CN222430782U - Forearm assembly of robotic arm - Google Patents
Forearm assembly of robotic arm Download PDFInfo
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- CN222430782U CN222430782U CN202323497786.6U CN202323497786U CN222430782U CN 222430782 U CN222430782 U CN 222430782U CN 202323497786 U CN202323497786 U CN 202323497786U CN 222430782 U CN222430782 U CN 222430782U
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- linear motor
- rotating shaft
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- palm
- connecting portion
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Abstract
本实用新型公开了一种机械手臂的小臂组件，该小臂组件包括小臂本体、旋转电机、第一直线电机、第二直线电机以及用于连接手掌的手掌连接座，所述小臂本体与所述旋转电机的输出端相连接，所述第一直线电机的尾部以及所述第二直线电机的尾部分别转动连接在所述小臂本体的上端部的两侧，所述第一直线电机的输出端与所述第二直线电机的输出端分别转动连接在所述手掌连接座上，所述小臂本体的下端部与所述手掌连接座十字铰接，所述旋转电机能够驱动所述小臂本体做自转运动，所述第一直线电机和所述第二直线电机能够驱动手掌做俯仰运动以及侧摆运动。本实用新型的小臂组件结构简单，控制难度低，且能驱动手掌往不同方向运动。
The utility model discloses a forearm assembly of a mechanical arm, the forearm assembly includes a forearm body, a rotating motor, a first linear motor, a second linear motor and a palm connecting seat for connecting a palm, the forearm body is connected to the output end of the rotating motor, the tail of the first linear motor and the tail of the second linear motor are respectively rotatably connected to the two sides of the upper end of the forearm body, the output end of the first linear motor and the output end of the second linear motor are respectively rotatably connected to the palm connecting seat, the lower end of the forearm body is cross-hinged with the palm connecting seat, the rotating motor can drive the forearm body to rotate, and the first linear motor and the second linear motor can drive the palm to pitch and swing. The forearm assembly of the utility model has a simple structure, low control difficulty, and can drive the palm to move in different directions.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a small arm assembly of a mechanical arm.
Background
Along with the progress of society, industrial production activities are more and more complex and precise, so that production operation tools are promoted to be synchronized to be intelligent and refined, a large number of mechanical arms are used at present to simulate the movement of a human body by arranging a servo steering engine at a joint of a robot, and the mode can realize multi-joint movement, but has high cost and relatively complex movement control algorithm of the robot. The existing robot arm structure drives the large arm to swing through the arm steering engine, the palm transmission mechanism is arranged on the small arm, the palm transmission mechanism transmits power of the arm steering engine to the palm so that the palm swings, and the robot arm structure can only drive the palm to swing towards one direction, and is complex in structure and high in cost.
Disclosure of utility model
The utility model aims to provide a forearm assembly of a mechanical arm, which aims to solve the technical problem that a robot forearm structure can only drive a palm to swing in one direction in the prior art.
The utility model provides a forearm assembly of a mechanical arm, which comprises a forearm body, a rotating motor, a first linear motor, a second linear motor and a palm connecting seat for connecting a palm, wherein the tail of the first linear motor and the tail of the second linear motor are respectively and rotatably connected to two sides of the upper end part of the forearm body, the output end of the first linear motor and the output end of the second linear motor are respectively and rotatably connected to the palm connecting seat, the lower end part of the forearm body is hinged to the palm connecting seat in a cross manner, the rotating motor can drive the forearm body to do autorotation, and the first linear motor and the second linear motor can drive the palm to do pitching motion and side swinging motion.
The forearm assembly of the mechanical arm, as described above, further comprises a cross connecting piece, wherein the cross connecting piece is provided with a transverse connecting portion and a longitudinal connecting portion, the forearm body is rotationally connected with the transverse connecting portion, and the palm connecting seat is rotationally connected with the longitudinal connecting portion.
As described above, the arm assembly of the mechanical arm is provided with the third rotating shaft on the transverse connecting portion, both ends of the third rotating shaft penetrate through the transverse connecting portion, the arm body is provided with the first avoiding groove, the transverse connecting portion is located in the first avoiding groove, and both side groove walls of the first avoiding groove are respectively connected with both ends of the third rotating shaft in a rotating mode.
As described above, the arm assembly of the mechanical arm is provided with the fourth rotating shaft on the longitudinal connecting portion, both ends of the fourth rotating shaft penetrate through the longitudinal connecting portion, the palm connecting seat is provided with the second avoidance groove, the longitudinal connecting portion is located in the second avoidance groove, and both side groove walls of the second avoidance groove are respectively connected with both ends of the fourth rotating shaft in a rotating manner.
As described above, the upper end of the arm body is provided with the first rotating shaft, two ends of the first rotating shaft extend from the left side and the right side of the arm body respectively, one end of the first rotating shaft is rotationally connected with the tail of the first linear motor, and the other end of the first rotating shaft is rotationally connected with the tail of the second linear motor.
As described above, the tail of the first linear motor is provided with the first fisheye bearing, the tail of the second linear motor is provided with the second fisheye bearing, the first fisheye bearing is sleeved at one end of the first rotating shaft, and the second fisheye bearing is sleeved at the other end of the first rotating shaft.
As described above, the arm assembly of the mechanical arm is provided with the second rotating shaft, two ends of the second rotating shaft extend from the left side and the right side of the palm connecting seat respectively, one end of the second rotating shaft is rotationally connected with the output end of the first linear motor, and the other end of the second rotating shaft is rotationally connected with the output end of the second linear motor.
As described above, the output end of the first linear motor is provided with the third fisheye bearing, the output end of the second linear motor is provided with the fourth fisheye bearing, the third fisheye bearing is sleeved at one end of the second rotating shaft, and the fourth fisheye bearing is sleeved at the other end of the second rotating shaft.
The forearm assembly of the mechanical arm is characterized in that the first linear motor and the second linear motor are symmetrically arranged on the forearm body in a left-right mode, when the first linear motor and the second linear motor synchronously stretch, the first linear motor and the second linear motor drive the palm to do pitching motion, and when the first linear motor and the second linear motor synchronously stretch, the first linear motor and the second linear motor drive the palm to do side swinging motion.
As for the forearm assembly of the mechanical arm, the rotating motor is provided with the output shaft, the top wall of the forearm body is provided with the assembly hole, and the output shaft is connected with the assembly hole in a matched mode.
The implementation of the embodiment of the utility model has the following beneficial effects:
According to the utility model, the rotating motor, the first linear motor and the second linear motor are arranged to drive the palm to move, so that the forearm can drive the palm to move in multiple directions, the robot arm has multiple degrees of freedom, and the robot arm is simple in structure, and the control difficulty of the rotating motor and the linear motor is low, so that the control difficulty of the robot arm is reduced.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Wherein:
Fig. 1 is a schematic view of a structure of a forearm assembly according to an embodiment of the utility model with a rotary motor removed;
FIG. 2 is a schematic view of a structure of an arm assembly according to an embodiment of the present utility model from another perspective, with the rotary motor removed;
Fig. 3 is a schematic structural diagram of a mechanical arm according to an embodiment of the present utility model.
The device comprises a small arm body, 11 parts of a first rotating shaft, 12 parts of a first avoidance groove, 13 parts of an assembly hole, 2 parts of a first linear motor, 21 parts of a first fish-eye bearing, 22 parts of a third fish-eye bearing, 3 parts of a second linear motor, 31 parts of a second fish-eye bearing, 32 parts of a fourth fish-eye bearing, 4 parts of a palm connecting seat, 41 parts of a second rotating shaft, 42 parts of the second avoidance groove, 5 parts of a cross connecting piece, 51 parts of a transverse connecting part, 52 parts of a longitudinal connecting part, 53 parts of the third rotating shaft, 54 parts of the fourth rotating shaft and 6 parts of a rotating motor.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be understood that the terms "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
In the description of the present utility model, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intermediate medium, or connected in the interior of two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1-3, an embodiment of the utility model discloses a forearm assembly of a mechanical arm, which comprises a forearm body 1, a rotating motor 6, a first linear motor 2, a second linear motor 3 and a palm connecting seat 4 for connecting a palm, wherein the forearm body 1 is connected with an output end of the rotating motor 6, a tail part of the first linear motor 2 and a tail part of the second linear motor 3 are respectively and rotatably connected to two sides of an upper end part of the forearm body 1, an output end of the first linear motor 2 and an output end of the second linear motor 3 are respectively and rotatably connected to the palm connecting seat 4, a lower end part of the forearm body 1 is in cross hinge joint with the palm connecting seat 4, the rotating motor 6 can drive the forearm body 1 and the palm to do rotation, and the first linear motor 2 and the second linear motor 3 can drive the palm to do pitching movement and rolling movement. The rotating motor 6 is arranged to drive the forearm body 1 and the palm to rotate in the horizontal direction, so that the palm and the forearm body 1 can rotate together, the first linear motor 2 and the second linear motor 3 are matched to drive the palm to do pitching motion and side swinging motion, so that the forearm assembly can drive the palm to move towards multiple directions, the forearm assembly has multiple degrees of freedom and is simple in structure, and the rotating motor 6, the first linear motor and the second linear motor 3 are low in control difficulty, and the control difficulty of a robot arm can be reduced.
Further, the forearm assembly further comprises a cross connecting piece 5, the cross connecting piece 5 is provided with a transverse connecting portion 51 and a longitudinal connecting portion 52, the forearm body 1 is rotatably connected with the transverse connecting portion 51, and the palm connecting seat 4 is rotatably connected with the longitudinal connecting portion 52.
Further, a third rotating shaft 53 is arranged on the transverse connection portion 51, two ends of the third rotating shaft 53 penetrate through the transverse connection portion 51, a first avoidance groove 12 is formed in the forearm body 1, the transverse connection portion 51 is located in the first avoidance groove 12, and two side groove walls of the first avoidance groove 12 are respectively connected with two ends of the third rotating shaft 53 in a rotating mode.
Further, a fourth rotating shaft 54 is disposed on the longitudinal connecting portion 52, two ends of the fourth rotating shaft 54 penetrate through the longitudinal connecting portion 52, a second avoidance groove 42 is disposed on the palm connecting seat 4, the longitudinal connecting portion 52 is located in the second avoidance groove 42, and two side groove walls of the second avoidance groove 42 are respectively connected with two ends of the fourth rotating shaft 54 in a rotating mode.
It may be appreciated that the first linear motor 2, the forearm body 1 and the palm connecting seat 4 form a set of three-link swinging guide rod mechanism, the second linear motor 3, the forearm body 1 and the palm connecting seat 4 form another set of three-link swinging guide rod mechanism, and the first linear motor 2 and the second linear motor 3 are distributed on two sides of the forearm body 1, so that the two sets of swinging guide rod mechanisms jointly form a space multi-link coupling mechanism, that is, the first linear motor 2 and the second linear motor 3 jointly perform coupling control on two degrees of freedom of pitching and side swinging of the palm ankle rotating joint, the fourth rotating shaft 54 is a central shaft of the side swinging degree of freedom of the palm ankle rotating joint, and the third rotating shaft 53 is a central shaft of the pitching degree of freedom of the hand ankle rotating joint. The structure of the coupling mechanism is more compact, so that the robot joint is closer to a human being, the power requirement of a single motor can be reduced through coupling control of two motors, namely, the size and the weight of the motor are reduced, and the pose operation space of the mechanical arm is improved.
Further, a first rotating shaft 11 is arranged at the upper end of the forearm body 1, two ends of the first rotating shaft 11 extend out from the left side and the right side of the forearm body 1 respectively, one end of the first rotating shaft 11 is rotatably connected with the tail of the first linear motor 2, and the other end of the first rotating shaft 11 is rotatably connected with the tail of the second linear motor 3.
Further, a first fisheye bearing 21 is arranged at the tail of the first linear motor 2, a second fisheye bearing 31 is arranged at the tail of the second linear motor 3, the first fisheye bearing 21 is sleeved at one end of the first rotating shaft 11, and the second fisheye bearing 31 is sleeved at the other end of the first rotating shaft 11.
Further, the palm connecting seat 4 is provided with a second rotating shaft 41, two ends of the second rotating shaft 41 respectively extend out from the left side and the right side of the palm connecting seat 4, one end of the second rotating shaft 41 is rotationally connected with the output end of the first linear motor 2, and the other end of the second rotating shaft 41 is rotationally connected with the output end of the second linear motor 3.
Further, the output end of the first linear motor 2 is provided with a third fisheye bearing 22, the output end of the second linear motor 3 is provided with a fourth fisheye bearing 32, the third fisheye bearing 22 is sleeved at one end of the second rotating shaft 41, and the fourth fisheye bearing 32 is sleeved at the other end of the second rotating shaft 41.
Further, the first linear motor 2 and the second linear motor 3 are symmetrically arranged on the forearm body 1 in a left-right direction, when the first linear motor 2 and the second linear motor 3 synchronously stretch, the first linear motor 2 and the second linear motor 3 drive the palm to do pitching motion, and when the first linear motor 2 and the second linear motor 3 asynchronously stretch, the first linear motor 2 and the second linear motor 3 drive the palm to do side swinging motion. When the first linear motor 2 and the second linear motor 3 move in the same direction, the palm end actuating mechanism is driven to rotate around the third rotating shaft 53, and when the first linear motor 2 and the second linear motor 3 move in opposite directions, the end actuating mechanism is driven to rotate around the fourth rotating shaft 54.
Further, the rotating motor 6 is provided with an output shaft, the top wall of the forearm body 1 is provided with an assembly hole 13, and the output shaft is connected with the assembly hole 13 in a matching manner.
The above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the scope of the present utility model. It will be apparent that the described embodiments are merely some, but not all, embodiments of the utility model. Based on these embodiments, all other embodiments that may be obtained by one of ordinary skill in the art without inventive effort are within the scope of the utility model. Although the present utility model has been described in detail with reference to the above embodiments, those skilled in the art may still combine, add or delete features of the embodiments of the present utility model or make other adjustments according to circumstances without any conflict, so as to obtain different technical solutions without substantially departing from the spirit of the present utility model, which also falls within the scope of the present utility model.
Claims (10)
1. The utility model provides a forearm subassembly of robotic arm, its characterized in that includes forearm body (1), rotating electrical machines (6), first linear electric machines (2), second linear electric machines (3) and is used for connecting palm connecting seat (4) of palm, forearm body (1) with the output of rotating electrical machines (6) is connected, the afterbody of first linear electric machines (2) and the afterbody of second linear electric machines (3) rotates respectively and connects the both sides of the upper end of forearm body (1), the output of first linear electric machines (2) with the output of second linear electric machines (3) rotates respectively and connects on palm connecting seat (4), the lower tip of forearm body (1) with palm connecting seat (4) cross is articulated, rotating electrical machines (6) can drive forearm body (1) are rotation motion, first linear electric machines (2) with second linear electric machines (3) can drive and do pitch motion and side pendulum motion.
2. The forearm assembly of a mechanical arm according to claim 1, further comprising a cross-shaped connecting piece (5), wherein the cross-shaped connecting piece (5) is provided with a transverse connecting portion (51) and a longitudinal connecting portion (52), the forearm body (1) is rotatably connected with the transverse connecting portion (51), and the palm connecting seat (4) is rotatably connected with the longitudinal connecting portion (52).
3. The mechanical arm forearm assembly according to claim 2, wherein a third rotating shaft (53) is arranged on the transverse connecting portion (51), two ends of the third rotating shaft (53) penetrate through the transverse connecting portion (51), a first avoidance groove (12) is arranged on the forearm body (1), the transverse connecting portion (51) is located in the first avoidance groove (12), and groove walls on two sides of the first avoidance groove (12) are respectively connected with two ends of the third rotating shaft (53) in a rotating mode.
4. The forearm assembly of claim 3, wherein the longitudinal connecting portion (52) is provided with a fourth rotating shaft (54), both ends of the fourth rotating shaft (54) penetrate through the longitudinal connecting portion (52), the palm connecting seat (4) is provided with a second avoidance groove (42), the longitudinal connecting portion (52) is located in the second avoidance groove (42), and both side groove walls of the second avoidance groove (42) are respectively connected with both ends of the fourth rotating shaft (54) in a rotating manner.
5. The mechanical arm forearm assembly according to claim 1, wherein the upper end of the forearm body (1) is provided with a first rotating shaft (11), two ends of the first rotating shaft (11) extend from the left side and the right side of the forearm body (1), one end of the first rotating shaft (11) is rotatably connected with the tail of the first linear motor (2), and the other end of the first rotating shaft (11) is rotatably connected with the tail of the second linear motor (3).
6. The mechanical arm forearm assembly according to claim 5, wherein the tail of the first linear motor (2) is provided with a first fisheye bearing (21), the tail of the second linear motor (3) is provided with a second fisheye bearing (31), the first fisheye bearing (21) is sleeved at one end of the first rotating shaft (11), and the second fisheye bearing (31) is sleeved at the other end of the first rotating shaft (11).
7. The forearm assembly of claim 6, wherein the palm connecting seat (4) is provided with a second rotating shaft (41), two ends of the second rotating shaft (41) respectively extend out from the left side and the right side of the palm connecting seat (4), one end of the second rotating shaft (41) is rotatably connected with the output end of the first linear motor (2), and the other end of the second rotating shaft (41) is rotatably connected with the output end of the second linear motor (3).
8. The mechanical arm forearm assembly according to claim 7, wherein the output end of the first linear motor (2) is provided with a third fisheye bearing (22), the output end of the second linear motor (3) is provided with a fourth fisheye bearing (32), the third fisheye bearing (22) is sleeved at one end of the second rotating shaft (41), and the fourth fisheye bearing (32) is sleeved at the other end of the second rotating shaft (41).
9. The forearm assembly of claim 8, wherein the first linear motor (2) and the second linear motor (3) are symmetrically arranged on the forearm body (1) in a left-right manner, when the first linear motor (2) and the second linear motor (3) synchronously extend and retract, the first linear motor (2) and the second linear motor (3) drive the palm to do pitching motion, and when the first linear motor (2) and the second linear motor (3) do non-synchronous extend and retract, the first linear motor (2) and the second linear motor (3) drive the palm to do side swinging motion.
10. The forearm assembly of a mechanical arm according to claim 1, wherein the rotary motor (6) is provided with an output shaft, the top wall of the forearm body (1) is provided with an assembly hole (13), and the output shaft is connected with the assembly hole (13) in a matching manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323497786.6U CN222430782U (en) | 2023-12-20 | 2023-12-20 | Forearm assembly of robotic arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323497786.6U CN222430782U (en) | 2023-12-20 | 2023-12-20 | Forearm assembly of robotic arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN222430782U true CN222430782U (en) | 2025-02-07 |
Family
ID=94406075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323497786.6U Active CN222430782U (en) | 2023-12-20 | 2023-12-20 | Forearm assembly of robotic arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN222430782U (en) |
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2023
- 2023-12-20 CN CN202323497786.6U patent/CN222430782U/en active Active
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