CN216940775U - Mechanical arm and bionic robot - Google Patents
Mechanical arm and bionic robot Download PDFInfo
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- CN216940775U CN216940775U CN202220503849.0U CN202220503849U CN216940775U CN 216940775 U CN216940775 U CN 216940775U CN 202220503849 U CN202220503849 U CN 202220503849U CN 216940775 U CN216940775 U CN 216940775U
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Abstract
The embodiment of the application belongs to the technical field of robots, and provides a mechanical arm and a bionic robot, wherein, in the mechanical arm: the upper big arm connecting piece is arranged on the periphery of the shoulder connecting piece, and the big arm lifting motor is fixed on the shoulder connecting piece and connected with the upper big arm connecting piece; the large arm lifting motor is used for driving the connecting piece on the large arm to rotate around the rotating shaft of the large arm so as to realize that the mechanical arm is lifted to the side surface; one end of the shoulder connecting column is connected with the shoulder connecting piece, and the other end of the shoulder connecting column is connected with the shoulder lifting motor; the shoulder lifting motor is used for being fixed on the trunk of the bionic robot, driving the connecting column and driving the mechanical arm to rotate around the rotating shaft of the mechanical arm, so that the mechanical arm can be lifted forwards or backwards; the large arm lower connecting piece is connected with a large arm rotating motor; the large arm rotating motor is fixed on the large arm upper connecting piece and used for driving the large arm lower connecting piece to rotate around the rotating shaft of the large arm upper connecting piece, and rotation of the large arm lower connecting piece is achieved. The mechanical arm provided by the application is simple in structure and can realize at least three-degree-of-freedom action.
Description
Technical Field
The application relates to the technical field of robots, in particular to a mechanical arm and a bionic robot.
Background
The arm is an indispensable part of a robot body and is a necessary bearing body for the movement and the work of the robot, the robot can effectively grab moving objects and express the actions of limbs and the like through the movement of the arm, the shoulder is a necessary joint for connecting the trunk and the arm and controls the arm to laterally lift the trunk, and the shoulder joint is required for driving the front and the back and the twisting of the arm.
At present, the scheme for realizing multiple degrees of freedom of the shoulder joint of the robot needs more parts and has a more complex structure, and is not beneficial to the commercialization and the commercialization of the bionic robot. Based on the above, a new and simpler scheme for the shoulder joint structure of the bionic robot is needed.
SUMMERY OF THE UTILITY MODEL
In view of this, the application provides a manipulator and a bionic robot, which are used for solving the problems that the shoulder joint structure of the existing robot has more parts and is more complex in structure.
To achieve one or a part of or all of the above or other objects, the present application provides a robot arm, including: the device comprises a large arm lifting mechanism, a shoulder lifting mechanism and a large arm rotating mechanism; wherein, big arm lifting mechanism includes: the large arm lifting motor, the shoulder connecting piece and the large arm upper connecting piece are arranged on the large arm lifting motor; the shoulder lifting mechanism includes: a shoulder lifting motor and a shoulder connecting post; the large arm turning mechanism includes: a large arm rotating motor and a large arm lower connecting piece;
the large arm lifting motor, the shoulder lifting motor and the large arm rotating motor are all axial motors;
the upper big arm connecting piece is arranged on the periphery of the shoulder connecting piece, and the big arm lifting motor is fixed on the shoulder connecting piece and connected with the upper big arm connecting piece; the big arm lifting motor is used for driving the big arm upper connecting piece to rotate around the rotating shaft of the big arm upper connecting piece, and the mechanical arm is lifted to the side face;
one end of the shoulder connecting column is connected with the shoulder connecting piece, and the other end of the shoulder connecting column is connected with the shoulder lifting motor; the shoulder lifting motor is used for being fixed to the trunk of the bionic robot, driving the connecting column and driving the mechanical arm to rotate around a rotating shaft of the connecting column, and lifting the mechanical arm forwards or backwards;
the big arm lower connecting piece is connected with the big arm rotating motor; the large arm rotating motor is fixed to the large arm upper connecting piece and used for driving the large arm lower connecting piece to rotate around the rotating shaft of the large arm upper connecting piece, and rotation of the large arm lower connecting piece is achieved.
Further, the robot arm further includes: an elbow bending mechanism and a forearm rotating mechanism, wherein,
the large arm rotating mechanism, the elbow bending mechanism and the small arm rotating mechanism are sequentially connected to form a bionic arm structure; the elbow bending mechanism is used for realizing elbow bending action of the bionic arm structure, and the small arm rotating mechanism is used for realizing small arm rotating action of the bionic arm structure.
Further, the boom raising mechanism further comprises: a first bearing; the big arm upper connecting piece includes: the upper arm connecting piece front cover and the upper arm connecting piece rear cover are arranged on the upper arm; wherein the content of the first and second substances,
the big arm lifting motor is provided with a first motor fixing part and a first motor driving end;
the shoulder connecting piece is provided with a first motor groove, the shoulder connecting column is arranged on the outer side wall of the first motor groove, and the first motor fixing part is fixed in the first motor groove;
the first bearing is arranged on the first motor groove, is positioned on the outer side wall opposite to the first motor driving end and is coaxial with the first motor driving end;
the front cover of the upper connecting piece of the big arm is sleeved outside the first motor groove and is connected with the driving end of the first motor;
the rear cover of the connecting piece on the large arm is provided with a large arm rotating shaft which is connected to the first bearing through the large arm rotating shaft, the rear cover of the connecting piece on the large arm is spliced with the front cover of the connecting piece on the large arm to form the connecting piece on the large arm, and the lower side of the connecting piece on the large arm is provided with a second motor groove connected with the large arm rotating mechanism.
Further, the boom raising mechanism further comprises:
and the power input end of the first speed changer is connected with the first motor drive end, and the power output end of the first speed changer is connected with the front cover of the connecting piece on the large arm.
Further, the large arm rotating motor is provided with a second motor fixing part and a second motor driving end; the upper end of the large arm rotating mechanism is provided with a second motor fixing part which is fixed in the second motor groove, and the driving end of the second motor is connected with the large arm lower connecting piece.
Further, the elbow bending mechanism includes:
an elbow bending motor having a third motor fixing part and a third motor driving end;
the elbow connecting piece is connected to the lower end of the upper arm lower connecting piece and is provided with a third motor groove, and the third motor fixing part is connected to the inside of the third motor groove;
the second bearing is arranged on the third motor groove, is positioned on the side wall opposite to the third motor driving end and is coaxial with the third motor driving end;
the elbow connecting piece front cover is arranged on one side of the third motor groove, is movably connected with the third motor groove and can rotate coaxially with the elbow bending motor;
the elbow connecting piece rear cover is arranged on the other side of the third motor groove; and (c) a second step of,
and the elbow rotating shaft penetrates through the second bearing, one end of the elbow rotating shaft is connected with the elbow connecting piece rear cover, and the other end of the elbow rotating shaft is connected with the third motor driving end.
Further, the elbow bending mechanism further includes:
and the power input end of the second speed changer is connected with the driving end of the third motor, and the power output end of the second speed changer is connected with the second bearing.
Further, the arm rotating mechanism includes: the upper small arm connecting piece, the lower small arm rotating motor and the lower small arm connecting piece are arranged on the upper small arm; wherein the content of the first and second substances,
the upper connecting piece of the small arm is provided with a fourth motor groove, the small arm rotating motor is an axial motor and is provided with a fourth motor fixing part and a fourth motor driving end;
the elbow connecting piece front cover is connected the first position at connecting piece top on the forearm, the elbow connecting piece rear cover is connected the second position at connecting piece top on the forearm, fourth motor fixed part is connected to fourth motor groove, the fourth motor drive end is connected connecting piece under the forearm.
In order to achieve one or part or all of the above purposes or other purposes, the application also provides a bionic robot, which comprises the mechanical arm in any one of the above mentioned items.
Furthermore, the bionic robot is provided with a trunk, a fifth motor groove is formed in the shoulder position of the trunk, and the shoulder lifting motor is provided with a fifth motor fixing part and a fifth motor driving end; the fifth motor fixing part is fixed to the fifth motor groove, and a fifth motor driving end of the fifth motor fixing part faces the side face of the trunk.
The embodiment of the application has the following beneficial effects:
in the robotic arm that this application provided: the upper big arm connecting piece is arranged on the periphery of the shoulder connecting piece, and the big arm lifting motor is fixed on the shoulder connecting piece and connected with the upper big arm connecting piece; the large arm lifting motor is used for driving the connecting piece on the large arm to rotate around the rotating shaft of the large arm so as to realize that the mechanical arm is lifted to the side surface; one end of the shoulder connecting column is connected with the shoulder connecting piece, and the other end of the shoulder connecting column is connected with the shoulder lifting motor; the shoulder lifting motor is used for being fixed on the trunk of the bionic robot, driving the connecting column and driving the mechanical arm to rotate around the rotating shaft of the mechanical arm, so that the mechanical arm can be lifted forwards or backwards; the large arm lower connecting piece is connected with a large arm rotating motor; the large arm rotating motor is fixed on the large arm upper connecting piece and used for driving the large arm lower connecting piece to rotate around the rotating shaft of the large arm upper connecting piece, and rotation of the large arm lower connecting piece is achieved. The mechanical arm provided by the application is simple in structure and can realize at least three-degree-of-freedom action.
Drawings
In order to more clearly illustrate the embodiments of the present application 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 application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is an exploded view of a structure in one embodiment of a robot of the present application;
FIG. 2 is a schematic diagram of a boom lift motor according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of an embodiment of a robot according to the present disclosure;
FIG. 4 is a schematic view of another embodiment of a robot arm of the present application;
FIG. 5 is a cross-sectional view of an embodiment of a robot arm of the present application;
FIG. 6 is an enlarged view of the elbow bending mechanism of an embodiment of a robot arm of the present application;
FIG. 7 is a cross-sectional view of another embodiment of a robot arm of the present application;
fig. 8 is an exploded view of another embodiment of a robot arm according to the present application.
Reference numerals are as follows:
1. a boom raising mechanism; 11. a big arm lifting motor; 111. a first motor fixing part; 112. a first motor drive end; 12. a shoulder connector; 121. a first motor slot; 13. a connecting piece on the big arm; 131. the big arm is connected with a front cover; 132. the big arm is provided with a rear cover of a connecting piece; 14. a first bearing; 15. a large arm rotating shaft; 2. a shoulder lifting mechanism; 21. a shoulder lifting motor; 22. a shoulder connecting column; 3. a large arm rotating mechanism; 31. a large arm rotating motor; 32. a lower boom connector; 4. an elbow bending mechanism; 41. an elbow bending motor; 42. an elbow connector; 43. a second bearing; 44. an elbow connector front cover; 45. an elbow connector rear cover; 46. an elbow spindle; 47. a second transmission; 5. a small arm rotating mechanism; 51. a connecting piece on the small arm; 52. a small arm rotating motor; 53. a lower forearm connecting member; 6. bionic arm structure; 7. a torso; 71. and a fifth motor slot.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1 to 7, a robot according to a first embodiment of the present application includes: a big arm lifting mechanism 1, a shoulder lifting mechanism 2 and a big arm rotating mechanism 3; wherein, big arm lifting mechanism 1 includes: a boom lift motor 11, a shoulder link 21, and a boom upper link 13; the shoulder lifting mechanism 2 includes: a shoulder lift motor 21 and a shoulder connection post 22; the boom turning mechanism 3 includes: an upper arm rotating motor 31 and an upper arm lower connecting member 32;
the boom raising motor 11, the shoulder raising motor 21 and the boom rotating motor 31 are all axial motors;
the big arm upper connecting piece 13 is arranged on the periphery of the shoulder connecting piece 21, and the big arm lifting motor 11 is fixed on the shoulder connecting piece 21 and connected with the big arm upper connecting piece 13; the big arm lifting motor 11 is used for driving the big arm upper connecting piece 13 to rotate around a rotating shaft of the big arm upper connecting piece, so that the mechanical arm is lifted to the side surface;
one end of the shoulder connecting column 22 is connected with the shoulder connecting piece 21, and the other end is connected with the shoulder lifting motor 21; the shoulder lifting motor 21 is used for being fixed on the trunk 7 of the bionic robot, driving the shoulder connecting column 22 and driving the mechanical arm to rotate around the rotating shaft of the mechanical arm, so that the mechanical arm can be lifted forwards or backwards;
the upper arm lower connecting piece 32 is connected with the upper arm rotating motor 31; the upper arm rotating motor 31 is fixed to the upper arm connecting member 13, and drives the lower arm connecting member 32 to rotate about its rotating shaft, thereby rotating the lower arm connecting member 32.
In the embodiment, the mechanical arm is arranged in a smaller motor position space, the axial motor can be a disc motor or a column motor, and is preferably a disc motor, and the disc motor has a flat appearance and a short axial dimension, and is particularly suitable for being installed in a place with strict limitation on space. In the scheme of the present application, the shaft motors at other positions are preferably disc motors, and the description of the subsequent embodiments will not be repeated. The boom lifting mechanism 1 of the robot arm of the embodiment realizes the action of lifting the robot arm to the side, the shoulder lifting mechanism 2 realizes the action of lifting the robot arm forward or backward, and the boom rotating mechanism 3 realizes the rotation of the boom lower connecting piece 32, so that the operation with at least three degrees of freedom can be realized. The above-mentioned lower large-arm connecting part 32 can be used to connect parts such as a clamping jaw to realize a gripping function, such as the bionic arm structure 6 described in the following embodiments.
For the above-mentioned robot arm, the present application proposes a second embodiment, wherein the robot arm further includes: an elbow bending mechanism 4 and a forearm turning mechanism 5, wherein,
the large arm rotating mechanism 3, the elbow bending mechanism 4 and the small arm rotating mechanism 5 are sequentially connected to form a bionic arm structure 6; the elbow bending mechanism 4 is used for realizing elbow bending action of the bionic arm structure 6, and the forearm rotating mechanism 5 is used for realizing forearm rotating action of the bionic arm structure 6.
To the above-mentioned mechanical arm, the present application proposes a third embodiment, in which the boom raising mechanism 1 further includes: a first bearing 14; the upper arm connecting member 13 includes: a large arm upper link front cover 131 and a large arm upper link rear cover 132; wherein the content of the first and second substances,
the boom raising motor 11 has a first motor fixing section 111 and a first motor driving end 112;
the shoulder connecting piece 21 is provided with a first motor groove 121, the shoulder connecting column 22 is arranged on the outer side wall 3 of the first motor groove 121, and the first motor fixing part 111 is fixed in the first motor groove 121;
the first bearing 14 is arranged on the first motor groove 121, and the first bearing 14 is located on the outer side wall opposite to the first motor driving end 112 and is coaxial with the first motor driving end 112;
the upper arm connecting piece front cover 131 is sleeved outside the first motor groove 121 and is connected with the first motor driving end 112;
the big arm upper connecting piece rear cover 132 is provided with a big arm rotating shaft 15, the big arm rotating shaft 15 is connected to the first bearing 14, the big arm upper connecting piece 13 is formed by splicing the big arm upper connecting piece rear cover 132 and the big arm upper connecting piece front cover 131, and the lower side of the big arm upper connecting piece 13 is provided with a second motor groove connected with the big arm rotating mechanism 3.
In the second and third embodiments, the bionic arm structure 6 includes a large arm rotation mechanism 3, an elbow bending mechanism 4 and a small arm rotation mechanism 5, which are connected in sequence to form the bionic arm structure 6, and of course, in some embodiments, the bionic arm structure 6 may further have a palm or a clip to implement a grabbing function. In the above bionic arm structure 6, the large arm rotation mechanism 3 is used to realize the large arm rotation, the rotation angle is 0-360 degrees, the elbow bending mechanism 4 is used to realize the elbow bending, the rotation angle is 0-180 degrees, for example, the elbow bending angle is set to 150 degrees, the small arm rotation mechanism 5 is used to realize the small arm rotation, and the rotation angle is 0-360 degrees.
The shoulder connecting piece 21 is provided with a first motor groove 121, a first bearing 14 is arranged on the rear side of the first motor groove 121, a big arm upper connecting piece front cover 131 and a big arm upper connecting piece front cover 131 are spliced to form a big arm upper connecting piece 13, the big arm lifting motor 11 is arranged in the first motor groove 121 (such as in a screw connection mode), the first motor driving end 112 is connected with the big arm upper connecting piece front cover 131, the big arm upper connecting piece rear cover 132 is connected with the first bearing 14 through a big arm rotating shaft 15, and a structure that the big arm lifting motor 11 can control the rotation of the big arm upper connecting piece 13 through the first motor driving end 112 is formed, the structure is a degree of freedom which can be realized by a mechanical arm, and the rotation angle of the big arm upper connecting piece 13 is 0-180 degrees. The shoulder connecting column 22 is used for connecting the shoulder lifting mechanism 2 arranged on the trunk 7, which is another degree of freedom that the robot arm can realize, the lower side of the upper arm connecting piece 13 is provided with a second motor groove used for connecting the upper arm rotating mechanism 3 of the robot, the second motor groove can be arranged on the upper arm connecting piece front cover 131, also can be arranged on the upper arm connecting piece rear cover 132, also can be a part of the second motor groove arranged on the upper arm connecting piece front cover 131, the other part of the second motor groove arranged on the upper arm connecting piece rear cover 132, and then the second motor groove is spliced to form a second motor groove, and the second motor groove is used for connecting the upper arm rotating motor 31, and is used for realizing a third degree of freedom. In some embodiments, the second motor slot is connected to the large arm rotation mechanism 3, the large arm rotation mechanism is configured to control rotation of the bionic arm structure 6, that is, the third degree of freedom is the degree of freedom for rotation of the bionic arm structure 6, and the rotation angle of the bionic arm structure 6 is 0 degree to 360 degrees. The mechanical arm provided by the application has the advantages that the number of integrally used parts is small, the structure is simple, and at least three degrees of freedom can be realized, so that the shoulder of the mechanical arm can flexibly simulate the movement of the shoulder of the human arm, and more functions and effects of the anthropomorphic robot can be realized.
To the above-mentioned robot arm, the present application proposes a fourth embodiment, wherein the robot arm further includes:
and the power input end of the first speed changer is connected with the first motor driving end 112, and the power output end of the first speed changer is connected with the front cover 131 of the upper connecting piece of the big arm.
In this embodiment, a first transmission (not shown) is used to fix or change the transmission ratio of the first motor drive end 112 in steps, and the rotation direction of the first motor drive end 112 can be adjusted, so as to control the rotation angle of the connecting member 13 on the boom more accurately.
With respect to the above-described robot arm, the present application proposes a fifth embodiment in which the large arm rotating motor 31 has a second motor fixing portion and a second motor driving end; the upper end of the upper arm rotating mechanism 3 is a second motor fixing part which is fixed in a second motor groove, and the driving end of the second motor is connected with the upper arm lower connecting piece 32.
In this embodiment, the second motor fixing portion of the upper arm rotating motor 31 is connected to the second motor slot, and when the upper arm rotating motor operates, the second motor fixing portion is in a fixed state, and the second motor driving end drives the upper arm lower connecting member 32 connected thereto to rotate the upper arm lower connecting member 32 within a range of 0-360 degrees.
With respect to the above-described robot arm, the present application proposes a sixth embodiment in which the elbow bending mechanism 4 includes:
an elbow bending motor 41 which is an axial motor having a third motor fixing part and a third motor driving end;
an elbow connector 42 connected to the lower end of the lower boom connector 32 and having a third motor groove, the third motor fixing part being connected to the inside of the third motor groove;
a second bearing 43 disposed on the third motor groove, wherein the second bearing 43 is located on the side wall opposite to the third motor driving end and is coaxial with the third motor driving end;
an elbow connecting piece front cover 44 which is arranged on one side of the third motor slot, is movably connected with the third motor slot and can coaxially rotate with the elbow bending motor 41;
an elbow connector rear cover 45 provided at the other side of the third motor slot; and the number of the first and second groups,
and an elbow rotating shaft 46 which passes through the second bearing 43, one end of which is connected with the elbow connecting piece rear cover 45, and the other end of which is connected with the driving end of the third motor.
In this embodiment, the elbow connecting piece 42 is provided with a third motor slot, the elbow bending motor 41 is disposed in the third motor slot and is connected to the elbow connecting piece rear cover 45 through the elbow rotating shaft 46, the elbow connecting piece front cover 44 is disposed coaxially with the elbow bending motor 41 and can rotate coaxially with the elbow bending motor 41 around the third motor slot, so that when the elbow bending motor 41 works, the elbow bending motor 41 can drive the elbow connecting piece rear cover 45 to rotate by the driving end of the third motor, and the rotating angle is 0-180 degrees.
With respect to the above-described robot arm, the present application proposes a seventh embodiment in which the elbow bending mechanism 4 further includes:
and the power input end of the second transmission 47 is connected with the driving end of the third motor, and the power output end of the second transmission is connected with the second bearing 43.
In the present embodiment, the second transmission 47 functions similarly to the first transmission in the preceding embodiment, and will not be described again.
In view of the above-described robot arm, the present application proposes an eighth embodiment in which the small arm turning mechanism 5 includes: an upper arm connecting piece 51, a lower arm rotating motor 52 and a lower arm connecting piece 53; wherein, the first and the second end of the pipe are connected with each other,
the upper small arm connecting piece 51 is provided with a fourth motor groove, and the small arm rotating motor 52 is an axial motor and is provided with a fourth motor fixing part and a fourth motor driving end;
the elbow connecting piece front cover 44 is connected with a first position at the top of the upper small arm connecting piece 51, the elbow connecting piece rear cover 45 is connected with a second position at the top of the upper small arm connecting piece 51, a fourth motor fixing part is connected to a fourth motor groove, and the driving end of a fourth motor is connected with a lower small arm connecting piece 53.
In this embodiment, in combination with the sixth and seventh embodiments, the top of the upper arm connecting piece 51 is a connecting plane, and the first position and the second position are two different positions on the connecting plane, and when the arrangement is specifically made, the elbow connecting piece front cover 44 can be connected with the first position of the top of the upper arm connecting piece 51 in a welding manner, and the elbow connecting piece rear cover 45 can be connected with the second position of the top of the upper arm connecting piece 51 in a welding manner, and the first position and the second position are in structural central symmetry. The upper forearm connecting piece 51 is connected to the front elbow connecting piece cover 44 and the rear elbow connecting piece cover 45, and when the driving end of the third motor drives the rear elbow connecting piece cover 45 to rotate, the upper forearm connecting piece 51, the front elbow connecting piece cover 44 and the rear elbow connecting piece cover 45 are driven to rotate as a whole. A fourth motor fixing portion of the forearm rotating motor 52 is connected to the fourth motor slot, and when the forearm rotating motor works, the fourth motor fixing portion is in a fixed state, and the driving end of the fourth motor drives the lower forearm connecting piece 53 connected to the fourth motor fixing portion to rotate within the range of 0-360 degrees.
A ninth embodiment of the present application further provides a bionic robot (not shown), wherein the bionic robot includes the robot arm according to any one of the first to eighth embodiments.
In view of the above mechanical arm, the present application proposes a tenth embodiment, in which the biomimetic robot is provided with a trunk 7, a fifth motor groove 71 is provided at a shoulder position of the trunk 7 (fig. 8 shows an implementation structure of the fifth motor groove 71), and the shoulder lifting motor 21 has a fifth motor fixing part and a fifth motor driving end; the fifth motor fixing part is fixed to the fifth motor groove 71, and the fifth motor driving end of the fifth motor fixing part faces the side face of the trunk 7.
In the embodiment, referring to fig. 5, taking the case of facing the trunk 7 as an example, the shoulder lifting motor 21 controls the shoulder connecting post 22 to rotate, the driving rotating shaft is perpendicular to the side surface of the trunk 7, the driving end faces the arm direction, and the driving end of the motor and the arm are connected together through the shoulder connecting piece 21. The shoulder lifting motor 21 is driven to rotate to drive the shoulder connecting piece 21 and the whole arm connected with the shoulder connecting piece to rotate around the rotating shaft of the motor, so that the whole arm can be lifted forwards or backwards.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.
Claims (10)
1. A mechanical arm is characterized in that: this robotic arm includes: the device comprises a large arm lifting mechanism, a shoulder lifting mechanism and a large arm rotating mechanism; wherein, big arm lifting mechanism includes: a boom hoist motor, a shoulder connector and a boom upper connector; the shoulder lifting mechanism includes: a shoulder lifting motor and a shoulder connecting post; the large arm turning mechanism includes: a large arm rotating motor and a large arm lower connecting piece;
the large arm lifting motor, the shoulder lifting motor and the large arm rotating motor are all axial motors;
the upper big arm connecting piece is arranged on the periphery of the shoulder connecting piece, and the big arm lifting motor is fixed on the shoulder connecting piece and connected with the upper big arm connecting piece; the big arm lifting motor is used for driving the big arm upper connecting piece to rotate around a rotating shaft of the big arm upper connecting piece, so that the mechanical arm is lifted to the side surface;
one end of the shoulder connecting column is connected with the shoulder connecting piece, and the other end of the shoulder connecting column is connected with the shoulder lifting motor; the shoulder lifting motor is used for being fixed to the trunk of the bionic robot, driving the connecting column and driving the mechanical arm to rotate around the rotating shaft of the mechanical arm, and realizing forward or backward lifting of the mechanical arm;
the big arm lower connecting piece is connected with the big arm rotating motor; the large arm rotating motor is fixed to the large arm upper connecting piece and used for driving the large arm lower connecting piece to rotate around the rotating shaft of the large arm upper connecting piece, and rotation of the large arm lower connecting piece is achieved.
2. The robot arm according to claim 1, wherein: this robotic arm still includes: an elbow bending mechanism and a forearm rotating mechanism, wherein,
the large arm rotating mechanism, the elbow bending mechanism and the small arm rotating mechanism are sequentially connected to form a bionic arm structure; the elbow bending mechanism is used for realizing elbow bending action of the bionic arm structure, and the small arm rotating mechanism is used for realizing small arm rotating action of the bionic arm structure.
3. The robot arm according to claim 1, wherein: the boom raising mechanism further comprises: a first bearing; the big arm upper connecting piece includes: the upper arm connecting piece front cover and the upper arm connecting piece rear cover are arranged on the upper arm; wherein, the first and the second end of the pipe are connected with each other,
the big arm lifting motor is provided with a first motor fixing part and a first motor driving end;
the shoulder connecting piece is provided with a first motor groove, the shoulder connecting column is arranged on the outer side wall of the first motor groove, and the first motor fixing part is fixed in the first motor groove;
the first bearing is arranged on the first motor groove, is positioned on the outer side wall opposite to the first motor driving end and is coaxial with the first motor driving end;
the front cover of the upper connecting piece of the big arm is sleeved outside the first motor groove and is connected with the driving end of the first motor;
the rear cover of the connecting piece on the large arm is provided with a large arm rotating shaft which is connected to the first bearing through the large arm rotating shaft, the rear cover of the connecting piece on the large arm is spliced with the front cover of the connecting piece on the large arm to form the connecting piece on the large arm, and the lower side of the connecting piece on the large arm is provided with a second motor groove connected with the large arm rotating mechanism.
4. A robot arm as claimed in claim 3, wherein: the boom raising mechanism further comprises:
and the power input end of the first speed changer is connected with the first motor drive end, and the power output end of the first speed changer is connected with the front cover of the connecting piece on the large arm.
5. The robot arm according to claim 4, wherein: the large arm rotating motor is provided with a second motor fixing part and a second motor driving end; the upper end of the large arm rotating mechanism is provided with a second motor fixing part which is fixed in the second motor groove, and the driving end of the second motor is connected with the large arm lower connecting piece.
6. A robot arm as claimed in claim 2, wherein: the elbow bending mechanism includes:
an elbow bending motor having a third motor fixing part and a third motor driving end;
the elbow connecting piece is connected to the lower end of the upper arm lower connecting piece and is provided with a third motor groove, and the third motor fixing part is connected to the inside of the third motor groove;
the second bearing is arranged on the third motor groove, is positioned on the side wall opposite to the third motor driving end and is coaxial with the third motor driving end;
the elbow connecting piece front cover is arranged on one side of the third motor groove, is movably connected with the third motor groove and can rotate coaxially with the elbow bending motor;
the elbow connecting piece rear cover is arranged on the other side of the third motor groove; and the number of the first and second groups,
and the elbow rotating shaft penetrates through the second bearing, one end of the elbow rotating shaft is connected with the elbow connecting piece rear cover, and the other end of the elbow rotating shaft is connected with the third motor driving end.
7. The robot arm of claim 6, wherein: the elbow bending mechanism further includes:
and the power input end of the second speed changer is connected with the driving end of the third motor, and the power output end of the second speed changer is connected with the second bearing.
8. A robot arm as claimed in claim 6 or 7, wherein: the forearm slewing mechanism includes: the upper small arm connecting piece, the lower small arm rotating motor and the lower small arm connecting piece are arranged on the upper small arm; wherein the content of the first and second substances,
the upper connecting piece of the small arm is provided with a fourth motor groove, the small arm rotating motor is an axial motor and is provided with a fourth motor fixing part and a fourth motor driving end;
the elbow connecting piece front cover is connected the first position at connecting piece top on the forearm, the elbow connecting piece rear cover is connected the second position at connecting piece top on the forearm, fourth motor fixed part is connected to fourth motor groove, the fourth motor drive end is connected connecting piece under the forearm.
9. A bionic robot is characterized in that: the biomimetic robot comprises the robotic arm of any one of claims 1-8.
10. The biomimetic robot of claim 9, wherein: the bionic robot is provided with a trunk, a fifth motor groove is formed in the shoulder position of the trunk, and the shoulder lifting motor is provided with a fifth motor fixing part and a fifth motor driving end; the fifth motor fixing part is fixed to the fifth motor groove, and a fifth motor driving end of the fifth motor fixing part faces the side face of the trunk.
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| CN202220503849.0U CN216940775U (en) | 2022-03-07 | 2022-03-07 | Mechanical arm and bionic robot |
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| CN202220503849.0U CN216940775U (en) | 2022-03-07 | 2022-03-07 | Mechanical arm and bionic robot |
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