CN206913177U - A kind of highly emulated robot arm and robot - Google Patents
A kind of highly emulated robot arm and robot Download PDFInfo
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- CN206913177U CN206913177U CN201720571864.8U CN201720571864U CN206913177U CN 206913177 U CN206913177 U CN 206913177U CN 201720571864 U CN201720571864 U CN 201720571864U CN 206913177 U CN206913177 U CN 206913177U
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Abstract
The utility model discloses a kind of highly emulated robot arm and robot, arm includes large arm, and the upper end of the large arm is connected with shoulder, ancon, forearm, hand organization, the second connector and the 3rd connector；Second connector is fixedly connected on the bottom of large arm, and L-type structure is formed with large arm；Ancon is fixed on the second connector, while is fixedly connected with the top of forearm；3rd connector is fixedly connected on the bottom of forearm, and L-type structure is formed with forearm；Hand organization is installed on the 3rd connector.The robot arm that the utility model embodiment provides realizes the rotation of multiple frees degree, each joint passes through L-type connected mode, the volume of joint part can be reduced, design and lay a good foundation for integral miniaturization, also cause whole robot arm outward appearance to be more similar to human arm；Each joint position, the middle mode that is connected is used, the center of each several part can be consistent as far as possible, reduce overall size, lifting overall appearance image.
Description
Technical field
It the utility model is related to intelligent robot technology field, more particularly to a kind of highly emulated robot arm and machine
People.
Background technology
It is born till now from robot, robot technology experienced one long-term slow evolution.With computer
Technology, microelectric technique, network technology etc. quickly develop, and robot technology is also developed rapidly.Except industrial machine
Outside the horizontal continuous improvement of people, the various advanced robotic systems for service industry there has also been considerable progress.Control system
The further raising of performance, the successful application of laser sensor, vision sensor and force snesor in robot system, makes machine
The reliability of device people's system has large increase.The intellectuality for developing into robot of basic technology and device, apery and bionical
Development creates good condition.Currently, robot is not only applicable to industrial circle, also is progressively being applied to join with people's life
It is close field.Service robot, disabled aiding robot of helping the elderly, educational robot, amusement robot utility model, production and
Using will be offered convenience to the life of the mankind and enjoyment.
At present, in service robot, robot generally includes head, arm and body, and head is rotationally assemblied in
The tip position of body, arm are rotationally assemblied in the both sides of body.And in conventional structure, following lack be present in arm structure
Fall into：
1) all joint parts use U-shaped connected mode on arm, so that joint portion volume is larger, not only meets not
The growth requirement of miniaturization, and it is unfavorable for the arm configuration design of class people；
2) large arm of arm is connected with shoulder in edge so that shoulder is integrally outstanding, increases the entirety of shoulder
Size, it appears it is heavier, it have impact on the overall appearance image of robot.
Utility model content
The purpose of this utility model is to provide a kind of highly emulated robot arm and robot, overcomes hand in the prior art
Volume existing for the joint part of arm is big, influences the defects of overall appearance image.
To use following technical scheme up to this purpose, the utility model：
A kind of highly emulated robot arm, including large arm, the upper end of the large arm are connected with shoulder；The robot arm
Also include ancon, forearm, hand organization, the second connector and the 3rd connector；
Second connector is fixedly connected on the bottom of the large arm, and L-type structure is formed with the large arm；The ancon
It is fixed on the second connector, while is fixedly connected with the top of the forearm；
3rd connector is fixedly connected on the bottom of the forearm, and L-type structure is formed with the forearm；The hand
Mechanism is installed on the 3rd connector.
Optionally, the shoulder includes the first rotating mechanism and the second rotating mechanism being connected；
First rotating mechanism includes the first motor and the first rotation section being connected with each other；Make in the driving of the first motor
Under, the first rotation section is rotated using the rotating shaft of the first motor as rotary shaft；
Second rotating mechanism includes the second motor and the second rotation section being connected with each other；Make in the driving of the second motor
Under, the second rotation section is rotated using the rotating shaft of the second motor as rotary shaft；
First rotating mechanism is connected with the second rotating mechanism by the first connector, the rotating shaft of the first motor and second
The rotating shaft of motor is mutually perpendicular to.
Optionally, the ancon includes the 3rd rotating mechanism and the 4th rotating mechanism being connected；
3rd rotating mechanism, including the 3rd motor being connected and the 3rd rotation section；Make in the driving of the 3rd motor
Under, the 3rd rotation section is rotated using the rotating shaft of the 3rd motor as rotary shaft；
4th rotating mechanism, including the 4th motor being connected and the 4th rotation section；Make in the driving of the 4th motor
Under, the 4th rotation section is rotated using the rotating shaft of the 4th motor as rotary shaft；
3rd motor of the 3rd rotating mechanism is vertically fixedly connected on second connector；4th rotating mechanism
The 4th motor be fixedly connected with the 3rd rotation section, and the rotating shaft and the rotating shaft of the 3rd motor of the 4th motor are perpendicular.
Optionally, the hand organization includes the first steering wheel, the second steering wheel and the 3rd steering wheel below the first steering wheel,
And the left hand palm below the second steering wheel and the right hand palm below the 3rd steering wheel.
The first steering wheel fixing assembling is on the 3rd connector, and second steering wheel and the 3rd steering wheel are as overall
Be fixedly connected with the output shaft of the first steering wheel, the left hand palm is fixedly connected with the output shaft of the second steering wheel, the right hand palm and
The output shaft of 3rd steering wheel is fixedly connected.
Optionally, first connector is fixed on the centre position of the first rotation section of the first rotating mechanism, and this first
Connector is fixedly connected with the second motor of the second rotating mechanism simultaneously.
Optionally, the 3rd motor is vertically connected at the center of the second connector, and the 4th motor is fixedly connected on
The centre position of 3rd rotation section.
Optionally, first rotation section, the second rotation section, the 3rd rotation section and/or the 4th rotation section specifically include：Turn
Axis connection piece, mechanical position limitation mechanism and decelerator, the outside being arranged with respective axes of rotation is fixed successively.
Optionally, the robot arm is also equiped with one or more motor control panel.
Optionally, the robot arm is also equiped with the limit sensors and mechanical limit switch of electrical connection.
A kind of robot, including as above any described highly emulated robot arm.
Compared with prior art, the utility model embodiment has the advantages that：
The robot arm that the utility model embodiment provides realizes the rotation of multiple frees degree, large arm and ancon, elbow
Portion and forearm, forearm and hand organization are by L-type connected mode, and unconventional U-shaped connected mode, can reduce joint part
Volume, design and lay a good foundation for integral miniaturization, also cause whole robot arm outward appearance be more similar to human arm；
Each joint position, the middle mode that is connected is used, the center of each several part can be so consistent as far as possible, from
And reduce overall size so that robot arm seems more slim and graceful, lifting overall appearance image.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the first three-dimensional view of the robot arm that the utility model embodiment one provides；
Fig. 2 is the second three-dimensional view of the robot arm that the utility model embodiment one provides；
Fig. 3 is the 3rd three-dimensional view of the robot arm that the utility model embodiment one provides；
Fig. 4 is the 4th three-dimensional view of the robot arm that the utility model embodiment one provides；
Illustrate：
Shoulder 1, large arm 2, ancon 3, forearm 4, hand organization 5, the first connector 6, the second connector 7, the 3rd connector
8th, target object 9, motor control panel 10, the first motor 11, the first rotation section 12, the second motor 13, the second rotation section 14, connection
Structure 15, mechanical limit switch 16, the 3rd motor 31, the 3rd rotation section 32, the 4th motor 33, the 4th rotation section 34, the first rudder
Machine 51, the second steering wheel 52, the 3rd steering wheel 53, the left hand palm 54, the right hand palm 55.
Embodiment
, below will knot to enable purpose of utility model of the present utility model, feature, advantage more obvious and understandable
The accompanying drawing in the utility model embodiment is closed, the technical scheme in the embodiment of the utility model is clearly and completely described,
Obviously, the embodiments described below are only the utility model part of the embodiment, and not all embodiment.Based on this reality
With the embodiment in new, those of ordinary skill in the art are obtained all other under the premise of creative work is not made
Embodiment, belong to the scope of the utility model protection.
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by embodiment.
Embodiment one
It refer to shown in Fig. 1 to Fig. 4, present embodiments providing one kind has multivariant robot arm configuration.Should
Robot arm includes a large arm 2, and the top of large arm 2 is provided with shoulder 1, and the lower section of large arm 2 connects forearm 4, forearm by ancon 3
4 lower section connects a hand organization 5.
Each part will be described respectively below.
(1) shoulder 1
Shoulder 1 includes the first rotating mechanism and the second rotating mechanism being connected.
First rotating mechanism includes the first motor 11 and the first rotation section 12 being connected with each other；In the driving of the first motor 11
Under effect, the first rotation section 12 is rotated using the rotating shaft of the first motor 11 as rotary shaft；
Second rotating mechanism includes the second motor 13 and the second rotation section 14 being connected with each other；In the driving of the second motor 13
Under effect, the second rotation section 14 is rotated using the rotating shaft of the second motor 13 as rotary shaft.
First rotating mechanism is connected with the second rotating mechanism by the first connector 6, the rotating shaft and second of the first motor 11
The rotating shaft of motor 13 is in and is mutually perpendicular to state, and two rotating shafts are located at sustained height when in horizontality.Specifically, first
Connector 6 is fixed on the centre position of the first rotation section 12 of the first rotating mechanism, and first connector 6 rotates with second simultaneously
Second motor 13 of mechanism is fixedly connected.
It is understood that because the first connector 6 is located at the centre position of the first rotation section 12 so that the second rotating machine
Structure and the first rotating mechanism employ centre and are connected mode, maximumlly save assembly space, can reduce the body of shoulder 1
Product, lifts its overall appearance effect.
To realize the connection of robot arm and machine human body, also fix and set on the first motor 11 of the first rotating mechanism
There is an attachment structure 15, for being fixedly connected with machine human body, its concrete structure is unlimited.
Based on the design of above-mentioned two rotating mechanism, the rotation process of the shoulder 1 of the present embodiment is specific as follows：
When the first motor 11 works, the first rotation section 12 is rotated relative to the first motor 11, is at the same time fixed
Rotated therewith in the second rotating mechanism on the first rotation section 12, so that the overall rotating shaft with the first motor 11 of arm
Rotated for rotary shaft；
When the second motor 13 works, the second rotation section 14 is rotated relative to the second motor 13, so that arm
It can be rotated using the rotating shaft of the second motor 13 as rotary shaft.
(2) large arm 2
Large arm 2, its top is fixedly connected with the second rotation section 14 of the second rotating mechanism, bottom is fixedly connected with one second company
Fitting 7.When the second motor 13 works, large arm 2 can under the drive of the second rotation section 14 using the rotating shaft of the second motor 13 as
Rotary shaft is rotated.
Based on human figure, it is preferred that large arm 2 and the rotating shaft of the second motor 13 of the second rotating mechanism are perpendicular, realize
Class peopleization designs.
The function of second connector 7 is：Realize the connection of large arm 2 and ancon 3.To save assembly space, the second connector 7
A side vertical with large arm 2 be fixedly connected so that the connector 7 of large arm 2 and second forms L-type structure.Based on this L-type structure,
It is connected in follow-up ancon 3 by the second connector 7 with large arm 2, assembling volume can be reduced, realizes miniaturization.
(3) ancon 3
Ancon 3, including the 3rd rotating mechanism being connected and the 4th rotating mechanism.
3rd rotating mechanism, including the 3rd motor 31 being connected and the 3rd rotation section 32；In the driving of the 3rd motor 31
Under effect, the 3rd rotation section 32 is rotated using the rotating shaft of the 3rd motor 31 as rotary shaft；
4th rotating mechanism, including the 4th motor 33 being connected and the 4th rotation section 34；In the driving of the 4th motor 33
Under effect, the 4th rotation section 34 is rotated using the rotating shaft of the 4th motor 33 as rotary shaft.
3rd motor 31 of the 3rd rotating mechanism is vertically fixedly connected on the second connector 7, and the of the 4th rotating mechanism
Four motors 33 are fixedly connected with the 3rd rotation section 32, and the rotating shaft and the rotating shaft of the 3rd motor 31 of the 4th motor 33 are perpendicular.
To save assembly space, the 3rd motor 31 is vertically connected at the center of the second connector 7, and the 4th motor 33 is solid
Surely the centre position of the 3rd rotation section 32 is connected to, so may be such that the 3rd rotating mechanism and the 4th rotating mechanism as far as possible into
Heart position is drawn close, and reduces the overall volume of ancon 3.
(4) forearm 4
Forearm 4, its top is fixedly connected with the 4th rotation section 34 of the 4th rotating mechanism, bottom is fixedly connected with one the 3rd company
Fitting 8.When the 4th motor 33 works, forearm 4 can under the drive of the 4th rotation section 34 using the rotating shaft of the 4th motor 33 as
Rotary shaft is rotated.
Based on human figure, it is preferred that the rotating shaft of forearm 4 and the 4th motor 33 of the 4th rotating mechanism is perpendicular, realizes
Class peopleization designs.
The function of 3rd connector 8 is：Realize the connection of forearm 4 and hand organization 5.To save assembly space, the 3rd connects
One side of fitting 8 is vertical with forearm 4 to be fixedly connected so that the connector 8 of forearm 4 and the 3rd forms L-type structure.Based on this L-type
Structure, when follow-up hand organization 5 is connected by the 3rd connector 8 with forearm 4, assembling volume can be reduced, realize miniaturization.
(5) hand organization 5
Hand organization 5, including the first steering wheel 51, the second steering wheel 52, the 3rd steering wheel 53, by left hand the palm 54 and the right hand slap 55 groups
Into palm structure.
The fixing assembling of first steering wheel 51 is on the 3rd connector 8, and the second steering wheel 52 and the 3rd steering wheel 53 are as overall fixed
The output shaft of the first steering wheel 51 is connected to, and the second steering wheel 52 slaps 55 to the control connection of the left hand palm 54, the 3rd steering wheel 53 to the right hand
Control connection.
In the structure, the first steering wheel 51 carries out rotation control to the entirety of the second steering wheel 52 and the 3rd steering wheel 53, so that
Obtaining whole palm structure can be rotated using the output shaft of the first steering wheel 51 as rotating shaft；Second steering wheel 52 and the 3rd steering wheel 53 are distinguished
For controlling the rotation of the left hand palm 54 and the right hand palm 55 so that palm can open specified angle, convenient to capture target object 9.
In actual application, the rotation in each joint of arm generally can be all set in the range of possible angle, be
This, can also install a limit sensors respectively, for realizing limit function on shoulder and ancon.Machine is additionally provided with robot arm
Tool limit switch 16, is electrically connected with limit sensors, for controlling the switch of limit function.
In addition, in the present embodiment, the first rotation section 12, the second rotation section 14, the 3rd rotation section 32 and the 4th rotation section 34
It may particularly include：Rotating shaft connection sheet, mechanical position limitation mechanism and decelerator, it so may be such that motor is loaded into mechanical position limitation connection
On piece, the good rotates effe in each joint is realized.
For convenience of to each joint carry out efficiently, be accurately controlled, the present embodiment is also provided with three motor control panels
10, it is installed on shoulder 1, large arm 2 and forearm 4, is respectively used to the first motor 11, the second motor 13, the 3rd motor 33 respectively
Individually controlled with the 4th motor 33.
To sum up, the robot arm of the present embodiment has the characteristics that：
1) large arm 2 passes through L-type connected mode, Er Feichuan with ancon 3, ancon 3 and forearm 4, forearm 4 and hand organization 5
The U-shaped connected mode of system, can reduce the volume of joint part, design and lay a good foundation for integral miniaturization, also cause whole machine
Device human arm outward appearance is more similar to human arm；
2) each joint position, the middle mode that is connected is used, the center of each several part can so be tried one's best
It is consistent, so as to reduce overall size so that robot arm seems more slim and graceful, lifting overall appearance image.
Embodiment two
The present embodiment two provides a kind of robot, and the robot includes robot head, machine human body and machine
Human arm, robot arm is as described in embodiment one, and here is omitted.
In the present embodiment, robot arm can be with multivariant rotation, and overall volume is smaller so that whole machine
People can more minimize, profile is more attractive in appearance.
Described above, above example is only to illustrate the technical solution of the utility model, rather than its limitations；Although ginseng
The utility model is described in detail according to previous embodiment, it will be understood by those within the art that：It is still
Technical scheme described in foregoing embodiments can be modified, or which part technical characteristic is equally replaced
Change；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the utility model technical scheme
Spirit and scope.
Claims (10)
1. a kind of highly emulated robot arm, including large arm, the upper end of the large arm are connected with shoulder；Characterized in that, the machine
Device human arm also includes ancon, forearm, hand organization, the second connector and the 3rd connector；
Second connector is fixedly connected on the bottom of the large arm, and L-type structure is formed with the large arm；The ancon is fixed
In on the second connector, while it is fixedly connected with the top of the forearm；
3rd connector is fixedly connected on the bottom of the forearm, and L-type structure is formed with the forearm；The hand organization
It is installed on the 3rd connector.
2. highly emulated robot arm according to claim 1, it is characterised in that the shoulder includes first to be connected
Rotating mechanism and the second rotating mechanism；
First rotating mechanism includes the first motor and the first rotation section being connected with each other；In the driving effect of the first motor
Under, the first rotation section is rotated using the rotating shaft of the first motor as rotary shaft；
Second rotating mechanism includes the second motor and the second rotation section being connected with each other；In the driving effect of the second motor
Under, the second rotation section is rotated using the rotating shaft of the second motor as rotary shaft；
First rotating mechanism is connected with the second rotating mechanism by the first connector, the rotating shaft of the first motor and the second motor
Rotating shaft be mutually perpendicular to.
3. highly emulated robot arm according to claim 2, it is characterised in that the ancon includes the 3rd to be connected
Rotating mechanism and the 4th rotating mechanism；
3rd rotating mechanism, including the 3rd motor being connected and the 3rd rotation section；Under the driving effect of the 3rd motor,
3rd rotation section is rotated using the rotating shaft of the 3rd motor as rotary shaft；
4th rotating mechanism, including the 4th motor being connected and the 4th rotation section；Under the driving effect of the 4th motor,
4th rotation section is rotated using the rotating shaft of the 4th motor as rotary shaft；
3rd motor of the 3rd rotating mechanism is vertically fixedly connected on second connector；The of 4th rotating mechanism
Four motors are fixedly connected with the 3rd rotation section, and the rotating shaft and the rotating shaft of the 3rd motor of the 4th motor are perpendicular.
4. highly emulated robot arm according to claim 1, it is characterised in that the hand organization includes the first rudder
Machine, the second steering wheel and the 3rd steering wheel below the first steering wheel, and the left hand palm below the second steering wheel and positioned at the
The right hand palm below three steering wheels；
The first steering wheel fixing assembling is on the 3rd connector, and second steering wheel and the 3rd steering wheel are as overall with the
The output shaft of one steering wheel is fixedly connected, and the left hand palm is fixedly connected with the output shaft of the second steering wheel, the right hand palm and the 3rd
The output shaft of steering wheel is fixedly connected.
5. highly emulated robot arm according to claim 2, it is characterised in that first connector is fixed on first
The centre position of first rotation section of rotating mechanism, first connector is fixed with the second motor of the second rotating mechanism simultaneously to be connected
Connect.
6. highly emulated robot arm according to claim 3, it is characterised in that the 3rd motor is vertically connected at
The center of two connectors, the 4th motor are fixedly connected on the centre position of the 3rd rotation section.
7. highly emulated robot arm according to claim 3, it is characterised in that first rotation section, second rotate
Portion, the 3rd rotation section and/or the 4th rotation section specifically include：Rotating shaft connection sheet, mechanical position limitation mechanism and decelerator, it is solid successively
Surely it is arranged the outside with respective axes of rotation.
8. highly emulated robot arm according to claim 3, it is characterised in that the robot arm is also equiped with one
Individual or multiple motor control panels.
9. highly emulated robot arm according to claim 1, it is characterised in that the highly emulated robot arm also fills
Limit sensors and mechanical limit switch provided with electrical connection.
10. a kind of robot, it is characterised in that including the highly emulated robot arm as described in claim 1 to 9 is any.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720571864.8U CN206913177U (en) | 2017-05-22 | 2017-05-22 | A kind of highly emulated robot arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720571864.8U CN206913177U (en) | 2017-05-22 | 2017-05-22 | A kind of highly emulated robot arm and robot |
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| Publication Number | Publication Date |
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| CN206913177U true CN206913177U (en) | 2018-01-23 |
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ID=61308869
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720571864.8U Active CN206913177U (en) | 2017-05-22 | 2017-05-22 | A kind of highly emulated robot arm and robot |
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| Country | Link |
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| CN (1) | CN206913177U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107116571A (en) * | 2017-05-22 | 2017-09-01 | 中新智擎科技有限公司 | A kind of multivariant robot arm and robot |
-
2017
- 2017-05-22 CN CN201720571864.8U patent/CN206913177U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107116571A (en) * | 2017-05-22 | 2017-09-01 | 中新智擎科技有限公司 | A kind of multivariant robot arm and robot |
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