CN216830966U

CN216830966U - Shoulder arm mechanism and robot

Info

Publication number: CN216830966U
Application number: CN202220048538.XU
Authority: CN
Inventors: 易港
Original assignee: Titanium Tiger Robot Technology Shanghai Co ltd
Current assignee: Titanium Tiger Robot Technology Shanghai Co ltd
Priority date: 2022-01-10
Filing date: 2022-01-10
Publication date: 2022-06-28
Anticipated expiration: 2032-01-10

Abstract

The utility model provides a shoulder arm mechanism and robot, include: output shafts of a forearm elbow output, a first arm motor, a second arm motor, a third arm motor and a shoulder motor; an arm second motor is arranged on the end face of the output shaft of the shoulder motor and drives the arm second motor to rotate along the axial direction of the output shaft of the shoulder motor; the output shaft of the shoulder motor rotates relative to the third arm motor through the second arm motor; the end face of the other end of the third motor of the arm is arranged on the periphery of the output of the elbow of the forearm and drives the output of the elbow of the forearm to rotate along the axial direction of the third motor of the arm; one end of a first motor of the arm is arranged on the side of the output periphery of the elbow of the forearm, and the first motor of the arm rotates relative to a third motor of the arm through the output of the elbow of the forearm. The device has compact structure, improves the integral rigidity through a plurality of connecting structures, has small shake in the motion process and high position precision.

Description

Shoulder arm mechanism and robot

Technical Field

The utility model relates to a robot structure field specifically, relates to shoulder arm mechanism and robot.

Background

With the widespread popularization of robots, more and more robots are applied to production and life, and therefore, the requirements on the robots are higher and higher. In order to meet the increasingly high requirements and adapt to various situations, the anthropomorphic robot has higher requirements on the degree of flexibility and the stability of the arm of the robot.

Patent document CN207771826U provides a shell of a bionic robot arm, which is disposed between adjacent joints of the bionic robot arm, and includes a plurality of shells connected in sequence in a building block manner, wherein at least two of the shells have a relative rotation therebetween, and the relative rotation uses a connection line between the shells involved in the relative rotation as an axis; the utility model provides a bionic robot arm, includes shoulder joint, big arm, elbow joint, forearm and the wrist joint that connects gradually, big arm with at least one of forearm is bionic robot arm shell.

Patent document CN112476478A discloses a bionic rope-driven four-degree-of-freedom arm oriented to human-machine cooperation, in which the degree of freedom of an elbow joint is one, and the degree of freedom of a wrist joint is three. All joints are driven by a rope transmission mode, wherein the elbow joint is realized by a tangent circle rolling mechanism, a movable pulley transmission structure is designed to realize the amplification of the rigidity and the torque of the joint, and three degrees of freedom of the wrist joint are realized by matching a three-connecting-rod parallel mechanism with a universal joint; all joint driving motors are arranged at the shoulder structure, so that the motion inertia of the arm is effectively reduced, and the rope length change between the joints is decoupled and convenient to control.

The degree of freedom of the robot in the prior patent still has certain limitation.

SUMMERY OF THE UTILITY MODEL

To the defect among the prior art, the utility model aims at providing a shoulder arm mechanism and robot.

According to the utility model provides a pair of shoulder arm mechanism, include: output shafts of a forearm elbow output, a first arm motor, a second arm motor, a third arm motor and a shoulder motor;

the arm second motor is arranged on the end face of the output shaft of the shoulder motor and drives the arm second motor to rotate along the axial direction of the output shaft of the shoulder motor;

the shoulder motor output shaft and one end of the arm third motor are arranged on the periphery of the arm second motor, and the shoulder motor output shaft rotates relative to the arm third motor through the arm second motor;

the end face of the other end of the third motor of the arm is arranged on the periphery of the output of the forearm elbow and drives the output of the forearm elbow to rotate along the axial direction of the third motor of the arm;

the installation of forearm elbow output week side the first motor one end of arm, the first motor of arm passes through forearm elbow output is relative the arm third motor rotates.

Preferably, the other end face of the first arm motor is provided with a half sole palm rolling motor output shaft and drives the half sole palm rolling motor output shaft to rotate along the axial direction of the first arm motor.

Preferably, the output shaft of the half sole palm roll motor is provided with a forearm wrist shell;

the forearm wrist shell is connected with the first motor of the arm.

Preferably, one end of the arm third motor, which faces to the output end of the forearm elbow, is fixedly connected with an output shaft of an elbow roll motor;

and the output shaft of the elbow transverse rolling motor is connected with the output of the forearm elbow.

Preferably, an elbow rotating shell is installed outside an output shaft of the elbow transverse rolling motor;

and one end of the elbow rotating shell is connected with the third motor of the arm, and the other end of the elbow rotating shell is connected with the elbow output of the forearm.

Preferably, one end of the arm third motor, which faces away from the elbow rotating shell, is provided with a shoulder motor corner;

the shoulder motor corner is rotated relative to the elbow rotation housing by the arm third motor.

Preferably, one end of the shoulder motor, which faces away from the third arm motor, is connected to the peripheral side of the second arm motor.

Preferably, the peripheral side of the second arm motor is connected with the output shaft of the shoulder motor through a shoulder motor shell in a corner manner;

the corner of the shoulder motor shell coaxially rotates relative to the corner of the shoulder motor through the arm second motor.

Preferably, the shoulder motor output shaft is mounted on the shoulder base.

Preferably, a robot employs the shoulder-arm mechanism.

Preferably, the transmission modes of the forearm elbow output, the first arm motor, the second arm motor and the third arm motor are harmonic transmission.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. the device realizes the multi-degree-of-freedom rotation of the robot shoulder arm mechanism through a plurality of motors;

2. the device has compact structure, improves the integral rigidity through a plurality of connecting structures, has small shake in the motion process and high position precision;

3. the device is wide in application range through multi-degree-of-freedom rotation, can be detachably mounted on various robots, and is high in interchangeability.

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 view of the overall structure of a shoulder-arm mechanism;

fig. 2 is a schematic diagram of the position relationship of the motor transmission part of the shoulder arm mechanism.

Shown in the figure:

Detailed Description

The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.

Example 1

As shown in fig. 1 and 2, a shoulder-arm mechanism, which may be used for a robot, includes: forearm elbow output 8, arm first motor 22, arm second motor 30, arm third motor 31 and shoulder motor output shaft 36; the end surface of the shoulder motor output shaft 36 is provided with an arm second motor 30 and drives the arm second motor 30 to rotate along the axial direction of the shoulder motor output shaft 36, the side of the arm second motor 30 is provided with a shoulder motor output shaft 36 and one end of an arm third motor 31, the shoulder motor output shaft 36 rotates relative to the arm third motor 31 through the arm second motor 30, the end surface of the other end of the arm third motor 31 is arranged on the side of the forearm elbow output 8 and drives the forearm elbow output 8 to rotate along the axial direction of the arm third motor 31, the side of the forearm elbow output 8 is provided with one end of an arm first motor 22, and the arm first motor 22 rotates relative to the arm third motor 31 through the forearm elbow output 8. A shoulder motor output shaft 36 is mounted on a shoulder base 38.

The third motor 31 of the arm is fixedly connected with an output shaft 32 of an elbow roll motor towards one end of the elbow output 8 of the forearm, and the output shaft 32 of the elbow roll motor is connected with the elbow output 8 of the forearm. An elbow rotary shell 7 is arranged on the outer side of an output shaft 32 of the elbow roll motor, one end of the elbow rotary shell 7 is connected with an arm third motor 31, and the other end of the elbow rotary shell 7 is connected with a forearm elbow output 8. One end of the arm third motor 31, which faces away from the elbow rotating shell 7, is provided with a shoulder motor corner 6, and the shoulder motor corner 6 rotates relative to the elbow rotating shell 7 through the arm third motor 31. One end of the shoulder motor corner 6, back to the arm, of the third motor 31 is connected with the peripheral side of the arm second motor 30. The peripheral side of the arm second motor 30 is connected with the shoulder motor output shaft 36 through a shoulder motor casing corner 5, and the shoulder motor casing corner 5 coaxially rotates relative to the shoulder motor corner 6 through the arm second motor 30.

The other end face of the arm first motor 22 is provided with a half sole palm roll motor output shaft 45 and drives the half sole palm roll motor output shaft 45 to rotate along the axial direction of the arm first motor 22. The output shaft 45 of the half sole palm roll motor is provided with a forearm wrist shell 9, and the forearm wrist shell 9 is connected with the first arm motor 2.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. A shoulder-arm mechanism, comprising: a forearm elbow output (8), an arm first motor (22), an arm second motor (30), an arm third motor (31) and a shoulder motor output shaft (36);

the arm second motor (30) is mounted on the end face of the shoulder motor output shaft (36) and drives the arm second motor (30) to axially rotate along the shoulder motor output shaft (36);

the shoulder motor output shaft (36) and one end of the arm third motor (31) are arranged on the periphery of the arm second motor (30), and the shoulder motor output shaft (36) rotates relative to the arm third motor (31) through the arm second motor (30);

the end face of the other end of the third arm motor (31) is mounted on the periphery of the forearm elbow output (8) and drives the forearm elbow output (8) to axially rotate along the third arm motor (31);

the installation of forearm elbow output (8) week side the first motor of arm (22) one end, the first motor of arm (22) passes through forearm elbow output (8) are relative arm third motor (31) rotate.

2. The shoulder arm mechanism of claim 1, wherein: and a half sole palm transverse rolling motor output shaft (45) is arranged on the end face of the other end of the first arm motor (22) and drives the half sole palm transverse rolling motor output shaft (45) to axially rotate along the first arm motor (22).

3. The shoulder arm mechanism of claim 2, wherein: an output shaft (45) of the half sole palm transverse rolling motor is provided with a forearm wrist shell (9);

the forearm wrist shell (9) is connected with the first arm motor (22).

4. The shoulder arm mechanism of claim 1, wherein: one end of the arm third motor (31) facing the forearm elbow output (8) is fixedly connected with an elbow transverse rolling motor output shaft (32);

the elbow transverse rolling motor output shaft (32) is connected with the forearm elbow output (8).

5. The shoulder arm mechanism of claim 4, wherein: an elbow rotating shell (7) is arranged on the outer side of the output shaft (32) of the elbow roll motor;

the elbow rotates shell (7) one end and connects arm third motor (31), elbow rotates shell (7) other end and connects forearm elbow output (8).

6. The shoulder arm mechanism of claim 5, wherein: one end of the arm third motor (31) back to the elbow rotating shell (7) is provided with a shoulder motor corner (6);

the shoulder motor corner (6) is rotated relative to the elbow rotation housing (7) by the arm third motor (31).

7. The shoulder arm mechanism of claim 6, wherein: and the corner (6) of the shoulder motor is back to one end of the third arm motor (31) and is connected with the periphery of the second arm motor (30).

8. The shoulder arm mechanism of claim 7, wherein: the peripheral side of the arm second motor (30) is connected with the shoulder motor output shaft (36) through a shoulder motor shell corner (5);

the shoulder motor casing corner (5) coaxially rotates relative to the shoulder motor corner (6) through the arm second motor (30).

9. The shoulder arm mechanism of claim 1, wherein: the shoulder motor output shaft (36) is mounted on a shoulder base (38).

10. A robot, characterized by: the robot employs a shoulder arm mechanism as claimed in any one of claims 1 to 9.