CN114670241A

CN114670241A - Six-axis arm structure of simulation robot

Info

Publication number: CN114670241A
Application number: CN202210311745.4A
Authority: CN
Inventors: 黄子钦; 王磊
Original assignee: Shanghai Qingyun Robot Co ltd
Current assignee: Shanghai Qingbao Engine Robot Co ltd
Priority date: 2022-03-28
Filing date: 2022-03-28
Publication date: 2022-06-28

Abstract

The invention discloses a six-axis arm structure of a simulation robot, which realizes the rotation of multiple degrees of freedom, each joint designs a corresponding matching connection mode according to different requirements, reduces the volume of the joint part, lays a foundation for the overall miniaturization design, and enables the appearance of the whole robot arm to be more similar to that of a human arm, and almost all actions which can be achieved by the human arm can be realized; the joint positions are all fixed in the middle, so that the central positions of all the parts can be kept consistent as much as possible, the overall size is reduced, and the overall appearance image is improved. The invention solves the problems of space waste, unreasonable structure and low simulation degree in the arm design of the existing simulation machine.

Description

Six-axis arm structure of simulation robot

Technical Field

The invention relates to the technical field of robot equipment, in particular to a six-axis arm structure of a simulation robot.

Background

Under the leading of the popularity of intelligent equipment, the market of the simulation robot is very explosive. The arms of the existing simulation robot are mostly connected in an L shape, the structure is simple, the space is wasted to a great extent, the design of elbow joints and appearance parts cannot meet the requirement of normal bending of a human body, and the rotation of large arms of the arms is connected in an L shape to cause the large joints of the arms.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

In order to overcome the defects in the prior art, a six-axis arm structure of a simulation robot is provided so as to solve the problems of space waste, unreasonable structure and low simulation degree in the arm design of the conventional simulation robot.

In order to achieve the above object, there is provided a six-axis arm structure of a simulation robot, comprising:

the shoulder joint assembly comprises a swing arm motor and an adapter plate, wherein the swing arm motor is used for being installed on a trunk part of the simulation robot, and the adapter plate is connected to an output shaft of the swing arm motor;

the large arm assembly comprises a large arm body, an arm lifting motor and a torque arm motor, wherein an output shaft of the arm lifting motor is connected to the adapter plate and arranged along the radial direction of an output shaft of the swing arm motor, the torque arm motor is connected to the arm lifting motor through another adapter plate, and the rear end of the large arm body is coaxially connected to an output shaft of the torque arm motor; and

the forearm component comprises a forearm body, a wrist-turning motor and a control motor for installing a palm component of the simulation robot, the rear end of the small arm body is coaxially connected with the output shaft of the wrist-turning motor, the control motor is arranged at the front end of the small arm body, the wrist-turning motor is arranged at the front end of the large arm body in a turnable way through an elbow joint component, the elbow joint component comprises two ear plates, a hinged plate and a crank arm motor which are oppositely arranged, the front end of the big arm body and the wrist-turning motor extend oppositely to form the ear plates, two ends of the hinged plate are respectively pivoted with the two ear plates through rotating shafts, the rotating shafts are arranged along the radial direction of the big arm body, each rotating shaft is coaxially provided with a gear, the gears on the rotating shafts of the two lug plates are mutually meshed, the crank arm motor is arranged at the front end of the large arm body and is in transmission connection with the rotating shaft on the lug plate of the large arm body;

the swing arm motor, the arm lifting motor, the torque arm motor, the wrist turning motor and the crank arm motor are respectively harmonic motors.

Furthermore, the adapter plate comprises a first flange and a second flange connected to the first flange, and the first flange and the second flange are arranged at an angle.

Further, the first flange is perpendicular to the second flange.

Further, it connects in through the transmission structure transmission in to bend the arm motor the pivot, bend the arm motor with the coaxial setting of big arm body, the transmission structure includes:

the driving bevel gear is coaxially arranged on an output shaft of the crank arm motor; and

the driven bevel gear is coaxially arranged on the rotating shaft on the lug plate of the large arm body and meshed with the driving bevel gear.

Further, the rear end detachably of big arm body is connected with the mounting base, keeping away from of mounting base the jack has been seted up to the one end of big arm body, the mounting base be close to a storage tank has been seted up to the one end of big arm body, it inlays to locate to bend the arm motor in the storage tank, big arm body is inside to be seted up along the through hole that the axial direction of big arm body set up, rotationally install the transmission shaft in the through hole, the one end coaxial coupling of transmission shaft in the output shaft of the motor of bending the arm, the initiative bevel gear install in the other end of transmission shaft.

Furthermore, the control motor is a steering engine.

The six-axis arm structure of the simulation robot has the advantages that the six-axis arm structure of the simulation robot realizes the rotation of multiple degrees of freedom, each joint is designed with a corresponding matching connection mode according to different requirements, the size of the joint part is reduced, the foundation is laid for the overall miniaturization design, the appearance of the whole robot arm is more similar to that of a human arm, and all actions which can be achieved by the human arm can be almost realized; the joint positions are all fixed in the middle, so that the central positions of all the parts can be kept consistent as much as possible, the overall size is reduced, and the overall appearance image is improved.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

fig. 1 is a schematic structural diagram of a six-axis arm structure of a simulation robot according to an embodiment of the present invention.

Fig. 2 is a front view of a six-axis arm structure of the simulation robot according to the embodiment of the present invention.

Fig. 3 is a side view of a six-axis arm structure of a simulation robot according to an embodiment of the present invention.

FIG. 4 is a schematic structural view of an elbow joint assembly according to an embodiment of the invention.

Fig. 5 is a schematic structural diagram of a mounting base according to an embodiment of the invention.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1 to 5, the present invention provides a six-axis arm structure of a simulation robot, including: a shoulder joint assembly 1, a large arm assembly 2, a small arm assembly 3 and a elbow joint assembly 4.

Specifically, the shoulder joint assembly 1 includes a swing arm motor 11 and an adapter plate 12. The swing arm motor 11 is used for being mounted on a body part of the simulation robot. The adapter plate 12 is connected to an output shaft of the swing arm motor 11.

The shoulder joint assembly is used for being movably connected between the shoulder position of the trunk part of the simulation robot and the large arm assembly of the simulation robot. The output shaft of the swing arm motor of the shoulder joint assembly is arranged along the horizontal direction. The swing arm motor is used for driving the large arm component to swing towards the front or the back of the trunk component so as to realize the front and back swing arm action of the large arm component.

Wherein, the big arm assembly 2 comprises a big arm body 21, a lifting arm motor 22 and a torsion arm motor 23.

An output shaft of the arm lifting motor 22 is connected to the adapter plate 12, and the output shaft of the arm lifting motor 22 is arranged along a radial direction of an output shaft of the swing arm motor 11.

The torque arm motor 23 is connected to the arm raising motor 22 via another adapter plate 24. The rear end of the large arm body 21 is coaxially connected to an output shaft of the torque arm motor 23.

The arm lifting motor is used for driving the large arm assembly to realize arm lifting (or lowering) and arm extending actions in the vertical plane of the trunk part.

The torque arm motor drives the large arm body and the small arm assembly to rotate around the central axis of the torque arm motor.

In this embodiment, the adapter plate 12 and the adapter plate 24 have the same structure, and specifically, the adapter plate includes a first flange and a second flange connected to the first flange. The first flange and the second flange are arranged at an angle. The first flange is perpendicular to the second flange. The jacks of the first flange plate and the second flange plate are used for installing a swing arm motor, a lifting arm motor or a torsion arm motor. The function of the adapter plate is to arrange the output shafts of the two motors in different directions.

In the present embodiment, the arm unit 3 includes an arm body 31, a wrist-flipping motor 32, and a control motor 33.

Specifically, the rear end of the small arm body 31 is coaxially connected to the output shaft of the wrist-flipping motor 32. The steering motor 33 is mounted on the front end of the forearm body 31. The wrist-turning motor 32 is mounted on the front end of the upper arm body 21 in a turnable manner through the elbow joint assembly 4.

The control motor 33 is used for installing a palm component (not shown in the drawing) of the simulation robot, and particularly, the control motor is used for turning over the palm component. The wrist-turning motor 32 is used for driving the forearm body to rotate around the central axis of the forearm body so as to realize the wrist-turning rotation action of the wrist part of the simulation robot.

The wrist joint assembly 4 includes two ear plates 41, a hinge plate 42 and a crank motor 43 which are arranged oppositely. An ear plate 41 is formed at the front end of the upper arm body 21 and extending opposite to the wrist-turning motor 32. In the present embodiment, two ear plates 41 are formed at the front end of the large arm body 21 and the wrist-flipping motor 32 in an opposite extending manner, and two ear plates 41 are formed at the front end of the large arm body 21 and two ear plates 41 are formed at the wrist-flipping motor 32 in the same direction and in opposite directions.

The two ends of the hinge plate 42 are respectively pivoted to the front end of the boom body 21 and two ear plates 41 formed by extending the wrist-turning motor 32 in opposite directions through a rotating shaft 44. Referring to fig. 2 and 4, the two ear plates 41 at the front end of the large arm body 21 and the two ear plates 41 of the wrist-turning motor 32 are respectively provided with a first through hole. A rotating shaft is rotatably inserted into the first through holes of the two ear plates 41 at the front end of the large arm body 21. The other rotating shaft is rotatably inserted into the first through hole of the two ear plates 41 of the wrist-turning motor 32. In this embodiment, the number of hinge plates 42 is two, and the hinge plates are disposed on the outer side of the ear plates. The two ends of the hinged plate are respectively provided with a second through hole, and the second through hole at one end of the hinged plate is rotatably sleeved at the end part of the rotating shaft at the front end of the large arm body 21. The second through hole at the other end of the hinged plate is rotatably sleeved at the end of the rotating shaft of the wrist-turning motor 32.

The elbow joint assembly is connected with the large arm assembly and the small arm assembly, and the small arm assembly is driven to do small arm turnover motion relative to the large arm assembly through the power output of the crank arm motor. The folding direction of the small arm folding motion is adjusted according to the rotation direction of the gear.

The rotation shaft 44 is disposed in the radial direction of the large arm body 21. Each rotating shaft 44 is coaxially mounted with a gear 441. The gears 441 on the rotating shafts 44 of the two ear plates 41 are engaged with each other.

The crank motor 43 is mounted on the front end of the boom main body 21 and is drivingly connected to the rotary shaft 44 on the lug plate 41 of the boom main body 21.

In a preferred embodiment, the crank motor 43 is drivingly connected to the rotating shaft 44 through a transmission structure. The crank motor 43 is provided coaxially with the large arm body 21.

Specifically, referring to fig. 4, the transmission structure includes a driving bevel gear 451, a driven bevel gear 452, and a transmission shaft 453. The drive bevel gear 451 is coaxially mounted on the output shaft of the crank motor 43. The driven bevel gear 452 is coaxially attached to the rotary shaft 44 on the lug plate 41 of the large arm body 21. The driven bevel gear 452 meshes with the drive bevel gear 451.

Referring to fig. 5, the rear end of the large arm body 21 is detachably connected with a mounting base 211. The mounting base 211 has an insertion hole at an end thereof remote from the arm body 21. An accommodating groove is formed at one end of the mounting base 211 close to the large arm body 21. The crank motor 43 is embedded in the accommodating groove. The inside of the large arm body 21 is provided with a through hole channel arranged along the axial direction of the large arm body 21. A drive shaft 453 is rotatably mounted in the through tunnel. One end of the transmission shaft 453 is coaxially connected to an output shaft of the crank motor 43. The drive bevel gear 451 is mounted to the other end of the drive shaft 453. In this embodiment, the mounting base is flanged to the rear end of the boom body.

As a preferred embodiment, the swing arm motor, the arm lifting motor, the arm twisting motor, the wrist turning motor, the control motor and the crank arm motor are harmonic motors respectively. The harmonic motor comprises a motor and a harmonic drive reducer, and the harmonic drive reducer is installed on an output shaft of the motor. The steering motor 33 is a steering engine.

What swing arm motor, lift arm motor, torque arm motor, turn over wrist motor, control motor and bent arm motor adopted is that integration harmonic series connection motor, and the circuit that can effectual reduction robot's emulation arm distributes, what the elbow adopted is bevel gear (bevel gear) transmission to reach arm elbow joint structure and can reach the state of ideal, wrist department application steering wheel can reach a reasonable size under required moment prerequisite.

The six-axis arm structure of the simulation robot realizes the rotation of a plurality of degrees of freedom, each joint is designed with a corresponding matching connection mode according to different requirements, the volume of the joint part is reduced, the foundation is laid for the overall miniaturization design, the appearance of the whole robot arm is more similar to that of a human arm, and almost all actions which can be achieved by the human arm can be realized; the joint positions are all fixed in the middle, so that the central positions of all the parts can be kept consistent as much as possible, the overall size is reduced, and the overall appearance image is improved. Meanwhile, in order to reduce the loss of raw materials, the shoulder of the arm is connected with the output end through the output end.

The transmission structure of the six-axis arm structure of the simulation robot is changed into transverse output through the vertical direction of the rotating shaft of the bevel (or bevel) gear and the gear (straight gear), the power output position is arranged in the arm, the space utilization rate of the arm structure is greatly improved, the size of the elbow joint is reduced, the joint space of the elbow joint is changed into a size which can be customized according to requirements from a design according to the size of a motor, and the space position of the arm is greatly utilized.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims

1. A six-axis arm structure of a simulation robot, comprising:

the forearm component comprises a forearm body, a wrist-turning motor and a control motor for installing a palm component of the simulation robot, the rear end of the forearm body is coaxially connected with an output shaft of the wrist-turning motor, the control motor is arranged at the front end of the forearm body, the wrist-turning motor is arranged at the front end of the large arm body in a turnable way through an elbow joint component, the elbow joint component comprises two ear plates, a hinged plate and a crank arm motor which are oppositely arranged, the front end of the big arm body and the wrist-turning motor extend oppositely to form the ear plates, two ends of the hinged plate are respectively pivoted with the two ear plates through rotating shafts, the rotating shafts are arranged along the radial direction of the big arm body, each rotating shaft is coaxially provided with a gear, the gears on the rotating shafts of the two lug plates are mutually meshed, the crank arm motor is arranged at the front end of the large arm body and is in transmission connection with the rotating shaft on the lug plate of the large arm body;

2. The six-axis arm structure of the simulated robot of claim 1, wherein said adapter plate comprises a first flange and a second flange connected to said first flange, said first flange being disposed at an angle to said second flange.

3. The six-axis arm structure of the simulated robot of claim 2, wherein said first flange is perpendicular to said second flange.

4. The six-axis arm structure of the simulation robot according to claim 1, wherein the crank motor is connected to the rotation shaft through a transmission structure, the crank motor is disposed coaxially with the large arm body, and the transmission structure comprises:

5. The six-axis arm structure of the simulation robot according to claim 4, wherein a mounting base is detachably connected to the rear end of the large arm body, a jack is formed in one end of the mounting base, which is away from the large arm body, a containing groove is formed in one end of the mounting base, which is close to the large arm body, a crank arm motor is embedded in the containing groove, a through hole is formed in the large arm body, which is arranged along the axial direction of the large arm body, a transmission shaft is rotatably mounted in the through hole, one end of the transmission shaft is coaxially connected to an output shaft of the crank arm motor, and the driving bevel gear is mounted at the other end of the transmission shaft.

6. The six-axis arm structure of the simulation robot as claimed in claim 1, wherein the steering motor is a steering engine.