2. a motor fixing member; 21. a motor bracket; 22. a limiting circuit board; 23. a limit switch; 3. a motor; 31. a motor housing; 32. a rotor; 4. a transmission assembly; 41. a coupling; 411. a rotor bore; 42. a limiting rotating shaft; 43. a shaft coupling hole; 44. a limiting touch piece; 45. a bearing fixing member; 46. a bearing inner ring; 5. a sound outlet hole; 51. a loudspeaker.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.

Example 1

As shown in fig. 1, a robot according to an embodiment of the present invention is provided. The robot comprises a body part and arms 1, wherein the arms 1 are arranged on two sides of the body in pairs, and the arms 1 can rotate relative to the body and are used for simulating the rotating process of the arms of a human. When the arm 1 needs to be disassembled, the fixing structure of the arm 1 can be directly disassembled from the interior of the robot, so that the arm 1 is disassembled from the body, and the assembling and disassembling processes of the robot arm 1 are facilitated.

As shown in fig. 2, an arm moving mechanism is arranged in the body of the robot, one end of the arm moving mechanism is connected with the body part, and the other end of the arm moving mechanism is connected with the arm 1. Through setting up the arm moving mechanism, on the one hand can support the weight of arm 1, on the other hand also can drive arm 1 through the arm moving mechanism and rotate, realizes the swing joint between arm 1 and the body.

In a preferred embodiment, the arm moving mechanism comprises a motor fixing part 2, a motor 3 and a transmission assembly 4. The motor 3 includes a motor housing 31 and a rotor 32, the rotor 32 is embedded in the motor housing 31, and the rotor 32 rotates relative to the motor housing 31. One side of the motor fixing piece 2 close to the motor 3 is fixedly connected with the motor shell 31, one side of the motor fixing piece 2 close to the arm 1 is fixedly connected with the body part, namely, the motor shell 31 is fixed with the robot body through the motor fixing piece 2, and the rotor 32 rotates relative to the body. One end of the transmission component 4 close to the motor 3 is fixedly connected with the rotor 32, and one end of the transmission component 4 close to the arm 1 is fixedly connected with the arm 1, namely, when the motor 3 rotates, the rotor 32 directly drives the arm 1 to rotate. In the present embodiment, the transmission assembly 4 and the motor 3 are both horizontally inserted into the body of the robot, so that when the rotor 32 rotates, the arm 1 is driven to rotate in the vertical direction, that is, the arm 1 rotates relative to the body, so as to simulate the posture of a human being swinging the arm 1 in the vertical direction.

In a preferred embodiment, the motor 3 is a servo motor, and the rotation angle of the rotor 32 is precisely controlled by the servo motor, so that the rotation amplitude and precision of the arm 1 can be effectively controlled, the maximum amplitude of the arm 1 swinging vertically can be ensured, and the damage of the body part and the internal circuit hardware caused by over-rotation of the arm 1 can be prevented.

In a preferred embodiment, the transmission assembly 4 includes a coupler 41 and a limit rotating shaft 42, and one end of the limit rotating shaft 42 close to the motor 3 is provided with a coupler hole 43 for accommodating the coupler 41. During the installation, cup joint rotor 32 with shaft coupling 41 earlier, pass through bolt and arm 1 fixed connection with spacing pivot 42 again, insert shaft coupling 41 at last in alliing oneself with shaft hole 43, realize from this that the power output of motor 3 to arm 1, through the transmission of drive assembly 4, be favorable to motor 3's power to transmit to arm 1 smoothly, conveniently control arm 1's rotation process.

In a preferred embodiment, the outer profile of the cross section of the coupling 41 is a regular hexagon, and correspondingly, the cross section of the coupling hole 43 is a regular hexagon. By arranging the regular hexagonal coupler 41 and the coupler hole 43, when the coupler 41 rotates in the coupler hole 43, the coupler 41 drives the limit rotating shaft 42 to synchronously rotate. When the arm 1 and the movable mechanism need to be disassembled, the coupler 41 can be directly pulled out from the coupling hole 43, and the limiting rotating shaft 42, namely the arm 1, is further disassembled for maintenance, so that the assembly and disassembly processes of the transmission assembly 4 are facilitated.

In a preferred embodiment, the motor fixing member 2 includes a motor bracket 21, and the motor bracket 21 is fixedly connected to the motor housing 31. In this embodiment, the motor bracket 21 and the motor housing 31 are fixedly connected by bolts, and in other embodiments, the motor bracket 21 and the motor housing 31 may also be clamped or sleeved to achieve a fastening connection between the motor bracket 21 and the motor housing 31. One side of the motor bracket 21 facing the arm 1 is fixedly connected with the body through a bolt, so that the motor fixing piece 2 is ensured to fixedly connect the motor shell 31 with the body, and the motor 3 is ensured to be tightly arranged in the body.

In a preferred embodiment, a side surface of the motor bracket 21 facing the arm 1 is further provided with a limit circuit board 22, a side surface of the limit circuit board 22 facing the arm 1 is further provided with a limit switch 23, that is, the limit switch 23 is fixedly arranged on the limit circuit board 22, the limit circuit board 22 is fixedly arranged on the motor bracket 21, and the motor bracket 21 is fixedly arranged on the body. Therefore, the body, the motor bracket 21, the limit circuit board 22 and the limit switch 23 are fixedly arranged together. Correspondingly, a limit touching part 44 is disposed on a side surface of the limit rotating shaft 42 facing the motor 3, and in this embodiment, the limit touching part 44 is a stopper fixedly disposed on the limit rotating shaft 42. The transmission assembly 4 (including the shaft coupling 41 and the limiting rotating shaft 42) vertically penetrates through the motor support 21 and the limiting circuit board 22, and the two ends of the transmission assembly 4 are respectively connected with the arm 1 and the rotor 32, so that the power transmission effect is realized. In the use process, the motor 3 rotates after being electrified and drives the limiting rotating shaft 42 to rotate, the limiting rotating shaft 42 further drives the limiting touch piece 44 to rotate relative to the body, and at the moment, the limiting switch 23 is static relative to the body, namely, the limiting touch piece 44 rotates relative to the limiting switch 23. When the limit touch piece 44 rotates to touch the limit switch 23, the limit switch 23 is extruded to send an electric signal, and then the motor 3 is controlled to stop rotating, so that the effect of limiting the overlarge rotating amplitude of the arm 1 is achieved.

In a preferred embodiment, the limit circuit board 22 is provided with a pair of limit switches 23, the pair of limit switches 23 are distributed at two positions of the limit circuit board 22 in a staggered manner, and the limit touch piece 44 is located between the two limit switches 23. When the motor 3 rotates in the forward direction, the limit touching piece 44 rotates to touch one of the limit switches 23, and the motor 3 stops rotating in the forward direction. Similarly, when the motor 3 rotates reversely, the limit touching member 44 rotates to touch the other limit switch 23, and the motor 3 stops rotating reversely. Through setting up two limit switch 23, the turned angle of arm 1 equals the contained angle of two limit switch 23 promptly, and then control the rotation range of arm 1, the simulation human arm rotation process.

As a preferred embodiment, a pair of limit switches 23 are arranged offset from each other by 180 °, thereby determining that the maximum amplitude of rotation of the arm 1 is 180 °, similar to the maximum amplitude of rotation of a human arm. In other embodiments, the arm 1 can rotate 360 ° relative to the body, and the two limit switches 23 are arranged to enable the arm 1 to stay at a specific position, so as to control the stay of the arm 1.

In a preferred embodiment, the coupling 41 is provided with rotor holes 411 penetrating both ends of the coupling 41, and when the coupling 41 is fitted to the rotor 32, the rotor 32 is inserted into the rotor holes 411, thereby realizing a function of rotating the coupling 41 by the motor 3. The cross section of the rotor head is set to be semicircular, and the cross section of the rotor hole 411 is set to be semicircular corresponding to the rotor head. Through the rotor 32 and the coupler 41 which are designed in the semicircular shape, the rotor 32 can drive the coupler 41 to rotate conveniently, and a good transmission effect is achieved.

In a preferred embodiment, the outer profile of the cross section of the coupling 41 is a regular hexagon, and correspondingly, the cross section of the coupling hole 43 is configured to be a corresponding regular hexagon, so that the transmission effect of the transmission assembly 4 is ensured by inserting the coupling 41 into the coupling hole 43 to realize the function that the coupling 41 drives the limit rotating shaft 42 to rotate.

In a preferred embodiment, the transmission assembly 4 further includes a bearing fixing member 45 and a bearing inner ring 46, the bearing inner ring 46 is sleeved in the bearing fixing member 45, and the bearing fixing member 45 is used for providing a support for the bearing inner ring 46 to rotate. The bearing fixing piece 45 is fixedly connected with the body, the bearing inner ring 46 is sleeved with the limiting rotating shaft 42, namely the limiting rotating shaft 42 penetrates through the bearing inner ring 46, and when the motor 3 drives the limiting rotating shaft 42 to rotate, the bearing inner ring 46 is synchronously driven to rotate. The bearing inner ring 46 plays a role of supporting the limit rotating shaft 42, and meanwhile, the bearing fixing piece 45 is matched with the bearing inner ring 46, so that the limit rotating shaft 42 is convenient to rotate.

In a preferred embodiment, the robot is externally provided with sound emitting holes 5, and the sound emitting holes 5 are arranged below the transmission assembly 4 and correspond to the lower part of armpits of a human body to achieve a certain hiding effect. A loudspeaker 51 is further arranged inside the sound outlet hole 5, and a diaphragm of the loudspeaker 51 faces the sound outlet hole 5. The vibrating diaphragm of the loudspeaker 51 faces the sound outlet hole 5, so that the loudspeaker 51 can emit sound directly through the sound outlet hole 5.

Example 2

Example 2 differs from example 1 in that: the outer contour of the cross section of the coupler 41 is in a regular triangle shape, a regular quadrangle shape, a regular pentagon shape, a regular heptagon shape, a regular octagon shape or a D shape, and the cross section of the coupling shaft hole 43 is correspondingly arranged into the regular triangle shape, the regular quadrangle shape, the regular pentagon shape, the regular heptagon shape, the regular octagon shape or the D shape, so that the coupler has the same transmission effect and the effect of facilitating disassembly and assembly.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are all within the protection scope of the present invention.

Claims

1. An arm moving mechanism is characterized by comprising a transmission assembly, a motor and a motor fixing piece, wherein the motor comprises a motor shell and a rotor;

2. The arm exercising mechanism according to claim 1, wherein the transmission assembly includes a coupling and a limit shaft;

3. The arm moving mechanism according to claim 2, wherein said motor fixing member comprises a motor bracket, said motor bracket is provided with a limit circuit board towards one side of the arm, said limit circuit board is provided with a limit switch towards one side of the arm, said limit rotating shaft is provided with a limit touch member towards one side of the motor;

4. The arm exercising mechanism according to claim 3, wherein a pair of position limiting conductive pieces are provided on the position limiting circuit board, and the pair of position limiting conductive pieces are respectively provided at two positions of the position limiting circuit board;

5. The arm exercising mechanism according to claim 4, wherein the cross-section of the coupling has a polygonal outer contour, and the cross-section of the coupling hole is provided in a corresponding polygonal shape;

6. The arm exercising mechanism according to claim 2, wherein the transmission assembly further comprises a bearing fixing member and a bearing inner ring, the bearing inner ring is movably connected with the bearing fixing member, the bearing fixing member is used for being fixedly connected with the body, and the bearing inner ring is used for being sleeved with the limiting rotating shaft;

7. The arm exercising mechanism according to claim 2, wherein the coupler has rotor holes formed therethrough for receiving the rotor when engaged therewith;

8. A robot comprising an arm exercising mechanism according to any one of claims 1 to 7.

9. The robot of claim 8, wherein the robot is provided with sound holes on the outer surface, and the sound holes are arranged below the transmission component;