CN210633672U

CN210633672U - Robot arm structure

Info

Publication number: CN210633672U
Application number: CN201921202890.9U
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: 2020-05-29
Anticipated expiration: 2029-07-29

Abstract

The utility model relates to a robot arm structure, by the shoulder arm link, the speed reducer, including a motor, an end cap, a controller, and a cover plate, the upper arm skeleton, go up motor straight line push-and-pull rod, the underarm skeleton, motor straight line push-and-pull rod down, the palm is built up, through the shoulder arm link, the speed reducer, the rotation of arm is accomplished to motor three's gear motion cooperation shoulder, through the upper arm skeleton, turn in the middle of the arm is accomplished to underarm skeleton and last motor straight line push-and-pull rod, through the underarm skeleton, the palm frame accomplishes the turn of palm with lower motor straight line push-and-pull rod, through setting up such robot arm structure, can realize the nimble rotation of robot arm, the nimble turn of arm middle part and palm, the action speed of robot.

Description

Robot arm structure

Technical Field

The invention relates to a robot, in particular to a robot arm structure.

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

The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a robot arm structure.

In order to solve the technical problems, the invention provides the following technical scheme: robot arm structure comprises shoulder arm link 1301, speed reducer 1302, motor 1303, upper arm skeleton 1315, last motor straight line push-pull rod 1305, lower arm skeleton 1307, lower motor straight line push-pull rod 1309, palm frame 1312, its characterized in that: the shoulder arm connecting frame 1301 is hinged to a robot shoulder, the upper end of the speed reducer 1302 is fixedly connected with the shoulder arm connecting frame 1301 through an output shaft, the lower end of the speed reducer 1302 is fixedly connected with a motor 1303, one side of the speed reducer 1302 is fixedly connected with an upper arm framework 1315, the upper end of the upper arm framework 1315 is hinged to an upper motor hinged frame 1304, an upper motor linear push-pull rod 1305 is installed on the motor hinged frame 1304, the lower end of the upper arm framework 1315 is hinged to a lower arm framework 1307, the lower arm framework 1307 is hinged to a screw rod of the upper motor linear push-pull rod 1305, the lower arm framework 1307 is hinged to a lower motor hinged frame 1313, the lower motor hinged frame 1312 is installed with a lower motor linear push-pull rod 1309, the lower arm framework 1307 is hinged to a palm frame 1312, and the palm frame is hinged to the lower motor linear push-pull rod 130.

Preferably, the speed reducer 1302 and the shoulder arm connecting frame 1301 are both provided with bosses 1317, so that the speed reducer and the shoulder arm connecting frame can play a role in limiting after rotating.

Preferably, the motor 1303, the speed reducer 1302 and the shoulder arm connecting frame 1301 are in speed reduction transmission, so as to obtain larger torque.

Preferably, the parts are hinged by means of a pin.

Preferably, the speed reducer 1302 and the motor 1303 may also be fixedly mounted on the lower arm framework 1307, and the three are in speed reduction transmission to obtain a larger torque.

Preferably, the upper arm bobbin 1315 and the lower arm bobbin 1307 are laterally C-shaped in design to ensure sufficient internal installation space and sufficient strength.

The invention has the following beneficial effects: by arranging the robot arm structure, the robot arm can flexibly rotate, the middle part of the arm and the palm can flexibly turn, and the action speed, the sensitivity and the simulation degree of the robot arm are greatly improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a first schematic construction of the present invention;

FIG. 2 is a second schematic construction of the present invention;

FIG. 3 is a side view of the present invention;

FIG. 4 is a schematic structural diagram of a reducer and a motor according to a second structure of the present invention;

fig. 5 is a schematic structural diagram of a speed reducer and a motor according to a first configuration of the present invention.

1301 a shoulder-arm connecting frame; 1302 a reducer; 1303 motor; 1304, a motor hinge frame; 1305 installing a motor straight line push-pull rod; 1306. a shaft pin I; 1307. a lower arm skeleton; 1308 shaft pin II; 1309. a lower motor linear push-pull rod; 1310, a shaft pin III; 1311 shaft pin IV; 1312 a palm rest; 1313 a lower motor hinge bracket; 1314, axle pin V; 1315 upper arm skeleton; 1316 pin VI; 1317 boss.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

As shown in fig. 1-5: the shoulder arm connecting frame 1301 is hinged with the robot shoulder, the rotation of the arm is controlled through the shoulder, the upper end of the speed reducer 1302 is fixedly connected with the shoulder arm connecting frame 1301 through an output shaft, bosses 1317 are arranged on both the speed reducer 1302 and the shoulder arm connecting frame 1301, the limiting effect is achieved after the rotation, the lower end of the speed reducer 1302 is fixedly connected with the motor 1303, one side of the speed reducer 1302 is fixedly connected with an upper arm framework 1315, the upper end of the upper arm framework 1315 is hinged with an upper motor hinged frame 1304 through a shaft pin VI1316, an upper motor linear push-pull rod 1305 is installed on the motor hinged frame 1304, the lower end of the upper arm framework 1315 is hinged with a lower arm framework 1307 through a shaft pin V1314, the lower arm framework 1307 is hinged with a screw rod of an upper motor linear push-pull rod 1305 through a shaft pin I1306, the lower arm framework 1307 is hinged with a lower motor hinged frame 1313 through a shaft pin II, the lower motor hinged frame 1303 is provided with, the palm rest 1312 is hinged with a screw rod of the lower motor linear push-pull rod 1309 through a shaft pin III 1310.

The working principle is as follows: when the shoulder controls the arm to rotate, the speed reducer, the motor and the shoulder arm connecting frame perform speed reduction movement to obtain larger torque, in order to prevent the arm from rotating over the head, bosses are respectively arranged on the shoulder arm connecting frame and the speed reducer to play a role in limiting, when the middle of the arm needs to turn, the upper motor linear push-pull rod starts the contraction screw rod, the screw rod pulls the lower arm framework, the lower arm framework turns inwards through a shaft pin, when the lower arm framework needs to be straightened, the upper motor linear push-pull rod reversely starts the extension screw rod, the screw rod pushes the lower arm framework to be straightened outwards, when the palm framework needs to turn, the lower motor linear push-pull rod starts the contraction screw rod, the screw rod pulls the palm framework, the palm framework turns inwards, when the palm framework needs to be straightened, the lower motor linear push-pull rod reversely starts the extension screw rod, the screw rod pushes the palm framework, the palm framework straightens outwards, and all the components can independently complete rotation or turning, the rotation and the turning can be simultaneously finished, the upper arm framework and the lower arm framework are transversely designed in a C shape to ensure that sufficient internal installation space and sufficient strength exist, and the action speed, the sensitivity and the simulation degree which can be closer to the human arm can be achieved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Robot arm structure comprises shoulder arm link (1301), speed reducer (1302), motor (1303), upper arm skeleton (1315), last motor straight line push-and-pull rod (1305), lower arm skeleton (1307), lower motor straight line push-and-pull rod (1309), palm frame (1312), its characterized in that: the robot arm connecting frame (1301) is hinged to the robot shoulder, the upper end of the speed reducer (1302) is fixedly connected with the shoulder arm connecting frame (1301) through an output shaft, the lower end of the speed reducer (1302) is fixedly connected with the motor (1303), one side of the speed reducer (1302) is fixedly connected with an upper arm framework (1315), the upper end of the upper arm framework (1315) is hinged to an upper motor hinged frame (1304), an upper motor linear push-pull rod (1305) is installed on the motor hinged frame (1304), the lower end of the upper arm framework (1315) is hinged to a lower arm framework (1307), the lower arm framework (1307) is hinged to a screw rod of the upper motor linear push-pull rod (1305), the lower arm framework (1307) is hinged to a lower motor hinged frame (1313), a lower motor linear push-pull rod (1309) is installed on the lower motor hinged frame (3), and the lower arm framework (1307) is hinged to a palm frame (1312), the palm frame (1312) is hinged with a screw rod of a lower motor linear push-pull rod (1309).

2. A robot arm structure according to claim 1, characterized in that: the speed reducer (1302) and the shoulder arm connecting frame (1301) are provided with bosses (1317) which play a limiting role after rotation.

3. A robot arm structure according to claim 1, characterized in that: the motor (1303), the speed reducer (1302) and the shoulder arm connecting frame (1301) are in speed reduction transmission, so that larger torque can be obtained.

4. A robot arm structure according to claim 1, characterized in that: the various components are hinged by means of pivot pins.

5. A robot arm structure according to claim 1, characterized in that: the speed reducer (1302) and the motor (1303) can be additionally and fixedly arranged on the lower arm framework (1307) and are in speed reduction transmission to obtain larger torque.

6. A robot arm structure according to claim 1, characterized in that: the upper arm framework (1315) and the lower arm framework (1307) are transversely designed in a C shape so as to ensure sufficient internal installation space and sufficient strength.