Robot manipulator and robot
A robot manipulator includes: an arm body; a wrist effector, connected to the arm body; a multi-degree-of-freedom (DOF) connecting device, rotatably connected to the wrist effector; and a grabber, connected to the multi-DOF connecting device, wherein the multi-DOF connecting device is configured to receive a power output by the wrist effector and drive the grabber to rotate.
1. A robot manipulator, comprising:
an arm body;
a wrist effector, connected to the arm body;
a multi-degree-of-freedom (DOF) connecting device, rotatably connected to the wrist effector; and
a grabber, connected to the multi-DOF connecting device, wherein the multi-DOF connecting device is configured to receive a power output by the wrist effector and drive the grabber to rotate;
wherein the multi-DOF connecting device comprises a connecting member, a first transmission device, a second transmission device, and a bevel gear driving device, wherein the bevel gear driving device comprises a bracket, a first driving bevel gear, a second driving bevel gear, a first planetary gear, a first inner bearing, a second inner bearing, a third inner bearing, a first outer bearing, a second outer bearing, a third outer bearing; the first driving bevel gear, the second driving bevel gear, and the first planetary gear are all rotatable connected to the bracket;
the bracket is provided with a first sink slot, a second sink slot, and a third sink slot; wherein, the first sink slot and the second sink slot are oppositely disposed, the third sink slot is communicated with the first sink slot and the second sink slot respectively;
the first inner bearing is fixed to the first sink slot; a shaft end of the first driving bevel gear is sleeved onto of the interior of the first inner bearing, the first outer bearing is sleeved onto the exterior of the other shaft end of the first driving bevel gear; the second inner bearing is fixed into the second sink slot, a shaft end of the second driving bevel gear is sleeved onto the interior of the second inner bearing, the second outer bearing is sleeved onto the exterior of the other shaft end of the second driving bevel gear; the third inner bearing and the third outer bearing are both fixed inside the third sink slot, and both shaft ends of the first planetary gear are respectively sleeved onto the interior of the third inner bearing and the interior of the third outer bearing;
wherein one end of the connecting member is connected to the wrist effector and the other end of the connecting member is rotatably connected to the bracket, the first driving bevel gear and the second driving bevel gear are oppositely disposed, the first planetary gear is disposed between the first driving bevel gear and the second driving bevel gear, and the first planetary gear is in mesh with the first driving bevel gear and the second driving bevel gear respectively; and
the first transmission device is connected to a first output shaft of the wrist effector and the first driving bevel gear respectively, the first output shaft of the wrist effector is configured to drive the first driving bevel gear to rotate, the second transmission device is connected to a second output shaft of the wrist effector and the second driving bevel gear respectively, the second output shaft of the wrist effector is configured to drive the second driving bevel gear to rotate, and the grabber is connected to the first planetary gear.
2. The robot manipulator according to claim 1 , wherein the first transmission device comprises a first belt, a first pulley, and a second pulley; wherein the first pulley is connected to the first output shaft of the wrist effector, the second pulley is connected to the first driving bevel gear, and the first belt is sleeved onto the first pulley and the second pulley.
3. The robot manipulator according to claim 1 , wherein the second transmission device comprises a second belt, a third pulley, and a fourth pulley; wherein the third pulley is connected to the second output shaft of the wrist effector, the fourth pulley is connected to the second driving bevel gear, and the second belt is sleeved onto the third pulley and the fourth pulley.
4. The robot manipulator according to claim 1 , wherein the multi-DOF connecting device comprises a second planetary gear; wherein
the second planetary gear is rotatably connected to the bracket, the second planetary gear is disposed between the first driving bevel gear and the second driving bevel gear, and the second planetary gear is in mesh with the first driving bevel gear and the second driving bevel gear respectively; and
the grabber is connected to the second planetary gear; wherein the grabber comprises a grabber body and a U-shaped connecting frame; wherein one end of the grabber body is connected to the U-shaped connecting frame, and two stands of the U-shaped connecting frame are respectively connected to the first planetary gear and the second planetary gear.
5. The robot manipulator according to claim 1 , wherein the arm body comprises a lift boom effector, an incline boom effector, a first connecting frame, a rotate elbow effector, an elbow effector, a second connecting frame, and a rotate wrist effector; wherein
a case of the incline boom effector is connected to an output end of the lift boom effector, one end of the first connecting frame is connected to an output end of the incline boom effector, a case of the rotate elbow effector is connected to the other end of the first connecting frame, a case of the elbow effector is connected to an output end of the rotate elbow effector, one end of the second connecting frame is connected to an output end of the elbow effector, a case of the rotate wrist effector is connected to the other end of the second connecting frame, and a case of the wrist effector is connected to an output end of the rotate wrist effector.
6. The robot manipulator according to claim 5 , wherein the first connecting frame comprises a first connecting stand plate and a second connecting stand plate; wherein one end of the first connecting stand plate is connected to the output end of the incline boom effector, one end of the second connecting stand plate is rotatably connected to the case of the incline boom effector, the other ends of the first connecting stand plate and the second connecting stand plate are both connected to the case of the rotate elbow effector, and the first connecting stand plate and the second connecting stand plate are parallelly disposed.
7. The robot manipulator according to claim 6 , wherein the first connecting frame comprises a connecting bearing; wherein one end of the second connecting stand plate is connected to the case of the incline boom effector by the connecting bearing.
8. The robot manipulator according to claim 6 , wherein the first connecting frame comprises a fixing plate; wherein the fixing plate is connected to the rotate elbow effector, and the other ends of the first connecting stand plate and the second connecting stand plate are both connected to the fixing plate.
9. The robot manipulator according to claim 5 , wherein the second connecting frame comprises a third connecting stand plate and a fourth connecting stand plate; wherein one end of the third connecting stand plate is connected to the output end of the elbow effector, the other end of the third connecting stand plate is connected to the case of the rotate wrist effector, one end of the fourth connecting stand plate is rotatably connected to the case of the elbow effector, and the other end of the fourth connecting stand plate is connected to the case of the rotate wrist effector.
10. A robot, comprising at least one robot manipulator, the robot manipulator, comprises:
an arm body;
a wrist effector, connected to the arm body;
a multi-degree-of-freedom (DOF) connecting device, rotatably connected to the wrist effector; and
a grabber, connected to the multi-DOF connecting device, wherein the multi-DOF connecting device is configured to receive a power output by the wrist effector and drive the grabber to rotate;
wherein the multi-DOF connecting device comprises a connecting member, a first transmission device, a second transmission device, and a bevel gear driving device, wherein the bevel gear driving device comprises a bracket, a first driving bevel gear, a second driving bevel gear, a first planetary gear, a first inner bearing, a second inner bearing, a third inner bearing, a first outer bearing, a second outer bearing, a third outer bearing; the first driving bevel gear, the second driving bevel gear, and the first planetary gear are all rotatable connected to the bracket;
the bracket is provided with a first sink slot, a second sink slot, and a third sink slot; wherein, the first sink slot and the second sink slot are oppositely disposed, the third sink slot is communicated with the first sink slot and the second sink slot respectively;
the first inner bearing is fixed to the first sink slot; a shaft end of the first driving bevel gear is sleeved onto of the interior of the first inner bearing, the first outer bearing is sleeved onto the exterior of the other shaft end of the first driving bevel gear; the second inner bearing is fixed into the second sink slot, a shaft end of the second driving bevel gear is sleeved onto the interior of the second inner bearing, the second outer bearing is sleeved onto the exterior of the other shaft end of the second driving bevel gear; the third inner bearing and the third outer bearing are both fixed inside the third sink slot, and both shaft ends of the first planetary gear are respectively sleeved onto the interior of the third inner bearing and the interior of the third outer bearing;
wherein one end of the connecting member is connected to the wrist effector and the other end of the connecting member is rotatably connected to the bracket, the first driving bevel gear and the second driving bevel gear are oppositely disposed, the first planetary gear is disposed between the first driving bevel gear and the second driving bevel gear, and the first planetary gear is in mesh with the first driving bevel gear and the second driving bevel gear respectively; and
the first transmission device is connected to a first output shaft of the wrist effector and the first driving bevel gear respectively, the first output shaft of the wrist effector is configured to drive the first driving bevel gear to rotate, the second transmission device is connected to a second output shaft of the wrist effector and the second driving bevel gear respectively, the second output shaft of the wrist effector is configured to drive the second driving bevel gear to rotate, and the grabber is connected to the first planetary gear.
11. The robot according to claim 10 , wherein the first transmission device comprises a first belt, a first pulley, and a second pulley; wherein the first pulley is connected to the first output shaft of the wrist effector, the second pulley is connected to the first driving bevel gear, and the first belt is sleeved onto the first pulley and the second pulley.
12. The robot according to claim 10 , wherein
the second transmission device comprises a second belt, a third pulley, and a fourth pulley; wherein the third pulley is connected to the second output shaft of the wrist effector, the fourth pulley is connected to the second driving bevel gear, and the second belt is sleeved onto the third pulley and the fourth pulley.
13. The robot according to claim 10 , wherein the multi-DOF connecting device comprises a second planetary gear; wherein
the second planetary gear is rotatably connected to the bracket, the second planetary gear is disposed between the first driving bevel gear and the second driving bevel gear, and the second planetary gear is in mesh with the first driving bevel gear and the second driving bevel gear respectively; and
the grabber is connected to the second planetary gear; wherein the grabber comprises a grabber body and a U-shaped connecting frame; wherein one end of the grabber body is connected to the U-shaped connecting frame, and two stands of the U-shaped connecting frame are respectively connected to the first planetary gear and the second planetary gear.
14. The robot according to claim 10 , wherein the first output shaft and the second output shaft driven by the same motor, one end of the first output shaft or the second output shaft connected to reducer device.
15. The robot according to claim 10 , the first output shaft and the second output shaft are coaxial symmetry.
16. The robot manipulator according to claim 1 , wherein the first output shaft and the second output shaft driven by the same motor, one end of the first output shaft or the second output shaft connected to reducer device.
17. The robot manipulator according to claim 1 , the first output shaft and the second output shaft are mutually parallel and coaxial symmetry.