CN101589980B - Five degree-of-freedom manipulator - Google Patents

Five degree-of-freedom manipulator Download PDF

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Publication number
CN101589980B
CN101589980B CN2009100724002A CN200910072400A CN101589980B CN 101589980 B CN101589980 B CN 101589980B CN 2009100724002 A CN2009100724002 A CN 2009100724002A CN 200910072400 A CN200910072400 A CN 200910072400A CN 101589980 B CN101589980 B CN 101589980B
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CN
China
Prior art keywords
joint
shoulder
carpal
connector
elbow
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CN2009100724002A
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Chinese (zh)
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CN101589980A (en
Inventor
李瑞峰
关技来
高云峰
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哈尔滨工业大学
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Priority to CN2009100724002A priority Critical patent/CN101589980B/en
Publication of CN101589980A publication Critical patent/CN101589980A/en
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Publication of CN101589980B publication Critical patent/CN101589980B/en

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Abstract

The invention discloses a five degree-of-freedom manipulator, and relates to a manipulator. The manipulator aims to solve the problem that no manipulator which is matched with intelligent wheelchairs and has the advantages of accurate positioning, high precision, small mass and large rigidity exists at present. A disc type driving servomotor of a paw is fixed in a mandrel of a wrist revolute joint, a wrist revolute joint connecting piece of the wrist revolute joint is fixedly connected with the upper end of an auxiliary connecting plate of a wrist joint, a connecting end of a second connecting piece of the wrist joint is fixedly connected with the upper end of a small arm, the lower-rear end of the small arm is fixedly connected with a large gear of an elbow joint, an elbow joint bearing support in the elbow joint is fixedly connected with the upper end of a big arm, the lower end of the big arm is fixedly connected with a sixth connecting piece of a shoulder joint, and the sixth connecting piece of the shoulder joint is fixedly connected with a shoulder revolute joint mandrel of a shoulder revolute joint. The manipulator can replace human arms to finish operation tasks on certain specific occasions. The manipulator has the advantages of simple structure, accurate positioning, high precision, small mass, large rigidity, full functions, safe and reliable use, simple and convenient assembly and maintenance, and lower cost.

Description

Five degree-of-freedom manipulator
Technical field
The present invention relates to a kind of mechanical arm, be specifically related to a kind of mechanical arm that is installed on the Wheelchair.
Background technology
Follow material greatly to enrich the arrival in epoch and the raising of human civilization degree, people particularly people with disability more and more need to use modern high technology to improve their quality of life and life degree of freedom.Therefore, the research that is used to help the robot wheelchair that the disabled walks is become focus gradually.Intelligent wheel chair is a kind of service robot that helps handicapped crowd.The basic function " walking " of an early stage intelligent wheel chair Wheelchairs Available, because the more all right moving inconvenience of the disabled, so just expedited the emergence of the scheme of the mechanical arm that on the basis of former intelligent wheel chair, adds the apish arm action of energy, better helped the disabled to finish some as unblanking, pick up the simple task of wisp.The intelligent wheel chair of band mechanical arm is the new ideas of accompanying and attending to that occur in recent years, and domestic still do not have a shaped article.Wheelchair mechanical arm paw has photographic head can be discerned and positioning object, and the calculating by computer realizes grasping automatically object, so just requires the accurate positioning of wheelchair mechanical arm, the required precision height, and require that the quality of mechanical arm own is little, rigidity and load want big.
Summary of the invention
The purpose of this invention is to provide a kind of five degree-of-freedom manipulator,, do not have matching used and have a problem of accurate positioning, precision height, quality is little, rigidity is big mechanical arm with intelligent wheel chair to solve so far.
The present invention solves the problems of the technologies described above the technical scheme of taking to be: mechanical arm of the present invention is made of robotic arm and paw; Described robotic arm is made up of wrist revolute joint, carpal joint, forearm, elbow joint, big arm, shoulder joint and shoulder revolute joint; The disc type of described paw drives servomotor and is packed in the axle of wrist revolute joint, the wrist revolute joint connector of described wrist revolute joint and the upper end of carpal auxiliary connecting plate are affixed, the link of carpal second connector and the upper end of forearm are affixed, the posterior end of described forearm and the gear wheel of elbow joint are affixed, elbow joint bearing block in the elbow joint is affixed with the upper end of big arm, the 6th connector of the lower end of described big arm and shoulder joint is affixed, and the 6th connector of shoulder joint is affixed with the shoulder revolute joint axle of shoulder revolute joint.
The invention has the beneficial effects as follows: mechanical arm of the present invention is installed on the intelligent wheel chair, realizes the function of similar people's arm.This mechanical arm has shoulder joint revolution (M1), shoulder joint swing (M2), elbow joint swing (M3), carpal joint swing (M4) and carpal joint and rotates (M5) five degree of freedom (see figure 10)s.The kind of drive of the mechanical arm among the present invention adopts the transmission scheme of a plurality of DC servo motors (direct connection decelerator), the combined mechanism that paw adopts screw-nut body, rack-and-pinion (rotational lead screw and tooth cover) mechanism and parallel-crank mechanism (being constituted by parallel bar, finger, paw seat and pawl) to form is realized the translation clamping movement of pointing.This robotic arm can replace human arm to finish the operation task of some specific occasion.It is simple in structure, accurate positioning, precision height, quality is little, rigidity is big, complete function, safe and reliable, processing, assembling and easy maintenance, and cost is lower.In addition, the present invention have also that compact conformation, big arm can fold with forearm, profile and the size advantage similar to human arm.Mechanical arm of the present invention has higher operation flexibility and adaptability under the environment that the mankind can't come to personally, work space is big.
Description of drawings
Fig. 1 is an overall structure front view of the present invention; Fig. 2 is the left view of Fig. 1; Fig. 3 is a folded state diagram of the present invention; Fig. 4 is the main cutaway view of paw 1; Fig. 5 is the main cutaway view of wrist revolute joint 2; Fig. 6 is the front view of carpal joint 3; Fig. 7 is the front view of elbow joint 5; Fig. 8 is the front view of shoulder joint 7; Fig. 9 is the main cutaway view of shoulder revolute joint 8; Figure 10 is a schematic diagram of the present invention.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1~Fig. 9 present embodiment is described, the described mechanical arm of present embodiment is made of robotic arm and paw 1; Described robotic arm is made up of wrist revolute joint 2, carpal joint 3, forearm 4, elbow joint 5, big arm 6, shoulder joint 7 and shoulder revolute joint 8; The disc type of described paw 1 drives the axle 201 interior (affixed by screw) that servomotor 102 is packed in wrist revolute joint 2, pawl is removable, change various pawl and be beneficial to the difform object of clamping, the wrist revolute joint connector 204 of described wrist revolute joint 2 is affixed with the upper end of the auxiliary connecting plate 301 of carpal joint 3, the link of second connector 311 of carpal joint 3 and the upper end of forearm 4 are affixed, the gear wheel of the posterior end of described forearm 4 and elbow joint 5 is affixed, elbow joint bearing block 512 in the elbow joint 5 is affixed with the upper end of big arm 6, the 6th connector 712 of the lower end of described big arm 6 and shoulder joint 7 is affixed, the 6th connector 712 of shoulder joint 7 is affixed with the shoulder revolute joint axle 802 of shoulder revolute joint 8, and forearm 4 and big arm 6 are made by aluminum pipe.
The specific embodiment two: in conjunction with Fig. 1 and Fig. 5 present embodiment is described, the described wrist revolute joint 2 of present embodiment is made up of axle 201, wrist revolute joint servomotor 202, wrist revolute joint shell 203, wrist revolute joint connector 204 and two wrist revolute joint bearings 205; The lower end of described axle 201 is contained in the wrist revolute joint shell 203, two wrist revolute joint bearings 205 are housed between axle 201 and the wrist revolute joint shell 203, described wrist revolute joint servomotor 202 is contained in the inner chamber of axle 201, it is affixed that the output shaft of wrist revolute joint servomotor 202 passes the central boss of the centre bore of axle 201 lower surfaces and wrist revolute joint connector 204 upper ends, and the upper end of the lower end of described wrist revolute joint shell 203 and wrist revolute joint connector 204 is affixed.Under the effect of wrist revolute joint servomotor 202 driving forces, realized carpal gyration.Other is identical with embodiment one.
The specific embodiment three: in conjunction with Fig. 1 and Fig. 4 present embodiment is described, the described paw 1 of present embodiment drives servomotor 102, rotational lead screw 103, palm 104,106, two parallel bars of 105, two fingers of tooth cover 107, two paw seats 108 and two pawls 109 by, disc type and forms; The output shaft of described disc type driving servomotor 102 and the input of rotational lead screw 103 are affixed, the centre bore that the outfan of described rotational lead screw 103 passes palm 104 is arranged in the centre of the palm of palm 104, the tooth cover 105 that is threaded with it is housed on wire lever of rotational lead screw 103, the left side of rotational lead screw 103 and right side respectively are provided with 106 and parallel bars 107 of a finger, be processed with a plurality of teeth on the circular arc end face of described finger 106 lower ends, tooth cover 105 meshes with two teeth of pointing on 106 respectively, the central axis that the upper end of palm 104 relatively rotates leading screw 103 is symmetrically arranged with two paw seats 108, the upper surface of each paw seat 108 and a pawl 109 removably connect, and two pawls 109 are symmetrical arranged with respect to the central axis of rotational lead screw 103, and the two ends of every finger 106 and the two ends of every parallel bar 107 are hinged with corresponding palm 104 and paw seat 108 respectively.Drive servomotor 102 by disc type and drive rotational lead screw 103 rotations, make tooth cover 105 produce axially-movable, drive finger 106, make finger 106 produce swing, cooperate parallel bar 107 to form four-bar mechanism, two groups of four-bar mechanisms make two paw seats 108 produce rightabout parallel moving, thereby realize the equidistant clamping movement of two pawls 109.This clamping dynamics is stable, and the location accurately.Other is identical with embodiment two.
The specific embodiment four: in conjunction with Fig. 1, Fig. 5 and Fig. 6 present embodiment is described, the described carpal joint 3 of present embodiment is made up of the auxiliary connecting plate 301 of carpal joint, carpal joint photoswitch 302, carpal joint code-disc sheet 303, carpal joint transition axis 304, carpal joint gear wheel 305, carpal joint housing 306, carpal joint pinion shaft 307, first connector 308, carpal joint shell 309, carpal joint servomotor 310, second connector 311, carpal joint bearing block 312, carpal joint clutch shaft bearing 313 and two carpal joint second bearings 314; Described carpal joint gear wheel 305 and carpal joint housing 306 are contained in the cavity that is surrounded by auxiliary connecting plate 301 of carpal joint and wrist revolute joint connector 204, carpal joint gear wheel 305 is packed on the carpal joint transition axis 304, one end of described carpal joint transition axis 304 is contained in the axis hole of wrist revolute joint connector 204, the through hole that the other end of carpal joint transition axis 304 passes carpal joint housing 306 is contained in the installing hole of the auxiliary connecting plate 301 of carpal joint, the auxiliary connecting plate 301 of carpal joint is affixed with carpal joint transition axis 304, pinion on carpal joint gear wheel 305 and the carpal joint pinion shaft 307, the output shaft of the axle head of described carpal joint pinion shaft 307 and carpal joint servomotor 310 is affixed, described carpal joint servomotor 310 is packed in the carpal joint shell 309, the lower end of the upper end of described second connector 311 and carpal joint shell 309 is affixed, be fixed with carpal joint code-disc sheet 303 on the described carpal joint transition axis 304, described carpal joint photoswitch 302 is contained in the cavity that is surrounded by auxiliary connecting plate 301 of carpal joint and wrist revolute joint connector 204, carpal joint photoswitch 302 is affixed with carpal joint code-disc sheet 303 and carpal joint housing 306 threes, described carpal joint bearing block 312 is contained on the carpal joint pinion shaft 307, two carpal joint, second bearing 314 is housed between carpal joint bearing block 312 and the carpal joint pinion shaft 307, the lower end of carpal joint bearing block 312 is packed in the carpal joint shell 309, the carpal joint bearing block 312 and first connector 308 are affixed, between first connector 308 and the carpal joint gear wheel 305 carpal joint clutch shaft bearing 313 are housed.Carpal joint pinion shaft 307 is under the drive of carpal joint servomotor 310, give carpal joint gear wheel 305 with transmission of power, by the engagement of carpal joint gear wheel 305 with carpal joint pinion shaft 307, with electronic-controlled power steering 90 degree, promptly be divided into two-way, the one road drives wrist revolute joint connector 204 makes wrist produce the rotation campaign; One the road drives carpal joint transition axis 304, because carpal joint transition axis 304 is affixed with carpal joint code-disc sheet 303, carpal joint code-disc sheet 303 makes carpal joint photoswitch 302 produce pulse to measure the carpal joint position.Other is identical with embodiment two.
The specific embodiment five: in conjunction with Fig. 1 and Fig. 7 present embodiment is described, the described elbow joint 5 of present embodiment is made up of elbow joint hubcap 501, elbow joint photoswitch 502, elbow joint code-disc sheet 503, elbow joint transition axis 504, elbow joint gear wheel 505, elbow joint pinion shaft 507, the 3rd connector 508, elbow joint servomotor 510, elbow joint bearing block 512, elbow joint clutch shaft bearing 513, two elbow joint second bearings 514 and two elbow joint the 3rd bearings 515; The posterior end of described forearm 4 and elbow joint gear wheel 505 all are contained in the inner chamber of the 3rd connector 508, described elbow joint gear wheel 505 is packed on the elbow joint transition axis 504, one end and the elbow joint code-disc sheet 503 of described elbow joint transition axis 504 are affixed, the other end of elbow joint transition axis 504 is contained in the centre bore of posterior end of forearm 4, described elbow joint code-disc sheet 503 is affixed with elbow joint photoswitch 502, be positioned at elbow joint code-disc sheet 503 1 sides on the elbow joint transition axis 504 elbow joint hubcap 501 is housed, described elbow joint photoswitch 502 is affixed with elbow joint hubcap 501, between elbow joint gear wheel 505 and the 3rd connector 508 elbow joint clutch shaft bearing 513 is housed, two elbow joinies the 3rd bearing 515 is housed between the 3rd connector 508 and the elbow joint transition axis 504, gears engaged on elbow joint gear wheel 505 and the elbow joint pinion shaft 507, the output shaft of the axle head of elbow joint pinion shaft 507 and elbow joint servomotor 510 is in transmission connection, described elbow joint servomotor 510 is packed in the big arm 6, two elbow joinies, second bearing 514 is housed between elbow joint pinion shaft 507 and the elbow joint bearing block 512, and elbow joint bearing block 512 and the 3rd connector 508 are affixed.Mechanism's compactness, light and handy so is set.Other is identical with embodiment one or four.
The specific embodiment six: in conjunction with Fig. 1 and Fig. 8 present embodiment is described, the described shoulder joint 7 of present embodiment is made up of shoulder joint hubcap 701, shoulder joint photoswitch 702, shoulder joint code-disc sheet 703, shoulder joint transition axis 704, shoulder joint gear wheel 705, shoulder joint pinion shaft 707, the 4th connector 708, shoulder joint servomotor 710, the 6th connector 712, shoulder joint clutch shaft bearing 713, shoulder joint second bearing 714, shoulder joint the 3rd bearing 715 and the 5th connector 716; Shoulder joint gear wheel 705 is housed in the inner chamber of described the 4th connector 708, described shoulder joint gear wheel 705 is packed on the shoulder joint transition axis 704, one end and the shoulder joint code-disc sheet 703 of described shoulder joint transition axis 704 are affixed, the other end of shoulder joint transition axis 704 is contained in the centre bore of the 5th connector 716, described shoulder joint code-disc sheet 703 is affixed with shoulder joint photoswitch 702, be positioned at shoulder joint code-disc sheet 703 1 sides on the shoulder joint transition axis 704 shoulder joint hubcap 701 is housed, described shoulder joint photoswitch 702 is affixed with shoulder joint hubcap 701, between shoulder joint gear wheel 705 and the 4th connector 708 shoulder joint clutch shaft bearing 513 is housed, two shoulder joint the 3rd bearing 715 is housed between the 4th connector 708 and the shoulder joint transition axis 704, gears engaged on shoulder joint gear wheel 705 and the shoulder joint pinion shaft 707, the output shaft of the axle head of shoulder joint pinion shaft 707 and shoulder joint servomotor 710 is in transmission connection, described shoulder joint servomotor 710 is packed in the big arm 6, it is affixed that two shoulder joint, second bearing, 714, the six connectors 712 and the 4th connector 708 are housed between shoulder joint pinion shaft 707 and the 6th connector 712.Mechanism's compactness, light and handy so is set.Other is identical with embodiment one.
The specific embodiment seven: in conjunction with Fig. 1, Fig. 8 and Fig. 9 present embodiment is described, the described shoulder revolute joint 8 of present embodiment is made up of shoulder revolute joint axle 802, shoulder revolute joint servomotor 803, shoulder revolute joint mount pad 804, the 7th connector 805, pressing plate 806, jackscrew 807 and two shoulder revolute joint bearings 808; Described shoulder revolute joint servomotor 803 is contained in shoulder revolute joint axle 802 inner chambers, described shoulder revolute joint axle 802 is contained in the shoulder revolute joint mount pad 804, two shoulder revolute joint bearings 808 are housed between shoulder revolute joint axle 802 and the shoulder revolute joint mount pad 804, shoulder revolute joint servomotor 803 and the 6th connector 712 are affixed, on the output shaft of shoulder revolute joint servomotor 803 the 7th connector 805 is housed, be processed with the plane on the output shaft of shoulder revolute joint servomotor 803, described pressing plate 806 is contained on the plane of shoulder revolute joint servomotor 803 output shafts, jackscrew 807 is housed on the pressing plate 806, and it is affixed that the output shaft of shoulder revolute joint servomotor 803 passes through pressing plate 806 and jackscrew 807 and the 7th connector 805.So be provided with, under the driving of shoulder revolute joint servomotor 803, realize of the gyration of big arm 6 around shoulder revolute joint mount pad 804.Other is identical with embodiment six.
Operation principle: layout upper-large-arm 6 and forearm 4 can fold.Shoulder revolute joint 8, shoulder joint 7, elbow joint 5, carpal joint 3 and wrist revolute joint 2 respectively have one degree of freedom, are driven by a servomotor (direct connection decelerator) respectively, and servomotor (decelerator) is seated in the inside of arm, has effectively utilized the space.By the 7th connector 805 robotic arm and intelligent wheel chair are linked together.Employed servomotor all has decelerator among the present invention.

Claims (6)

1. five degree-of-freedom manipulator is characterized in that: described mechanical arm is made of first robotic arm and paw (1); Described first robotic arm is made up of wrist revolute joint (2), carpal joint (3), forearm (4), elbow joint (5), big arm (6), shoulder joint (7) and shoulder revolute joint (8); The disc type of described paw (1) drives servomotor (102) and is packed in the axle (201) of wrist revolute joint (2), the wrist revolute joint connector (204) of described wrist revolute joint (2) is affixed with the upper end of the auxiliary connecting plate (301) of carpal joint (3), the link of second connector (311) of carpal joint (3) and the upper end of forearm (4) are affixed, the gear wheel of the posterior end of described forearm (4) and elbow joint (5) is affixed, elbow joint bearing block (512) in the elbow joint (5) is affixed with the upper end of big arm (6), the 6th connector (712) of the lower end of described big arm (6) and shoulder joint (7) is affixed, and the 6th connector (712) of shoulder joint (7) is affixed with the shoulder revolute joint axle (802) of shoulder revolute joint (8); Described wrist revolute joint (2) is made up of axle (201), wrist revolute joint servomotor (202), wrist revolute joint shell (203), wrist revolute joint connector (204) and two wrist revolute joint bearings (205); The lower end of described axle (201) is contained in the wrist revolute joint shell (203), between axle (201) and the wrist revolute joint shell (203) two wrist revolute joint bearings (205) are housed, described wrist revolute joint servomotor (202) is contained in the inner chamber of axle (201), it is affixed that the output shaft of wrist revolute joint servomotor (202) passes the central boss of the centre bore of axle (201) lower surface and wrist revolute joint connector (204) upper end, and the upper end of the lower end of described wrist revolute joint shell (203) and wrist revolute joint connector (204) is affixed; Described paw (1) drives servomotor (102), rotational lead screw (103), palm (104), tooth cover (105), two fingers (106), two parallel bars (107), two paw seats (108) and two pawls (109) by disc type and forms; The output shaft of described disc type driving servomotor (102) and the input of rotational lead screw (103) are affixed, the centre bore that the outfan of described rotational lead screw (103) passes palm (104) is arranged in the centre of the palm of palm (104), the tooth cover (105) that is threaded with it is housed on wire lever of rotational lead screw (103), the left side of rotational lead screw (103) and right side respectively are provided with a finger (106) and a parallel bar (107), be processed with a plurality of teeth on the circular arc end face of described finger (106) lower end, tooth cover (105) respectively with two fingers (106) on tooth engagement, the central axis that the upper end of palm (104) relatively rotates leading screw (103) is symmetrically arranged with two paw seats (108), the upper surface of each paw seat (108) and a pawl (109) removably connect, and two pawls (109) are symmetrical arranged with respect to the central axis of rotational lead screw (103), and the two ends of the two ends of every finger (106) and every parallel bar (107) are hinged with corresponding palm (104) and paw seat (108) respectively; This mechanical arm has shoulder joint revolution (M1), shoulder joint swing (M2), elbow joint swing (M3), carpal joint swing (M4) and carpal joint and rotates (M5) five degree of freedom.
2. according to the described five degree-of-freedom manipulator of claim 1, it is characterized in that: described carpal joint (3) is by the auxiliary connecting plate (301) of carpal joint, carpal joint photoswitch (302), carpal joint code-disc sheet (303), carpal joint transition axis (304), carpal joint gear wheel (305), carpal joint housing (306), carpal joint pinion shaft (307), first connector (308), carpal joint shell (309), carpal joint servomotor (310), second connector (311), carpal joint bearing block (312), carpal joint clutch shaft bearing (313) and two carpal joint second bearings (314) are formed; Described carpal joint gear wheel (305) and carpal joint housing (306) are contained in the cavity that is surrounded by auxiliary connecting plate (301) of carpal joint and wrist revolute joint connector (204), carpal joint gear wheel (305) is packed on the carpal joint transition axis (304), one end of described carpal joint transition axis (304) is contained in the axis hole of wrist revolute joint connector (204), the through hole that the other end of carpal joint transition axis (304) passes carpal joint housing (306) is contained in the installing hole of the auxiliary connecting plate (301) of carpal joint, carpal joint assists connecting plate (301) and carpal joint transition axis (304) affixed, pinion on carpal joint gear wheel (305) and the carpal joint pinion shaft (307), the output shaft of the axle head of described carpal joint pinion shaft (307) and carpal joint servomotor (310) is affixed, described carpal joint servomotor (310) is packed in the carpal joint shell (309), the lower end of the upper end of described second connector (311) and carpal joint shell (309) is affixed, be fixed with carpal joint code-disc sheet (303) on the described carpal joint transition axis (304), described carpal joint photoswitch (302) is contained in the cavity that is surrounded by auxiliary connecting plate (301) of carpal joint and wrist revolute joint connector (204), carpal joint photoswitch (302) is affixed with carpal joint code-disc sheet (303) and carpal joint housing (306) three, described carpal joint bearing block (312) is contained on the carpal joint pinion shaft (307), between carpal joint bearing block (312) and the carpal joint pinion shaft (307) two carpal joint second bearings (314) are housed, the lower end of carpal joint bearing block (312) is packed in the carpal joint shell (309), carpal joint bearing block (312) is affixed with first connector (308), between first connector (308) and the carpal joint gear wheel (305) carpal joint clutch shaft bearing (313) is housed.
3. according to the described five degree-of-freedom manipulator of claim 2, it is characterized in that: described elbow joint (5) is made up of elbow joint hubcap (501), elbow joint photoswitch (502), elbow joint code-disc sheet (503), elbow joint transition axis (504), elbow joint gear wheel (505), elbow joint pinion shaft (507), the 3rd connector (508), elbow joint servomotor (510), elbow joint bearing block (512), elbow joint clutch shaft bearing (513), two elbow joint second bearings (514) and two elbow joint the 3rd bearings (515); The posterior end of described forearm (4) and elbow joint gear wheel (505) all are contained in the inner chamber of the 3rd connector (508), described elbow joint gear wheel (505) is packed on the elbow joint transition axis (504), one end of described elbow joint transition axis (504) and elbow joint code-disc sheet (503) are affixed, the other end of elbow joint transition axis (504) is contained in the centre bore of posterior end of forearm (4), described elbow joint code-disc sheet (503) is affixed with elbow joint photoswitch (502), be positioned at elbow joint code-disc sheet (503) one sides on the elbow joint transition axis (504) elbow joint hubcap (501) is housed, described elbow joint photoswitch (502) is affixed with elbow joint hubcap (501), between elbow joint gear wheel (505) and the 3rd connector (508) elbow joint clutch shaft bearing (513) is housed, between the 3rd connector (508) and the elbow joint transition axis (504) two elbow joint the 3rd bearings (515) are housed, gears engaged on elbow joint gear wheel (505) and the elbow joint pinion shaft (507), the output shaft of the axle head of elbow joint pinion shaft (507) and elbow joint servomotor (510) is in transmission connection, described elbow joint servomotor (510) is packed in the big arm (6), between elbow joint pinion shaft (507) and the elbow joint bearing block (512) two elbow joint second bearings (514) are housed, elbow joint bearing block (512) is affixed with the 3rd connector (508).
4. according to the described five degree-of-freedom manipulator of claim 3, it is characterized in that: described shoulder joint (7) is made up of shoulder joint hubcap (701), shoulder joint photoswitch (702), shoulder joint code-disc sheet (703), shoulder joint transition axis (704), shoulder joint gear wheel (705), shoulder joint pinion shaft (707), the 4th connector (708), shoulder joint servomotor (710), the 6th connector (712), shoulder joint clutch shaft bearing (713), shoulder joint second bearing (714), shoulder joint the 3rd bearing (715) and the 5th connector (716); Shoulder joint gear wheel (705) is housed in the inner chamber of described the 4th connector (708), described shoulder joint gear wheel (705) is packed on the shoulder joint transition axis (704), one end of described shoulder joint transition axis (704) and shoulder joint code-disc sheet (703) are affixed, the other end of shoulder joint transition axis (704) is contained in the centre bore of the 5th connector (716), described shoulder joint code-disc sheet (703) is affixed with shoulder joint photoswitch (702), be positioned at shoulder joint code-disc sheet (703) one sides on the shoulder joint transition axis (704) shoulder joint hubcap (701) is housed, described shoulder joint photoswitch (702) is affixed with shoulder joint hubcap (701), between shoulder joint gear wheel (705) and the 4th connector (708) shoulder joint clutch shaft bearing (513) is housed, between the 4th connector (708) and the shoulder joint transition axis (704) two shoulder joint the 3rd bearings (715) are housed, gears engaged on shoulder joint gear wheel (705) and the shoulder joint pinion shaft (707), the output shaft of the axle head of shoulder joint pinion shaft (707) and shoulder joint servomotor (710) is in transmission connection, described shoulder joint servomotor (710) is packed in the big arm (6), between shoulder joint pinion shaft (707) and the 6th connector (712) two shoulder joint second bearings (714) are housed, the 6th connector (712) is affixed with the 4th connector (708).
5. according to the described five degree-of-freedom manipulator of claim 4, it is characterized in that: described shoulder revolute joint (8) is made up of shoulder revolute joint axle (802), shoulder revolute joint servomotor (803), shoulder revolute joint mount pad (804), the 7th connector (805), pressing plate (806), jackscrew (807) and two shoulder revolute joint bearings (808); Described shoulder revolute joint servomotor (803) is contained in shoulder revolute joint axle (802) inner chamber, described shoulder revolute joint axle (802) is contained in the shoulder revolute joint mount pad (804), two shoulder revolute joint bearings (808) are housed between shoulder revolute joint axle (802) and the shoulder revolute joint mount pad (804), shoulder revolute joint servomotor (803) is affixed with the 6th connector (712), on the output shaft of shoulder revolute joint servomotor (803) the 7th connector (805) is housed, be processed with the plane on the output shaft of shoulder revolute joint servomotor (803), described pressing plate (806) is contained on the plane of shoulder revolute joint servomotor (803) output shaft, jackscrew (807) is housed on the pressing plate (806), and the output shaft of shoulder revolute joint servomotor (803) is affixed with the 7th connector (805) by pressing plate (806) and top (807).
6. according to the described five degree-of-freedom manipulator of claim 1, it is characterized in that: described forearm (4) and big arm (6) are made by aluminum pipe.
CN2009100724002A 2009-06-30 2009-06-30 Five degree-of-freedom manipulator CN101589980B (en)

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