CN210282296U

CN210282296U - Robot shoulder structure

Info

Publication number: CN210282296U
Application number: CN201921203121.0U
Authority: CN
Inventors: 金勇�
Original assignee: Yongjia Xinda Intelligent Equipment Manufacturing Co ltd
Current assignee: Yongjia Xinda Intelligent Equipment Manufacturing Co ltd
Priority date: 2019-07-29
Filing date: 2019-07-29
Publication date: 2020-04-10
Anticipated expiration: 2029-07-29

Abstract

The utility model provides a robot shoulder structure, which consists of a chest frame, a shoulder frame and an upper arm frame, wherein the shoulder frame is fixedly arranged on the chest frame, a motor is arranged on the shoulder frame, an output end driving wheel of the motor is connected with an input end driving wheel of a speed reducer through a synchronous belt, an output end driving wheel of the speed reducer is connected with an input driving wheel of a rotating shaft through a driving belt, the rotating shaft is hinged with the upper arm frame through a second shaft pin, a rotating support frame is fixedly connected on the other end of the rotating shaft, the rotating support frame is hinged with a motor connecting frame through a third shaft pin, a built-in nut motor is arranged on the motor connecting frame, the built-in nut motor is hinged with the upper arm frame through a lead screw, and the horizontal up-and-down swinging of the robot arm and the action speed of the front-back, sensitivity and emulation.

Description

Robot shoulder structure

Technical Field

The invention relates to a robot, in particular to a shoulder structure of the robot.

Background

The popularization of the robot is more and more extensive along with the development of society, the robot is not only applied to the manufacturing industry, but also can be seen in the daily life of people, for example, a robot restaurant appeared before, basic services such as serving for the restaurant are completely completed by the robot, and a brand new sense is brought to people. The robot can exist in not only restaurants but also family lives, but also the family lives are not popular at present, but the robot is believed to be seen everywhere in our lives in the future and the requirement on the simulation degree of the robot is higher and higher.

Disclosure of Invention

Aiming at the problems of low action speed, poor sensitivity and low simulation degree of the robot, the invention provides the shoulder structure of the robot, which can effectively improve the action speed, the sensitivity and the simulation degree. In order to solve the technical problem, the shoulder structure of the robot comprises a chest frame, a shoulder framework and an upper arm framework, and is characterized in that: the shoulder framework is fixedly installed on the chest framework, the motor is installed on the shoulder framework and connected with the speed reducer, the speed reducer is connected with the rotating shaft through a transmission belt, the rotating shaft is hinged with the upper arm framework through a second shaft pin, the other end of the rotating shaft is fixedly connected with the rotating support frame, the rotating support frame is hinged with the motor connecting frame through a third shaft pin, the built-in nut motor is installed on the motor connecting frame, and the built-in nut motor is hinged with the upper arm framework through a lead screw.

Preferably, the output end of the motor is provided with a first driving wheel which is connected with a second driving wheel arranged at one end of the speed reducer through a synchronous belt.

Preferably, the other end of the speed reducer is provided with a driving wheel III which is connected with a driving wheel IV arranged at one end of the rotating shaft through a driving belt.

Preferably, both sides of the rotating shaft are provided with a bearing and a clamp spring.

Preferably, the motor, the speed reducer and the rotating shaft are in speed reduction transmission so as to obtain larger torque.

Preferably, the shape design of the rotary support frame can ensure that the arm can swing back and forth and circumferentially, and can swing horizontally in the area.

The positive progress effects of the invention are as follows: the action speed, the sensitivity and the simulation degree of the horizontal up-and-down swing of the robot arm and the front-and-back up-and-down swing of the robot arm are improved through the shoulder structure.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a perspective view of the present invention;

FIG. 3 is a schematic view of the horizontal swinging structure of the arm according to the present invention;

FIG. 4 is a schematic view of the forward swing arm structure of the present invention;

FIG. 5 is a schematic side view of the present invention;

FIG. 6 is a schematic structural view of the rotating support frame of the present invention from different viewing angles;

fig. 7 is a schematic structural diagram of the shoulder framework of the present invention from different viewing angles.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 to 7, the present invention provides a robot shoulder structure, which comprises a chest frame 1209, a shoulder frame 1205 and an upper arm frame 1201, wherein the shoulder frame 1205 is fixedly installed on the chest frame 1209, a motor 1208 is installed on the shoulder frame 1205, a first transmission wheel 1219 is installed at an output end of the motor 1208, a second transmission wheel 1217 is installed at one end of a speed reducer 1207 and connected with the same through a synchronous belt, a third transmission wheel 1220 is installed at the other end of the speed reducer 1207 and connected with a fourth transmission wheel 1221 at one end of a rotating shaft 1204 through a transmission belt 1206, the rotating shaft 1204 is hinged with a shoulder arm connecting frame 1222 through a second shaft pin 1203, bearings 1210 and snap springs 1211 are installed at two sides of the rotating shaft 1204, a rotating support 1216 is fixedly connected with the other end of the rotating shaft 1216, the rotating support 1216 is hinged with a motor connecting frame 1214 through the third shaft pin 1215, a nut built-in, the built-in nut motor 1213 is hinged with the upper arm framework 1201 through a screw rod 1212. It should be noted that the rotating support 1216 is uniquely shaped to help the shoulder perform horizontal and back-and-forth up-and-down swinging of the arm.

The working principle is as follows: when the robot arm needs to horizontally swing up and down, the built-in nut motor is started to drive the lead screw to retract inwards, so that the lead screw pulls the upper arm framework to horizontally lift the arm, the built-in nut motor is started reversely to drive the lead screw to extend outwards when the arm needs to be put down, and the lead screw pushes the upper arm framework to put down the arm. When the robot arm needs to swing back and forth and up and down, the motor is started to drive the speed reducer, the speed reducer drives the rotating shaft, the rotating shaft rotates to drive the rotating support frame and the upper arm framework to swing front and back, the rotating support frame drives the built-in nut motor, the screw rod and the upper shoulder framework to swing front and back, and arm swinging of the robot arm can be performed horizontally, up and down, front and back and up and around at the same time, so that the action speed, the sensitivity and the simulation degree of the horizontal up and down swinging of the robot arm and the front and back up and down swinging of the robot arm are improved.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. Robot shoulder structure comprises chest frame (1209), shoulder skeleton (1205) and upper arm skeleton (1201), its characterized in that: the shoulder skeleton (1205) is fixedly installed on a chest frame (1209), a motor (1208) is installed on the shoulder skeleton (1205), the motor (1208) is connected with a speed reducer (1207), the speed reducer (1207) is connected with a rotating shaft (1204) through a transmission belt (1206), the rotating shaft (1204) is hinged to an upper arm skeleton (1201) through a second shaft pin (1203), the other end of the rotating shaft (1204) is fixedly connected with a rotating support frame (1216), the rotating support frame (1216) is hinged to a motor connecting frame (1214) through a third shaft pin (1215), a built-in nut motor (1213) is installed on the motor connecting frame (1214), and the built-in nut motor (1213) is hinged to the upper arm skeleton (1201) through a screw rod (1212).

2. The robot shoulder structure of claim 1, wherein: the output end of the motor (1208) is provided with a driving wheel I (1219), and one end of the speed reducer (1207) is provided with a driving wheel II (1217) which are connected through a synchronous belt.

3. The robot shoulder structure of claim 1, wherein: the other end of the speed reducer (1207) is provided with a driving wheel III (1220) which is connected with a driving wheel IV (1221) arranged at one end of the rotating shaft (1204) through a transmission belt (1206).

4. The robot shoulder structure of claim 1, wherein: both sides of the rotating shaft (1204) are provided with a bearing (1210) and a clamp spring (1211).

5. The robot shoulder structure of claim 1, wherein: the motor (1208), the speed reducer (1207) and the rotating shaft (1204) are in speed reduction transmission, so that larger torque is obtained.

6. The robot shoulder structure of claim 1, wherein: the shape of the rotary support frame (1216) is designed to ensure that the arm can swing back and forth and circumferentially and can swing horizontally in the area.