CN216266003U

CN216266003U - Mechanical action arm and robot

Info

Publication number: CN216266003U
Application number: CN202121945852.XU
Authority: CN
Inventors: 高峰; 宋佩恒
Original assignee: Daozi Beijing Technology Co ltd
Current assignee: Daozi Beijing Technology Co ltd
Priority date: 2021-08-18
Filing date: 2021-08-18
Publication date: 2022-04-12
Anticipated expiration: 2031-08-18

Abstract

The utility model discloses a mechanical action arm and a robot, wherein the mechanical action arm comprises a driving component and a mechanical arm, the driving component comprises a first motor, a second motor and a third motor which are mutually connected into a whole, and rotating shafts of the first motor and the second motor are mutually parallel; the third motor is arranged on the machine body and used for driving the first motor and the second motor to integrally rotate back and forth along the first axis; the mechanical arm comprises a driving arm and a driven arm, the driving arm is provided with a first driving end and a second driving end, the first driving end is rotatably connected with the first motor, the second driving end is rotatably connected with the second motor, and the driven arm is in transmission connection with the driving arm; the first motor and the second motor are used for driving the driving arm to rotate so as to drive the driven arm to rotate back and forth along the second axis. The mechanical action arm provided by the utility model has flexible and changeable motion modes, the driving component drives the mechanical arm together, the mechanical arm can realize motion in a three-dimensional space, and the tail end of the driven arm can reach a specified point in the three-dimensional space.

Description

Mechanical action arm and robot

Technical Field

The utility model relates to the technical field of machinery, in particular to a mechanical action arm and a robot.

Background

The movable mechanical arm of the robot in the prior art can mostly only swing on the same side, and the swing structure is single in structure, inflexible in mechanical arm movement, large in weight, poor in stability and environment applicability, and the whole mechanical arm can only realize two-dimensional movement in a plane, so that more use requirements of users cannot be met.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a mechanical action arm, and aims to solve the problem that in the prior art, a mechanical arm of a robot is inflexible in movement and can only singly swing on the same side.

In order to achieve the above object, the present invention provides a mechanical action arm, comprising

The present invention also provides another mechanical arm for a robot, the robot including a body, the mechanical arm including:

the driving assembly comprises a first motor, a second motor and a third motor which are connected with each other to form a whole, and rotating shafts of the first motor and the second motor are parallel to each other; the third motor is arranged on the machine body and used for driving the first motor and the second motor to integrally rotate in a reciprocating mode along the first axis;

the mechanical arm comprises a driving arm and a driven arm, the driving arm is provided with a first driving end and a second driving end, the first driving end is rotatably connected with the first motor, the second driving end is rotatably connected with the second motor, and the driven arm is in transmission connection with the driving arm;

the first motor and the second motor are used for driving the driving arm to rotate so as to drive the driven arm to rotate back and forth along a second axis.

Optionally, the second axis is mutually perpendicular to the first axis.

Optionally, the mounting structure further comprises a mounting seat, a rotating shaft of the third motor is rotatably connected with the mounting seat, and the mounting seat is used for mounting the third motor on the machine body.

Optionally, the driving assembly further comprises a housing, and the first motor, the second motor and the third motor are mounted to the housing to be integrally connected to each other.

Optionally, the casing, first motor, second motor and third motor integrated into one piece, the casing has the confession the first reservation mouth that the pivot of first motor stretches out, confession the second reservation mouth that the pivot of second motor stretches out and confession the third reservation mouth that the pivot of third motor stretches out.

Optionally, a connection interface is arranged on the housing, and the first motor, the second motor and the third motor are electrically connected to the connection interface respectively; or a motor drive board is arranged in the shell, the input end of the motor drive board is electrically connected with the connection interface, and the motor drive board is provided with a plurality of drive output ends which are connected with the first motor, the second motor and the third motor in a one-to-one correspondence manner.

Optionally, a first pair of side shafts having the same rotation axis as the rotation shaft of the first motor is disposed on one side of the housing away from the rotation shaft of the first motor, and the first driving end includes a first driving end connected to the rotation shaft of the first motor and a first connecting end connected to the first pair of side shafts respectively;

one side of the shell, which is far away from the rotating shaft of the second motor, is provided with a second opposite side shaft which has the same rotating axis with the rotating shaft of the second motor, and the second driving end comprises a second driving end connected with the rotating shaft of the second motor and a second connecting end connected with the second opposite side shaft.

Optionally, the mechanical arm further comprises a buffer member, and the buffer member is arranged on the driving arm or the driven arm in a switchable manner between an initial state and a deformation state.

Optionally, the mechanical arm further comprises an energy storage element, the energy storage element is mounted on the driven arm, so that when the driving arm drives the driven arm to act, deformation energy storage is performed, and when the driving force applied to the driven arm by the driving arm disappears, the energy storage element releases the stored energy to drive the driven arm to reset.

Optionally, the driving arm includes a third link and a fifth link, a first driving end of the third link is rotationally connected to the first motor, and a second driving end of the fifth link is rotationally connected to the second motor; the driven arm comprises a first connecting rod, a second connecting rod and a fourth connecting rod;

the first connecting rod is rotatably connected with the second connecting rod and forms a first rotating fulcrum;

the third connecting rod is rotatably connected with the second connecting rod and forms a second rotating fulcrum;

the third connecting rod is rotatably connected with the fourth connecting rod to form a third rotating fulcrum;

the second connecting rod and the fourth connecting rod are rotatably connected through a connecting piece and respectively form a fourth rotating fulcrum and a fifth rotating fulcrum;

the connecting line of the second rotating fulcrum, the third rotating fulcrum, the fifth rotating fulcrum and the fourth rotating fulcrum is quadrilateral;

the connecting line of the first rotating fulcrum, the second rotating fulcrum, the seventh rotating fulcrum, the first driving end and the second driving end is pentagonal;

the first connecting rod is connected with the third connecting rod in a rotating mode to form a sixth rotating fulcrum.

The utility model also provides a robot which is characterized by comprising the mechanical action arm.

The mechanical action arm comprises a driving assembly and a mechanical arm, wherein the driving assembly comprises a first motor, a second motor and a third motor which are connected with each other into a whole, and rotating shafts of the first motor and the second motor are parallel to each other; the third motor is arranged on the machine body and used for driving the first motor and the second motor to integrally rotate back and forth along the first axis; the mechanical arm comprises a driving arm and a driven arm, the driving arm is provided with a first driving end and a second driving end, the first driving end is rotatably connected with the first motor, the second driving end is rotatably connected with the second motor, and the driven arm is in transmission connection with the driving arm; the first motor and the second motor are used for driving the driving arm to rotate so as to drive the driven arm to rotate back and forth along the second axis. The third motor is controlled to rotate to drive the driving assembly and the mechanical arm to rotate in a reciprocating mode along the first axis, namely, the mechanical arm swings left and right in a reciprocating mode relative to the machine body, the first motor and the second motor are driven to drive the mechanical arm to move back and forth and up and down relative to the machine body along the second direction, three-dimensional space movement of the mechanical arm is achieved, the tail end of the driven arm can reach a designated point in the three-dimensional space, the movement mode of the whole mechanical action arm is more, the mechanical action arm is more flexible, and the adaptability is higher.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a mechanical arm according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a buffer of an embodiment of a mechanical arm according to the present invention;

fig. 3 is a schematic structural diagram of the mechanical arm motor of the present invention being a single-shaft motor.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The robot aims at the problem that in the prior art, the mechanical arm of the robot is inflexible in movement and can only singly swing on the same side.

The utility model provides a mechanical action arm.

In an embodiment of the present invention, as shown in fig. 1 and 3, the mechanical arm is used for a robot, the robot includes a body, wherein the mechanical arm includes a driving assembly 10 and a robot arm 2, the driving assembly 10 includes a first motor 101, a second motor 102 and a third motor 104 connected to one another, the axes of rotation of the first motor 101 and the second motor 102 are parallel to each other, so that the robot arm 2 driven by the first motor 101 and the second motor 102 together can perform two-dimensional planar motion, and the third motor 104 is configured to be mounted on the body and drive the first motor 101 and the second motor 102 to rotate back and forth along a first axis. The mechanical arm 2 comprises a driving arm 20 and a driven arm, wherein the driving arm 20 is provided with a first driving end 201 and a second driving end 202, the first driving end 201 is rotatably connected with the first motor 101, the second driving end 202 is rotatably connected with the second motor 102, and the driven arm is in transmission connection with the driving arm 20. The first motor 101 and the second motor 102 are used for driving the driving arm 20 to rotate so as to drive the driven arm to rotate back and forth along the second axis. In detail, wherein the first axis and the second axis intersect spatially and are not coaxial. In this embodiment, the first axis is parallel to the forward-backward pointing direction of the main body, i.e. the third motor 104 is used to drive the whole driving assembly 10 and the mechanical arm 2 to swing back and forth along the main body. Preferably, the second axis is parallel to the left-right direction of the robot body, that is, when the first motor 101 and the second motor 102 drive the robot arm 2 to rotate along the second direction, the robot arm 2 can move back and forth and up and down integrally relative to the robot body, the whole mechanical action arm is driven by the first motor 101, the second motor 102 and the third motor 104, and the three motors or the three motors cooperatively drive and control the robot arm 2, so that the whole robot arm 2 can move in a three-dimensional space. The forward and reverse rotation of each motor is controlled independently, the movement modes of the whole mechanical arm 2 are more, one end of the driven arm far away from the driving motor can reach an appointed point in a three-dimensional space, the interconversion from the position of any point on the mechanical arm 2 to each driving motor can be achieved through the forward and reverse learning of the robot, the control of the whole mechanical action arm is simpler, the driving assembly 10 of the whole mechanical action arm is located at the position of the machine body, an additional driving piece does not need to be installed on the whole mechanical arm 2, the weight of the mechanical arm 2 can be effectively reduced, and the movement of the mechanical arm is more flexible and reliable.

Preferably, the first axis and the second axis are perpendicular to each other. The advancing direction when using the robot to move is the fore-and-aft direction of fuselage, and the first axis direction is the fore-and-aft direction of fuselage promptly, and the second axis is the left and right direction of fuselage, when third motor 104 drives drive assembly 10 and arm 2 and swings about one's body, first motor 101 and second motor 102 cooperate together to drive arm 2 and do the fore-and-aft movement for the fuselage for the motion of whole mechanical action arm is more regular, when being convenient for control the positive and negative rotation of whole drive assembly 10 motor, makes the control of whole mechanical action arm simpler. It should be noted that in other embodiments, the first axis and the second axis may not be perpendicular, and it is also feasible that their projections intersect at an angle, such as when the mechanical action arm is applied to an animal such as a bird, a mantis, a crab, etc., the angle of the first axis and the second axis may be adjusted according to the movement habit of the different animals, which is not limited herein.

Further, the mechanical arm further includes a mounting seat, and a rotating shaft of the third motor 104 is rotatably connected to the mounting seat. In detail, the mounting seat includes a connecting plate, two ends of the connecting plate protrude outwards to form two opposite supporting plates, so that the whole mounting seat is in a U shape, the space between the two supporting plates is the swing space of the third motor 104, the connecting plate has 4 bolt holes respectively located at four corners of the connecting plate, and bolts pass through the bolt holes one by one to fixedly connect one surface of the connecting plate departing from the supporting plates with the machine body, so that the mounting seat is integrally fixed on the machine body. Wherein the tip that the connecting plate was kept away from to two backup pads is seted up and is supplied the pivot male through-hole of third motor 104, third motor 104 is the biax motor, the both ends pivot of third motor 104 inserts in the through-hole respectively, when making the drive of third motor 104, drive third motor 104 and rotate around the drive shaft of third motor 104, and then drive whole arm 2 and make a round trip to swing in the rotation space of mount pad, when making the motion mode of whole mechanical action arm more nimble, it is also more convenient to install and dismantle.

In one embodiment, the driving assembly 10 further includes a housing 103, and the first motor 101, the second motor 102 and the third motor 104 are mounted to the housing 103 to be integrally connected to each other. Specifically, the housing 103 has mounting grooves for accommodating and fixing the first motor 101, the second motor 102 and the third motor 104, and the three motors are fixed in the mounting grooves of the housing 103, so that the three motors do not displace when moving, and the driving effect is better. Preferably, first motor 101, second motor 102 and third motor 104 are integrated in casing 103, and have hollow line passageway of walking in the casing 103, the electric connecting wire between the three motors is whole to be connected with the fuselage electricity through this line passageway of walking, when making whole mechanical action arm install in the robot fuselage, the quality of motor can be concentrated on the fuselage department of robot, reduce the dead weight of arm 2, make the high-speed dynamic motion of robot more simple and convenient, and reduced the energy consumption of robot, the duration of the robot has been promoted. Furthermore, because all the electric connecting wires of the whole mechanical action arm are arranged in the shell 103 of the driving component 10, the wiring difficulty of the whole mechanical action arm is reduced, the fatigue damage of the motor cable caused by repeated friction and bending is avoided, and the service life of the motor cable can be effectively prolonged.

Further, the housing 103, the first motor 101, the second motor 102 and the third motor 104 are integrally formed, so that the whole driving assembly 10 is simpler to manufacture, the driving assembly 10 is integrally formed, when one of the motors in the driving assembly 10 fails, the driving assembly can be integrally detached and rapidly replaced, and the maintenance efficiency can be effectively improved. Preferably, the whole housing 103 is a sealed housing 103, and the housing 103 has a first reserved opening for extending the rotating shaft of the first motor 101, a second reserved opening for extending the rotating shaft of the second motor 102, and a third reserved opening for extending the rotating shaft of the third motor 104. Through set up axle sleeve, the waterproof gasket with pivot looks adaptation in each reservation mouth department, when the motor was waterproof motor, can realize the complete waterproof of whole drive assembly 10, and whole mechanical action arm is pure mechanical structure, can use in extreme environment and the environment under water.

Preferably, a connection interface is disposed on one side of the housing 103 close to the body, and a motor driving board, which is a circuit board, is disposed in the housing 103. The input end of the motor drive board is electrically connected with the connection interface, the motor drive board is provided with a plurality of drive output ends which are correspondingly connected with the first motor 101, the second motor 102 and the third motor 104 one by one and correspondingly connected with one of the drive output ends, and the drive control board is used for receiving an external control command and converting the external control command into a motor drive signal so as to drive the corresponding first motor 101, the second motor 102 and the third motor 104 to execute corresponding command actions. To integrate the control of multiple motors together, reducing the complexity of internal wiring and wiring length.

In other embodiments, the drive assembly 10 further includes a signal interface coupled to the body, the signal interface communicating the received drive signal directly to the motor. Or, the driving assembly 10 further includes a signal interface and a circuit board, the signal interface is connected to the body, the signal interface transmits the received driving signal to the circuit board, and then the driving signal is transmitted to the motor through the circuit board, so that the wiring length can be shortened, and the wiring complexity can be reduced.

In other embodiments, the electrical connection wires of the first motor 101, the second motor 102, and the third motor 104 are electrically connected to the connection interface through the routing channels inside the housing 103, so that the wiring difficulty inside the motors can be effectively reduced, and the wiring length of the motor assembly is shortened.

It should be noted that the first motor 101, the second motor 102, and the third motor 104 may be single-shaft motors, dual-shaft motors, or dual-shaft motors, and may be selected by themselves according to the size and specific motion requirements of the robot arm 2, in this embodiment, in consideration of the cost of the motors, and the size and cost of the whole mechanical motion arm, the first motor 101 and the second motor 102 are single-shaft motors, and in other embodiments, the first motor 101, the second motor 102, and the third motor 104 may be dual-shaft motors correspondingly according to actual use requirements, which is not limited herein.

Further, as shown in fig. 1, when both the first motor 101 and the second motor 102 are single-shaft motors, the side of the housing 103 away from the rotating shaft of the first motor 101 has a first pair of side shafts having the same rotating axis as the rotating shaft of the first motor 101, the first driving end 201 includes a first driving end 2011 connected to the rotating shaft of the first motor 101 and a first connecting end 2012 connected to the first pair of side shafts, that is, the first driving end 201 of the driving arm 20 is bifurcated into a first driving end 2011 and a first connecting end 2012 which are arranged at intervals, and are respectively connected with the rotating shaft of the first motor 101 and the first pair of side shafts in a rotating way, so as to improve the bearing capacity of the rotating shaft of the first motor 101, when the whole mechanical arm 2 is large, the rotating shaft of the first motor 101 is more balanced by gravity, and the rotating shaft of the motor is not easy to damage when being impacted by external force, and meanwhile, the stability of the structure of the whole mechanical arm 2 can be improved, and the impact force of the driven arm of the mechanical arm 2 on the rotating shaft of the motor and the rigidity can be reduced when the driven arm moves to touch the ground at high speed. The connection mode of the second motor 102 is consistent with that of the first motor 101, which is not described herein.

In one embodiment, the drive arm 20 includes a third link 21 and a fifth link 22, and the driven arm includes a first link 31, a second link 32, and a fourth link 33. Wherein, the first link 31 and the second link 32 are rotatably connected and form a first rotation fulcrum 311; the third connecting rod 21 is rotatably connected with the second connecting rod 32 and forms a second rotating fulcrum 3; the third link 21 is rotatably connected with the fourth link 3340 and forms a third rotation fulcrum 211; the second link 32 and the fourth link 33 are rotatably connected by a connecting member 34 and form a fourth rotation fulcrum 322 and a fifth rotation fulcrum 331, respectively, wherein the ground contact portion is located at one end of the connecting member 34; the connecting line of the second rotation fulcrum 321, the third rotation fulcrum 211, the fourth rotation fulcrum 322 and the fifth rotation fulcrum 331 is a quadrangle.

One end of the fifth connecting rod 22 is rotatably connected with the first connecting rod 31 to form a sixth rotating fulcrum 221, the other end of the fifth connecting rod 22 is a first driving end 201 for driving connection with the first driving piece, the third connecting rod 21 is provided with a second driving end 202 for driving connection with the second driving piece, and the rotating axes of the first driving end 201 and the second driving end 202 are parallel; the connecting line of the first rotation fulcrum 311, the second rotation fulcrum 321, the sixth rotation fulcrum 221, the first driving end 201, and the second driving end 202 is a pentagon.

When the first driving end 201 of the fifth link 22 is driven by the first motor 101, the fifth link 22 rotates about the rotation center line of the first driving end 201, and sequentially drives the first link 31 to rotate about the sixth rotation fulcrum 221, the second link 32 to rotate about the first rotation fulcrum 311, the fourth link 33 to rotate about the third rotation fulcrum 211, the connecting members 3480 respectively follow the fourth link 33 about the fifth rotation fulcrum, follow the second link 32 about the fourth rotation fulcrum, and the third link 21 to rotate about the second link 32. When one of them drive end is driven, whole connecting rod structure can both be driven to need not to add driving piece or electronic component on the pole body, make the structure of whole shank constitute by pure machinery, the reliability is high, and easy to maintain. According to the use requirement, when the first driving end 201 of the fifth link 22 is driven, the second driving end 202 of the third link 21 can be driven simultaneously, the two independent driving motors control the leg link structures, and through the combination of two groups of independent movements, the mechanical arm 2 can output any required movement and trajectory within the limit range, and the movement is more flexible.

It should be noted that a first connection hole is formed at a rotation connection position of the first connection rod 31 and the second connection rod 32, a first matching hole is formed at a matching position of the second connection rod 32 and the first matching hole, the first connection hole and the second connection hole are aligned, the first rotation rod sequentially penetrates through the first connection hole and the second connection hole, the first connection rod 31 and the second connection rod 32 are connected in a rotation mode, the first rotation rod is fixed through screws, so that the connection and the disassembly between the connection rods are more convenient, and the rotation rod serves as the first rotation fulcrum 311. The rotary connection modes formed among all the connecting rods are consistent. The first link 31 may be one side rotatably connected to the second link 32, or may be wedged into the second link 32, and the specific rotation mode may be set according to the use requirement, which is not limited herein.

It should be further noted that the first driving end 201 and the second driving end 202 may be disposed on the same horizontal plane, the same vertical plane, and two different planes spaced at intervals as required, and as long as the rotation axes thereof are disposed in parallel, they may be adjusted accordingly according to different application scene positions of the five-bar structure.

In an embodiment, a line connecting the second rotation fulcrum 321, the third rotation fulcrum 211, the fourth rotation fulcrum 322, and the fifth rotation fulcrum 331 is a quadrangle, and as a preferred embodiment, a line connecting the second rotation fulcrum 321, the third rotation fulcrum 211, the fourth rotation fulcrum 322, and the fifth rotation fulcrum 331 is a parallelogram. Namely, when the mechanical arm 2 moves, the motion tracks of the connecting part 34 and the third connecting rod 21 are always in a parallel state, one end of the third connecting rod 21 is connected with the driving part, in actual use, according to the use requirement, the motion track of the connecting piece 34 can be calculated through the relationship between the rotation angle of the driving motor and the connecting rod mechanism, when the connecting line of the second rotation fulcrum 321, the third rotation fulcrum 211, the fourth rotation fulcrum 322, and the fifth rotation fulcrum 331 is a parallelogram, the first motor 101 and the second motor 102 drive the mechanical arm 2 to rotate, each connecting rod moves regularly in a plane, the rotation angle of the servo motor is associated with the movement route of each connecting rod of the mechanical arm 2, the control system can calculate the real-time angle and position of the connecting rods in the movement process more conveniently, the control algorithm is simpler, and the requirement on a computer is reduced, so that the control cost can be reduced.

Note that the second rotation fulcrum 321 is located between the first rotation fulcrum 311 and the fifth rotation fulcrum 331, and the third rotation fulcrum 211 is located between the second driving end 202 and the second rotation fulcrum 321. In this embodiment, the third rotation fulcrum 211 is interposed between the second driving end 202 and the second rotation fulcrum 321, so that the robot arm 2 is more compact and has a wider range of motion than the second rotation fulcrum 321 is interposed between the third rotation fulcrum 211 and the second driving end 202.

Further, the connecting member 34 extends from the fifth rotation fulcrum 331 to the fourth rotation fulcrum 322 to form a connecting rod 342, one end of the connecting rod 342 away from the fourth rotation fulcrum 322 is a ground contacting end 341 for contacting with the ground, and according to the use requirement, a soft pad may be added at the ground contacting end 341 to increase the contact area between the ground contacting end 341 and the ground or the soft pad, so as to reduce the impact force of the ground on the ground.

Because the connecting line of the second rotation fulcrum 321, the third rotation fulcrum 211, the fourth rotation fulcrum 322 and the fifth rotation fulcrum 331 is a parallelogram, it can be understood that, during the movement of the robot arm 2, the movement locus of the third connecting rod 21 is consistent with the movement locus of the connecting piece 34, and by extending the length of the connecting piece 34, the length of the shank of the robot arm 2 is increased when the robot arm 2 is used for a leg of a robot, so that the range of the movement of the robot arm 2 in one rotation round is wider, and the speed of the movement is increased.

Of course, it should be further noted that, when the mechanical arm 2 is used for other mechanical devices, the connecting member 34 includes a first rod portion and a second rod portion connected to each other, and the first rod portion is pivotally connected to the second link 32 and the fourth link 33 to form a fourth pivot 322 and a fifth pivot 331. In this case, the second rod portion of the connecting member 34 may be a link, a straight rod, a bent rod, or a multi-joint member, which is not limited herein.

As a preferred embodiment, the fifth connecting rod 22 includes a first section and a second section that are integrally formed, the first section and the second section are connected in a bending manner, that is, the fifth connecting rod 22 is not a straight rod but a bent shaped rod, the first driving end 201 is disposed at the first section, the second section is rotatably connected to the first connecting rod 31 to form a sixth rotation pivot 221, and the corresponding third connecting rod 21 also includes a third section and a fourth section that are integrally formed, and the third section and the fourth section are connected in a bending manner, wherein a bending direction between the third section and the fourth section is the same as a bending direction between the first section and the second section of the fifth connecting rod 22, so that when the first driving element 60 and the second driving element 70 respectively drive the fifth connecting rod 22 and the first connecting rod 31 to rotate in the same direction, the entire robot arm 2 can be contracted more tightly, and occupy a smaller space. Compared with a straight rod, the fifth connecting rod 22 is arranged to be a bent rod with a first section and a second section, so that when the mechanical arm 2 moves to any angle, other connecting rods cannot directly act a reaction force on the connecting part of the fifth connecting rod 22 and the first driving part 60, the impact force of the first driving part 60 in the process of driving the fifth connecting rod 22 is reduced, and the whole mechanical arm 2 is more flexible and reliable in rotation. Compared with a straight rod when the third connecting rod 21 adopts a bending rod, when the connecting piece 3480 rotates in the same range, the rotating amplitude of the driving piece is smaller, the performance requirement on the first driving piece 60 can be further reduced, and the cost is saved.

It should be noted that the fifth link 22 may also be an arc-shaped rod, a bent rod or other shapes, as long as the two end points are respectively connected with the first driving member 60 and the first link 31 in a rotating manner, and the shape of the fifth link 22 is not limited herein, and the shape of the corresponding other links is not limited herein.

In an embodiment, the robot arm 2 further includes a buffer member 40, and the buffer member 40 is disposed on the driving arm 20 or the driven arm to be switchable between an initial state and a deformed state, and is configured to be in the initial state when the impulse transmitted by the robot arm 2 to the driving assembly 10 is smaller than a preset impulse. When the impulse transmitted to the driving assembly 10 by the mechanical arm 2 is greater than the preset impulse, the mechanical arm is in a deformation state, so that the impulse transmitted to the driving assembly 10 by the mechanical arm 2 is relieved. In detail, when the cushion member 40 is provided in the follower arm, the cushion member 40 is attached to the first link 31, and in this case, the first link 31 is a follower link. Preferably, the first link 31 is a first link 31 including a first connection portion 312 and a second connection portion 313 separated from each other, the first connection portion 312 is connected to the fifth link 22 in a rotatable manner to form a sixth rotation fulcrum 221, and the second connection portion 313 is connected to the second link 32 in a rotatable manner to form a first rotation fulcrum 311. The buffer member 40 includes an elastic member 41, one end of the elastic member 41 is connected to the first connection portion 312, and the other end of the elastic member 41 is connected to the second connection portion 313, so that the motor does not rotate at a moment when the robot arm 2 falls from a high position and receives an external impact force, the elastic member 41 stretches, so that the distance between the first connection portion 312 and the second connection portion 313 is increased to buffer the impact force of the foot end, the moment of the foot end does not act on the rotating shaft of the first motor 101 or the second motor 102, and the motor is protected, so that the mechanical action arm does not damage the driving assembly 10 when applied to the leg of the robot, even if the robot arm falls from a high position or an external force strikes the leg of the robot.

Further, as shown in fig. 2, the buffer member 40 further includes a guide rod 42 and a guide sleeve 43, one of the guide rod 42 and the guide sleeve 43 is disposed at the first connection portion 312, and the other of the guide rod 42 and the guide sleeve 43 is disposed at the second connection portion 313. The guide rod 42 is inserted into the guide sleeve 43 and is slidably fitted with the guide sleeve 43. That is, the guide rod 42 is fixed to the first connection portion 312, and the guide bush 43 is fixed to the second connection portion 313. Or the guide rod 42 is fixed to the second coupling portion 313, and the guide sleeve 43 is fixed to the first coupling portion 312. The guide sleeve 43 is internally provided with a guide groove 431 for the guide rod 42 to perform piston motion, so that when the mechanical arm 2 is subjected to reverse acting force of the driven arm, the guide rod 42 performs stretching motion along the direction of the guide groove 431, a stress deformation direction is provided for the buffer member 40, and the buffer member 40 is prevented from bending to cause axial deformation of the first connecting rod 31, and the planar motion stability of the whole mechanical arm 2 is prevented from being influenced. In this embodiment, the guide rod 42 is fixed on the second connection portion 313, and the guide sleeve 43 is fixed on the first connection portion 312, so that when the foot end of the leg of the robot receives an impact force, the guide rod 42 moves in the guide groove 431, and compared with the movement effect of the guide sleeve 43 along the direction of the guide rod 42, the guide effect is better and simpler.

In one embodiment, the guide sleeve 43 is provided with a first blocking portion 432, the elastic member 41 has an initial state and a stretched state, when the elastic member 41 is in the initial state, the guide rod 42 is abutted against the first blocking portion 432, and when the elastic member 41 is in the stretched state, the guide rod 42 is separated from the first blocking portion 432. Specifically, the first blocking portion 432 and the guide sleeve 43 are integrally formed, and are a protrusion protruding into the guide groove 431 to limit the movement of the guide rod 42. When the mechanical arm 2 is in normal motion and the foot end is not subjected to instantaneous reaction force of the ground to the mechanical arm 2, one end of the guide rod 42 far away from the second connecting part 313 is abutted to the first blocking part 432, so that the length of the mechanical arm 2 in the normal motion process is ensured not to be subjected to shrinkage change, the length ratio of the driving arm 20 to the driven arm is kept not to be changed, and the mechanical arm 2 is more stable and reliable in motion. Or when the mechanical arm 2 is vacated, the elastic element 41 is restored to the original state under the action of the elastic force of the elastic element at the moment when the external impact force disappears, and the guide rod 42 is driven to abut against the first blocking portion 432, so that the rod length of the first connecting rod 342 is instantly restored to the normal length, and the mechanical arm 2 is more stable and controllable in motion.

Further, the guide bush 43 is provided with a second stopper 433, and the second stopper 433 is provided at a distance from the first stopper 432 on the guide bush 43, that is, a distance between the first stopper 432 and the second stopper 433 is a moving distance of the guide rod 42 along the guide groove 431. Correspondingly, the guide rod 42 is provided with a limit protrusion 421 to limit the limit protrusion 421 of the guide rod 42 to abut against the second blocking portion 433 when the elastic member 41 is in the stretching state, so as to prevent the guide rod 42 from being released from the guide sleeve 43. In a preferred embodiment, the limit protrusion 421 is formed by protruding the peripheral edge of one end of the guide rod 42 in contact with the first stopper 432, and when the length of the guide groove 431 is the same as that of the limit protrusion 421 of the guide rod 42 provided at another portion of the guide rod 42, the movement distance of the guide rod 42 in the guide sleeve 43 is longer, so that the tensile force to the elastic member 41 is larger, the buffering effect is better, and the motor is further protected.

Further, the second blocking portion 433 is an end portion of the guide sleeve 43 facing the first blocking portion 432, that is, the second blocking portion 433 is located at an end of the guide sleeve 43 close to the guide rod 42, and accordingly, when the length of the first link 31 is not changed, the first blocking portion 432 is located at the end portion of the guide sleeve 43 so that the sliding distance of the guide rod 42 in the guide sleeve 43 is further increased, so that the pulling force on the elastic member 41 is greater, and the buffering effect thereof can be further improved.

As a preferred embodiment, the guide sleeve 43 further includes a reinforcing sleeve 434, the guide rod 42 passes through the reinforcing sleeve 434, the reinforcing sleeve 434 has a through hole for the guide rod 42 to pass through and slide, the guide rod 42 passes through the reinforcing sleeve 434 and extends into the guide groove 431, wherein the reinforcing sleeve 434 is located at the end of the guide sleeve 43 and is made of metal or other rigid materials, so that the guide rod 42 is not worn during long-term use, and the service life is longer.

Specifically, when the elastic member 41 is one, the elastic member 41 is a compression spring, and the compression spring is sleeved on the portion of the guide rod 42, which is disposed in the guide groove 431 of the guide sleeve 43, so that when the mechanical arm 2 receives an impact force, the guide rod 42 moves in the direction away from the first blocking portion 432 in the wire guide groove, and the compression spring is compressed to counteract the impact force of the mechanical arm 2, so that the moment at the foot end does not act on the rotating shaft of the first motor 101 or the second motor 102, thereby protecting the motors and reducing the drive failure rate of the leg of the machine. When the connecting piece 34 of the mechanical arm 2 is not subjected to a large external impact force, the compression spring recovers deformation and drives the guide rod 42 to recover to the original position, so that the length of the first connecting rod 31 is kept unchanged in the movement process, and the movement of the whole mechanical arm 2 is more stable. It should be noted that, the strength and the material of the tension spring can be selected according to different impact forces to achieve the corresponding buffering effect, which is not limited herein.

When the elastic member 41 is one and is disposed on one side of the guide sleeve 43, the elastic member 41 is a tension spring, one end of the tension spring is fixedly connected to the first connecting portion 312, the other end of the tension spring is fixedly connected to the second connecting portion 313, and the preferred tension spring is disposed directly above or entirely below the guide sleeve 43, so that when the leg mechanism receives an impact force, the tension spring is more uniformly stressed at each position. In the embodiment, as shown in the figure, the number of the tension springs is 2, and the tension springs are symmetrically arranged on the two sides of the guide sleeve 43, so that compared with a single tension spring or 3 or more tension springs, the weight of the mechanical arm 2 is reduced without excessively swelling the first link 31 while a good buffering effect is achieved.

In one embodiment, the robot arm 2 further comprises an energy storage element 50, wherein the energy storage element 50 is mounted on the driven arm, so that when the driving arm 20 drives the driven arm to act, deformation energy storage is performed, and when the driving force applied to the driven arm by the driving arm 20 disappears, the energy storage element 50 releases the stored energy to drive the driven arm to reset. Specifically, the energy storage element 50 is mounted in several ways, wherein the energy storage element 50 is a spring, one end of the spring is connected to the second link 32, and the other end of the spring is connected to the fourth link 33. Alternatively, one end of the spring is connected to the third link 21, and the other end of the spring is connected to the fourth link 33. Alternatively, one end of the spring is connected to the second link 32, and the other end of the spring is connected to the third link 21. Alternatively, one end of the spring is connected to the second link 32, the third link 21, and the fourth link 33, and the other end of the spring is connected to the second driven arm at this time. When the driving arm is driven by the first motor 101 and the second motor 102, at this time, the quadrangle formed by the enclosure of the rotation connecting fulcrums of the second connecting rod 32, the third connecting rod 21, the fourth connecting rod 33 and the second driven arm deforms along with the driving arm, the spring is stretched along with the deformation, the energy storage effect can be achieved, the whole quadrangle structure can be tensioned by the spring, the transmission gap between the first driven arm and the second driven arm can be reduced or even eliminated, and the structure of the whole mechanical arm 2 can move more stably. It can be known that, when the length of the spring is longer, the deformation range of the quadrangle formed by connecting the two end points is larger, and the energy storage effect is better. According to the energy storage performance of 2 actual needs of arm, can adjust two link of spring by oneself, as long as it can be along with the master arm when rotating, when the second slave arm moved towards being close to first slave arm direction, the spring can stretch the energy storage and all be feasible, and it is not limited here.

It should be noted that, when one end of the spring is connected to the connecting rods corresponding to two adjacent sides of the quadrangle, the position of the rotation pivot corresponding to one end of the spring and two adjacent sides is staggered, so that when the spring changes in the quadrangle shape formed by the second connecting rod 32, the third connecting rod 21, the fourth connecting rod 33 and the second driven arm, that is, when the angle between the second driven arm and the second connecting rod 32 is reduced, the spring can perform stretching energy storage, so that at the moment when the driving arm is not driven, the spring recovers deformation under the action of its own elastic force, so as to provide the force of the second driven arm away from the second connecting rod 32, reduce the dependence of the second driven arm on the motor drive, thereby reducing the performance requirements of the first motor 101 and the second motor 102, reducing the performance requirements of the whole mechanical arm 2 on the motors, and being able to drive the mechanical arm 2 to move at high speed and flexibly when a common driving motor is implemented, thereby reducing the cost of the mechanical action arm.

As a preferred embodiment, one end of the spring is sleeved or fixed on the third pivot 211 or the fourth pivot 322, the second link 32 protrudes toward the fourth link 33 to form a first connecting block, the connecting block is located on a connecting line between the third pivot 211 and the fourth pivot 322, the connecting block has a fixing hole for inserting the spring, and the other end of the spring is fixed in the fixing hole of the connecting block, so that the spring is integrally located on a diagonal connecting line of a quadrangle formed by the pivot of the second link 32, the third link 21, the fourth link 33 and the second driven arm, when the quadrangles are deformed to the same extent, the extension length of the spring is the longest, and the energy storage effect is better.

In other embodiments, correspondingly, one end of the spring is sleeved or fixed on the second rotation fulcrum 321 or the fifth rotation fulcrum 331, the fourth connecting rod 33 protrudes and extends a second connecting block towards the second connecting rod 32, the second connecting block is provided with a mounting hole for mounting the spring, the mounting hole of the second connecting block is located on a connecting line of the second rotation fulcrum 321 and the fifth rotation fulcrum, and the other end of the spring passes through the mounting hole and is connected to the connecting block, so that the whole spring is located on a diagonal connecting line of a quadrangle formed by the second connecting rod 32, the third connecting rod 21, the fourth connecting rod 33 and the rotation fulcrum of the second driven arm, when the quadrangles are deformed to the same extent, the extension length of the spring is longest, and the energy storage effect is better. The second connecting block may be formed by protruding the second connecting rod 32 and the second driven arm, which is not limited herein. It should be noted that it is also feasible that two ends of the spring are respectively clamped on two opposite rotation pivots of the quadrilateral.

This use is novel still to provide a robot, and this robot includes the mechanical action arm, and the concrete structure of this mechanical action arm refers to above-mentioned embodiment, because this robot has adopted the whole technical scheme of above-mentioned all embodiments, consequently has all beneficial effects that the technical scheme of above-mentioned embodiment brought at least, and the repeated description is no longer given here.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A mechanical action arm for a robot, the robot comprising a body, the mechanical action arm comprising:

2. The mechanical arm of claim 1, wherein the second axis is orthogonal to the first axis.

3. The mechanical arm of claim 1, further comprising a mounting base, wherein a shaft of the third motor is rotatably coupled to the mounting base, and the mounting base is configured to mount the third motor to the body.

4. The mechanical arm of claim 1, wherein the drive assembly further comprises a housing, and the first motor, the second motor, and the third motor are mounted to the housing so as to be integrally connected to each other.

5. The mechanical arm of claim 4, wherein the housing, the first motor, the second motor, and the third motor are integrally formed, and the housing has a first opening for allowing a rotation shaft of the first motor to extend, a second opening for allowing a rotation shaft of the second motor to extend, and a third opening for allowing a rotation shaft of the third motor to extend.

6. The mechanical action arm of claim 5, wherein a connection interface is disposed on the housing, and the first motor, the second motor and the third motor are electrically connected to the connection interface respectively; or a motor drive board is arranged in the shell, the input end of the motor drive board is electrically connected with the connection interface, and the motor drive board is provided with a plurality of drive output ends which are connected with the first motor, the second motor and the third motor in a one-to-one correspondence manner.

7. The mechanical action arm of claim 6, wherein a side of the housing away from the rotating shaft of the first motor is provided with a first pair of side shafts having the same rotating axis as the rotating shaft of the first motor, and the first driving end comprises a first driving end connected to the rotating shaft of the first motor and a first connecting end connected to the first pair of side shafts respectively;

8. The mechanical arm of claim 1, further comprising a buffer member, wherein the buffer member is disposed on the driving arm or the driven arm to be switchable between an initial state and a deformed state, and is configured to be in the initial state when an impulse transmitted from the mechanical arm to the driving assembly is smaller than a preset impulse; when the impulse transmitted to the driving assembly by the mechanical arm is greater than the preset impulse, the driving assembly is in a deformation state so as to relieve the impulse transmitted to the driving assembly by the mechanical arm.

9. The mechanical arm of claim 1 or 8, wherein the mechanical arm further comprises an energy storage member, the energy storage member is mounted on the driven arm so as to perform deformation energy storage when the driving arm drives the driven arm to move, and the energy storage member releases stored energy to drive the driven arm to reset when the driving force applied by the driving arm to the driven arm is eliminated.

10. The mechanical arm of claim 1, wherein the drive arm includes a third link and a fifth link, a first drive end of the third link being rotationally coupled to the first motor and a second drive end of the fifth link being rotationally coupled to the second motor; the driven arm comprises a first connecting rod, a second connecting rod and a fourth connecting rod;

11. A robot comprising a mechanical action arm according to any of claims 1 to 10.