CN214181777U

CN214181777U - Robot arm structure and robot with same

Info

Publication number: CN214181777U
Application number: CN202022750249.8U
Authority: CN
Inventors: 陈小森; 王文斌; 刘培华; 刘岐
Original assignee: Robosen Robot Shenzhen Co ltd
Current assignee: Robosen Robot Shenzhen Co ltd
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2021-09-14
Anticipated expiration: 2030-11-20

Abstract

The utility model relates to a robot arm structure and have robot of this arm structure. The robot arm structure comprises a first steering engine arranged on a first mounting seat, wherein a first rotating output shaft of the first steering engine is fixedly connected with a first mounting plate on one end of the first mounting seat, and the first steering engine is rotatably hinged on the first mounting plate through the first rotating output shaft; and a palm part is fixedly arranged on the shell of the first steering engine. The robot arm structure further comprises a second mounting plate, one end of the second mounting plate is detachably buckled at the top of the mounting groove, and the other end of the second mounting plate is movably sleeved on a first supporting shaft of a first steering engine; first steering wheel can overturn and arrange in the clearance that forms between first mounting panel and the second mounting panel through first rotation output shaft. The robot arm structure realizes bending or deformation of each joint on the arm through the steering engine. Particularly, the palm part on the robot arm can be bent and deformed under the action of the first steering engine.

Description

Robot arm structure and robot with same

Technical Field

The utility model relates to the technical field of robot, specifically relate to a robot arm structure and have robot of this arm structure.

Background

An anthropomorphic robot arm with patent number ZL201721569918.3, which comprises a big arm, a small arm and a connecting component for connecting the big arm and the small arm; the connecting assembly comprises a first steering engine connected with the large arm, a second steering engine connected with the small arm and a connecting part for connecting the first steering engine and the second steering engine; the connecting part comprises an upper connecting part connected with the first steering engine and a lower connecting part connected with the upper connecting part and connected with the second steering engine; the first steering engine comprises a first steering engine body and a first rotating part, wherein one end of the first steering engine body is connected with the upper connecting part, the first rotating part is driven by the first steering engine body to rotate, and the first rotating part is connected with an external structural part; the second steering engine comprises a second steering engine body connected with the small arm and a second switching part which is driven by the second steering engine body to rotate and is connected with the lower connecting part. This humanoid robot's palm portion simultaneously and forearm left side lid and forearm right side lid fixed connection, the motion of palm portion realizes driving palm portion and forearm simultaneous movement through the motion of second steering wheel body, and palm portion itself can not move and the upset.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects and deficiencies in the prior art, the utility model provides a robot arm structure and a robot with the arm structure. The robot arm structure can be bent and deformed. In particular, the palm portion of the robot arm is movable and bendable or deformable.

In order to achieve the above object, the present invention provides a robot arm structure, which comprises a first steering engine mounted on a first mounting seat, and is characterized in that: the first steering engine is characterized in that a first rotating output shaft of the first steering engine is fixedly connected with a first mounting plate at one end of a first mounting seat, and the first steering engine is rotatably hinged to the first mounting plate through the first rotating output shaft.

Preferably, the other end of the first mounting seat is provided with a mounting groove; a second steering engine is fixedly clamped in the mounting groove; the second steering engine is provided with a second support shaft and a second rotary output shaft.

In any one of the above aspects, preferably, the second rotation output shaft and the second support shaft are fixedly connected with first connecting arms respectively; one end of any one first connecting arm is fixedly connected with one end of the second rotating output shaft, and the other end of the first connecting arm is fixedly connected with one end of the first connecting plate; and one end of the other first connecting arm is movably sleeved on the second supporting shaft, and the other end of the other first connecting arm is fixedly connected with the other end of the first connecting plate.

In any of the above schemes, preferably, a third steering engine is fixedly mounted on the first connecting plate; and a first fixing frame is fixedly arranged on a third rotating output shaft of the third steering engine.

In any of the above schemes, preferably, a fourth steering engine is fixedly mounted on the first fixing frame.

In any of the above schemes, preferably, a first connecting frame is fixedly mounted on the fourth rotation output shaft of the fourth steering engine.

In any of the above schemes, preferably, one end of the first connecting frame is fixedly connected with the fourth rotating output shaft of the fourth steering engine, and the other end of the first connecting frame is provided with a double-fork arm structure and is respectively and fixedly connected with the fifth rotating output shaft and the fifth supporting shaft of the fifth steering engine through the double-fork arm structure.

In any of the above schemes, the steering engine further comprises a sixth steering engine, a steering wheel is fixedly connected to a sixth rotating output shaft of the sixth steering engine, and the sixth steering engine is fixedly connected with the fifth steering engine through the steering wheel.

In any of the above schemes, preferably, the steering engine further comprises a second mounting plate, one end of the second mounting plate is detachably buckled at the top of the mounting groove, and the other end of the second mounting plate is movably sleeved on the first support shaft of the first steering engine; the first steering engine can be arranged in a gap formed between the first mounting plate and the second mounting plate in a turnover mode.

In any of the above aspects, preferably, the first mounting plate is parallel to the second mounting plate.

In any one of the above embodiments, preferably, a palm portion is fixedly attached to the housing of the first steering engine.

A second object of the present invention is to provide a robot, which has a robot arm structure, the robot arm structure has the robot arm structure of the present invention.

Compared with the prior art, the utility model has the advantages that this robot arm structure not only can realize driving the arm motion through each joint steering wheel, realizes buckling or warping through each joint on the arm moreover through the joint steering wheel. Especially, the palm part on the robot arm can be bent and deformed under the action of the first steering engine.

Drawings

Fig. 1 is a schematic perspective view of a preferred embodiment of a robot arm structure according to the present invention.

Fig. 2 is a schematic front view of the embodiment of the robot arm structure diagram 1 according to the present invention.

Fig. 3 is a schematic rear view of the embodiment of the robot arm structure diagram 1 according to the present invention.

Fig. 4 is a schematic perspective view of the robot arm structure of the embodiment shown in fig. 1 with the arm forming member according to the present invention.

Fig. 5 is a schematic perspective view of a modified embodiment of the robot arm structure of fig. 1 according to the present invention.

Fig. 6 is a schematic perspective view of a modified embodiment of the robot arm structure of fig. 4 according to the present invention.

Fig. 7 is a perspective assembly view of the embodiment of the robot arm structure shown in fig. 1 according to the present invention.

Fig. 8 is a perspective assembly view of the embodiment of the robot arm structure of fig. 4 according to the present invention.

Detailed Description

The preferred embodiments of the present invention will be further described with reference to the accompanying drawings.

It should be understood in the description of the present invention that the terms "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of description and simplified description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, whereby a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

Example 1:

as shown in fig. 1-8, a robot arm structure in the present embodiment is disclosed. Fig. 1 shows a schematic perspective structure of the robot arm structure in a human form state in this embodiment. The arm structure comprises a first steering engine 2 arranged on a first mounting seat 1. The first steering engine 2 has a first rotation output shaft and a first support shaft 20. The first rotary output shaft and the first support shaft 20 are symmetrically arranged and the axes of the first rotary output shaft and the first support shaft coincide. One end of the first rotating output shaft of the first steering engine 2 is fixedly connected with a first mounting plate 3 on one end of a first mounting seat 1. And the first steering engine 2 is rotatably hinged on the first mounting plate 3 through the first rotating output shaft. In the present embodiment, a palm portion 4 is fixedly attached to the housing of the first steering engine 2. The palm part 4 can rotate along with the rotation of the first steering engine 2. The other end of the first mount 1 has a mounting groove 19. And a second steering engine 5 is fixedly clamped in the mounting groove 19. The second steering wheel 5 is detachably arranged in the mounting groove 19. The second steering gear 5 has a second rotation output shaft and a second support shaft. Similarly, the second rotating output shaft and the second support shaft are symmetrically arranged and the axes of the second rotating output shaft and the second support shaft coincide. The second rotary output shaft of the second steering gear 5 is parallel to the first rotary output shaft of the first steering gear 2. Likewise, the second support shaft is parallel to the first rotary output shaft and the first support shaft 20. Fig. 2 is a front view schematically showing the structure of the robot arm in the present embodiment. Fig. 3 shows a rear view of the robot arm structure in the present embodiment. In this embodiment, a second mounting plate 18 is also included. One end of the second mounting plate 18 is detachably buckled at the top of the mounting groove 19, and the other end of the second mounting plate is sleeved on the first support shaft 20 of the first steering engine 2. In the present embodiment, specifically, the upper cover 24 is detachably fixed to the second mounting plate 18. The second mounting plate 18 is snapped on top of the mounting groove 19 by means of an upper cover 24. The first steering engine 2 is arranged in a gap formed between the first mounting plate 3 and the second mounting plate 18 in a turnable way through the first rotating output shaft. The first mounting plate 3 is parallel to the second mounting plate 18. Fig. 4 shows a perspective view of the robot arm structure without external shaping in the present embodiment.

The second steering gear 5 has a second support shaft and a second rotary output shaft. The second rotating output shaft and the second support shaft are respectively and fixedly connected with a first connecting arm 6. One end of any one first connecting arm 6 is fixedly connected with the second rotating output shaft, and the other end of the first connecting arm is fixedly connected with one end of a first connecting plate 7; one end of the other first connecting arm 6 is movably sleeved on the second supporting shaft, and the other end of the other first connecting arm is fixedly connected with the other end of the first connecting plate 7. Two of said first connecting arms 6 are parallel to each other and at the same time at the bottom of the first connecting plate 7. And a second rotating output shaft of the second steering engine 5 rotates to drive the two first connecting arms 6 to swing. And a third steering engine 8 is fixedly arranged on the first connecting plate 7. Specifically, the third steering engine 8 is fixedly mounted on the top of the first connecting plate 7. The second of second steering wheel 5 rotates the output shaft and rotates and drives two first connecting arms 6 swings and then drives the motion of third steering wheel 8 of fixed mounting on first connecting plate 7.

And a first fixed frame 9 is fixedly arranged on a third rotating output shaft of the third steering engine 8. A fourth steering engine 10 is fixedly mounted on the first fixed frame 9. Specifically, the fourth steering engine 10 is located at the top of the first fixing frame 9. And a third rotating output shaft of the third steering engine 8 rotates to drive the fourth steering engine 10 to rotate. A first connecting frame 11 is fixedly arranged on a fourth rotating output shaft of the fourth steering engine 10. One end of the first connecting frame 11 is fixedly connected with a fourth rotating output shaft of the fourth steering engine 10, and the other end of the first connecting frame is provided with a double-fork-arm 12 structure and is respectively and fixedly connected with a fifth rotating output shaft and a fifth supporting shaft of the fifth steering engine 13 through the double-fork-arm 12 structure. Similarly, the fifth rotating output shaft and the fifth support shaft are symmetrically arranged and the axes of the fifth rotating output shaft and the fifth support shaft coincide. The fourth rotation output shaft of fourth steering wheel 10 rotates and drives first link 11 to rotate and then drive the motion of fifth steering wheel 13 with 11 fixed connection of first link. In this embodiment, a connection column 21 is fixedly provided on a wrapping case 23 outside the fifth steering engine 13. The fifth steering gear 13 can be installed on the humanoid robot through a connecting column 21 on a wrapping shell 23. In particular, the active insertion is on a humanoid robot. Fig. 7 shows a perspective assembly view of the robot arm structure in the figure 1 embodiment in the human form. The packing case 23 is a split structure.

In this embodiment, a sixth steering engine 14 is also included. A steering wheel 16 is fixedly connected to a sixth rotation output shaft of the sixth steering engine 14. And the sixth steering engine 14 is fixedly connected with the side wall of the fifth steering engine 13 through a steering wheel 16. Fig. 5 shows a perspective view of the deformed structure of the robot arm with the external form in the present embodiment. Fig. 6 shows a schematic perspective view of the deformed structure of the robot arm without the external form in the embodiment of fig. 5. Fig. 8 shows a perspective assembly view of the deformed robot arm structure in the embodiment of fig. 5. The sixth rotary output shaft of the sixth steering gear 14 rotates to drive the fifth steering gear 13 to rotate on the one hand, and can drive the whole robot arm structure in the implementation to move on the other hand. Likewise, the sixth steering engine has a sixth support shaft 22. The sixth rotary output shaft and the sixth support shaft 22 are symmetrically arranged and the axes of the sixth rotary output shaft and the sixth support shaft coincide.

Example 2:

the difference between this embodiment and embodiment 1 is that the robot arm structure in this embodiment and the arm structure in embodiment 1 are mirror image structures. For example, the robot arm structure in embodiment 1 is the left arm of the humanoid robot. The robot arm structure in this embodiment is the right arm of the humanoid robot.

Example 3:

a robot has a robot arm structure. The robot arm structure has the robot arm structure in embodiment 1 and/or embodiment 2.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention in any form, and all the technical matters of the present invention are any simple modifications, equivalent changes and modifications made to the above embodiments, and still belong to the scope of the technical solution of the present invention.

After reading this specification, it will be apparent to those skilled in the art that the present invention is comprised of a combination of prior art, and some of these prior art constituting each part of the present invention are described in detail herein, and some are not described in detail for the sake of brevity, but will be known to those skilled in the art after reading this specification. Moreover, it will be appreciated by those skilled in the art that the combination of these prior art techniques to form the present invention is highly creative and is a crystal that has been analyzed theoretically and experimented for many years by the inventor. It will also be apparent to those skilled in the art from this disclosure that each of the embodiments disclosed herein, and any combination of features, can be incorporated into the present invention.

Claims

1. The utility model provides a robot arm structure, is including installing the first steering wheel on first mount pad, its characterized in that: the first steering engine is characterized in that a first rotating output shaft of the first steering engine is fixedly connected with a first mounting plate at one end of a first mounting seat, and the first steering engine is rotatably hinged to the first mounting plate through the first rotating output shaft.

2. The robot arm structure of claim 1, wherein: the other end of the first mounting seat is provided with a mounting groove; a second steering engine is fixedly clamped in the mounting groove; the second steering engine is provided with a second support shaft and a second rotary output shaft.

3. The robotic arm structure of claim 2, wherein: the second rotating output shaft and the second support shaft are respectively and fixedly connected with a first connecting arm; one end of any one first connecting arm is fixedly connected with the second rotating output shaft, and the other end of the first connecting arm is fixedly connected with one end of the first connecting plate; and one end of the other first connecting arm is movably sleeved on the second supporting shaft, and the other end of the other first connecting arm is fixedly connected with the other end of the first connecting plate.

4. A robotic arm structure as claimed in claim 3, in which: a third steering engine is fixedly arranged on the first connecting plate; and a first fixing frame is fixedly arranged on a third rotating output shaft of the third steering engine.

5. A robotic arm structure as claimed in claim 4, in which: and a fourth steering engine is fixedly arranged on the first fixed frame.

6. The robot arm structure of claim 5, wherein: and a first connecting frame is fixedly arranged on a fourth rotating output shaft of the fourth steering engine.

7. The robot arm structure of claim 6, wherein: one end of the first connecting frame is fixedly connected with a fourth rotating output shaft of the fourth steering engine, and the other end of the first connecting frame is provided with a double-fork arm structure and is respectively and fixedly connected with a fifth rotating output shaft and a fifth supporting shaft of the fifth steering engine through the double-fork arm structure.

8. The robotic arm structure of claim 7, wherein: the steering gear box is characterized by further comprising a sixth steering gear, wherein a steering wheel is fixedly connected to a sixth rotating output shaft of the sixth steering gear, and the sixth steering gear is fixedly connected with the fifth steering gear through the steering wheel.

9. The robotic arm structure of claim 2, wherein: the steering engine further comprises a second mounting plate, one end of the second mounting plate is detachably buckled at the top of the mounting groove, and the other end of the second mounting plate is movably sleeved on the first supporting shaft of the first steering engine; the first steering engine can be arranged in a gap formed between the first mounting plate and the second mounting plate in a turnover mode.

10. The robot arm structure of claim 9, wherein: the first mounting plate is parallel to the second mounting plate.

11. The robot arm structure of claim 9, wherein: and a palm part is fixedly arranged on the shell of the first steering engine.

12. Robot, robot arm structure has, its characterized in that: the robot arm structure employs the robot arm structure of any one of claims 1 to 11.