CN102431040A - Dynamic balance manipulator - Google Patents

Dynamic balance manipulator Download PDF

Info

Publication number
CN102431040A
CN102431040A CN2011104169570A CN201110416957A CN102431040A CN 102431040 A CN102431040 A CN 102431040A CN 2011104169570 A CN2011104169570 A CN 2011104169570A CN 201110416957 A CN201110416957 A CN 201110416957A CN 102431040 A CN102431040 A CN 102431040A
Authority
CN
China
Prior art keywords
structure
connected
shaft
arm
means
Prior art date
Application number
CN2011104169570A
Other languages
Chinese (zh)
Inventor
高建华
Original Assignee
杭州英若飞科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 杭州英若飞科技有限公司 filed Critical 杭州英若飞科技有限公司
Priority to CN2011104169570A priority Critical patent/CN102431040A/en
Publication of CN102431040A publication Critical patent/CN102431040A/en

Links

Abstract

The invention discloses a dynamic balance manipulator comprising a pedestal structure. The pedestal structure comprises a pedestal body and a first rotary mechanism. The first rotary mechanism is in transmission connection with a shoulder joint structure. The shoulder joint structure comprises a shoulder joint body and a first swinging mechanism in transmission with an upper arm structure. The upper arm structure comprises an upper arm body and a second swinging mechanism connected with the upper arm body fixedly and in transmission connection with a forearm structure. An elbow joint structure comprises an elbow joint body, a second rotary mechanism and a third swinging mechanism. The second rotary mechanism and the third swinging mechanism are in transmission connection with a wrist joint structure. The wrist joint structure comprises a wrist joint body and a third rotary mechanism in transmission connection with a clamping hand structure. The invention provides a dynamic balance manipulator making the manipulator system reach dynamic balance.

Description

动平衡机械手臂 Balancing robot arm

技术领域: FIELD:

[0001] 本发明涉及的是一种机器人技术领域的机构,具体地说,是一种动平衡机械手臂。 [0001] The present invention relates to a technical field of a robot mechanism, in particular, balancing a mechanical arm. 背景技术: Background technique:

[0002] 随着科技的进步,机器人的研究及应用正在不断扩大,其中仿人机器人的研究及应用尤为受到社会各界的关注,并且这个课题成为了机器人领域中最为活跃的研究热点之一。 [0002] With advances in technology, research and application of robots is constantly expanding, research and application of humanoid robots is particularly concern in the community, and this issue became one of the most active in the field of robotics research focus. 机器人是否具有运动的多样性、通用性和精准性是判断其是否成功的标准之一,进而, 针对机器人中的其中任意一个机构,也应严格按照此标准生产加工,比如机械手臂,现有技术中的机械手臂,它包括肩部关节结构、大臂结构、肘部关节结构、小臂结构和腕部关节结构,所述大臂结构连接肩部关节结构和肘部关节结构,所述小臂结构连接肘部关节结构和腕部关节结构,所述夹持手结构安装于腕部关节结构,所述肩部关节结构、肘部关节结构和腕部关节结构分别由伺服电机驱动,所述伺服电机安装于大臂结构或小臂结构内,采用以上结构的机械手臂具有以下缺点: Whether diversity robot motion, versatility and accuracy is determined whether one of the success criteria, and thus, for any of a robot mechanism which should be strictly in accordance with this standard production and processing, such as the mechanical arm, the prior art the robot, comprising a shoulder joint structure, the structure of the arm, the elbow joint configuration, structure and arm structure wrist joint, connected to the boom structure of the shoulder joint and the elbow joint configuration structure, the arm structural connection elbow joints and wrist joints structure structures the gripping structure attached to the hand wrist joint structure, the structure of the shoulder joint, the elbow joint and the wrist joint structure driven by a servomotor structures respectively, said servo a motor mounted within the boom arm structure or structure, the structure of the robot using the above have the following drawbacks:

[0003] 一方面,由于伺服电机全都安装于大臂结构或小臂结构内,使得大臂结构或小臂结构体积都偏大,重量偏重,动作不灵活且精度较低,即使得整个机械手臂系统无法达到动态平衡,进而使其活动范围变小,大大地限制了其使用场所的拓展,同时,当机械手臂在进行速度较快的作业时,由于动作不灵活且精度较低等因素非常容易造成系统震动,降低了设备的使用寿命。 [0003] In one aspect, because the servo motors are all mounted within the boom arm structure or structure, or a structure such that the boom arm structure volume are too large, the weight of emphasis, the operation is not flexible and low precision, even if the entire robot arm to give the system can not achieve dynamic balance, range of motion and then it becomes small, greatly limiting its use place to expand, while when the mechanical arm during work faster, because the action is not flexible and very easy to factors such as low precision vibration caused by the system, reducing the life of the equipment.

[0004] 另一方面,采用以上结构的机械手臂,由于精度较低或结构设计等因素,非常容易遇到各个结构之间的耦合效应,所述耦合效应是指机械手臂前面结构的运动使后面的结构发生了不必要的连带的运动,使得机械手臂系统需要补偿一定的额外运动来消除耦合效应的影响,给系统增加了不必要的负担。 [0004] On the other hand, the above construction of the robot, due to the lower precision or structural design and other factors, is likely to experience a coupling effect between the various structures, the coupling means effect a mechanical movement of the arm structure so that the back of the front the structure of the unnecessary movement of the joint, so that the mechanical arm systems need to compensate for some extra exercise to eliminate the coupling effect, the system adds an unnecessary burden.

发明内容: SUMMARY:

[0005] 本发明要解决的技术问题是,提供一种能使整个机械手臂系统动达到动态平衡, 能有效地提高机械手臂的运动精度,并在结构上避免耦合效应的动平衡机械手臂。 [0005] The present invention is to solve the technical problem, to provide a way for moving the entire robot system dynamic equilibrium, can improve the accuracy of the motion of the robot arm, robot dynamic balance and to avoid coupling effect on the structure.

[0006] 为解决上述技术问题,本发明采用这样一种动平衡机械手臂:它包括肩部关节结构、大臂结构、肘部关节结构、小臂结构、腕部关节结构和夹持手结构,所述大臂结构连接肩部关节结构和肘部关节结构,所述小臂结构连接肘部关节结构和腕部关节结构,所述夹持手结构安装于腕部关节结构,它还包括安装于肩部关节结构的底座结构,所述底座结构包括底座本体和安装于底座本体内部的第一转动机构,所述第一转动机构与底座本体固定连接,且与肩部关节结构传动连接;所述肩部关节结构包括肩部关节本体和安装在肩部关节本体上的第一摆动机构,所述第一摆动机构与大臂结构传动连接;所述大臂结构包括大臂本体和安装在大臂本体内的第二摆动机构,所述第二摆动机构与大臂本体固定连接,且与小臂结构传动连接;所述肘部关节结构包括肘部 [0006] To solve the above problems, the present invention employs a robot balancing: it includes a shoulder joint structure, the structure of the arm, the elbow joint structure, an arm structure, and the structure of the chucking hand wrist joint structure, the boom structure connecting structure of the shoulder joint and the elbow joint structure, said arm structure connected to the elbow joints and wrist joint structure structure, the gripping structure attached to the hand wrist joint structure further comprises attached to the the shoulder joint structure of the base structure, said base structure comprising a base body and a first rotating mechanism attached to the interior of the base body, the first rotation mechanism and fixedly connected to the base body and connected to drive the shoulder joint structure; the the shoulder joint structure includes a shoulder joint body and a first pivot means mounted on the shoulder joints of the body, the first oscillating drive mechanism connected to the boom structure; said boom structure comprising a boom mounted on the body and the boom second oscillating means within the body, the second boom and the swing mechanism is fixedly connected to the body, and connected to the structure of the drive arm; the elbow joint comprises an elbow structure 关节本体、安装于肘部关节本体的第二转动机构和安装于肘部关节本体的第三摆动机构,所述第二转动机构和第三摆动机构皆与腕部关节结构传动连接;所述腕部关节结构包括腕部关节本体和安装于腕部关节本体的第三转动机构,所述第三转动机构与夹持手结构传动连接。 Second rotation mechanism joint body, the body is attached to the elbow joint and a third joint pivot mechanism attached to the elbow body, said second rotation mechanism and the oscillating mechanism are connected to the third wrist joint the drive structure; the wrist the joint portion includes a structure body and a wrist joint mechanism rotatably mounted on the third wrist joint body, the third rotating mechanism connected to drive the chucking hand structure.

[0007] 所述底座本体包括轴承座、基座板,所述第一转动结构包括第一伺服系统、第一减速器、第一曲线齿伞齿轮副、垂直转动轴和第一推力轴承;所述第一减速器的输入端与第一伺服系统的输出端连接,输出端与垂直转动轴连接;所述第一伺服系统和第一减速器安装于基座板上,所述垂直传动轴和推力轴承安装于轴承座上; [0007] The bearing housing comprises a base body, a base plate, said first structure comprising a first rotation servo system, a first speed reducer, a first curve bevel gear pair, a first vertical rotation axis and the thrust bearing; the said first input terminal and the output terminal of the first reduction gear is connected to the servo system, the output terminal is connected with the vertical rotation axis; the first gear unit and a first servo system mounted on the base plate, and said vertical drive shaft thrust bearing mounted to the housing;

[0008] 所述肩部关节本体包括安装于底座结构垂直转动轴上的旋转圆盘、蜗杆、蜗轮以及安装于旋转圆盘的电机安装架和大臂关节支承,所述第一摆动机构包括第二伺服系统和大臂传动轴;所述第二伺服系统的输出端与蜗杆相连,所述蜗轮与大臂传动轴一端相连,所述大臂传动轴另一端与大臂结构连接,所述蜗轮与蜗杆啮合;所述第二伺服系统安装于电机安装架; [0008] The shoulder joint includes a body mounted on a rotating disk rotating shaft perpendicular to the base structure, a worm, and a worm wheel attached to the rotating disk motor mounts and the joint support arm, said first oscillating means includes a first and two servo arm shaft; an output terminal of the second servo system with the worm is connected to the worm wheel shaft coupled to an end of the arm, the other end of the arm shaft with the large boom structure connected to the worm wheel meshing with the worm; the second servo motor mounted to the mounting bracket;

[0009] 所述第二摆动机构包括小臂传动轴、第三伺服系统、第二减速器、第二曲线齿伞齿轮副和轴承副;所述第二减速器的输入端与第三伺服系统的输出端连接,输出端与小臂传动轴连接; [0009] The second swinging arm mechanism comprises a drive shaft, a third servo system, a second speed reducer, a second curve and the bevel gear pair of bearings; the second gear unit input terminal and the third servo system an output terminal connected to the output terminal is connected to the arm shaft;

[0010] 所述第二转动机构包括第四伺服系统、第三减速器、第一同步带装置、第一空心转动轴以及与第一空心转动轴连接的第二空心转动轴,所述第三摆动机构包括第五伺服系统、第四减速器、实心传动轴、第三曲线齿伞齿轮副、第二同步带装置、第一传动轴和第二传动轴;所述第三减速器输入端与第四伺服系统的输出端连接,输出端与第一同步带装置、第一空心转动轴和第二空心转动轴的一端依次连接,所述第二空心转动轴的另一端与夹持手结构连接,所述第四减速器输入端与第五伺服系统的输出端连接,输出端与实心传动轴的一端连接,所述实心传动轴的另一端与第三曲线齿伞齿轮副的一个曲线齿伞齿轮连接,所述第三曲线齿伞齿轮副的另一个曲线齿伞齿轮与第一传动轴的一端连接,所述第一传动轴的另一端通过第二同步带装置与第二传动轴的 [0010] The second rotation means includes a fourth servo system, the third reduction gear, a first belt means, a first hollow rotation shaft and the second hollow rotation shaft connected to the first hollow rotation shaft, the third oscillating mechanism includes a fifth servo system, a fourth retarder, a solid shaft, the third curve bevel gear pair, a second belt means, first and second drive shafts; the third gear unit and input terminal the fourth output terminal is connected to the servo system, the output terminal of the first belt means, one end of the first hollow rotation shaft and the second hollow rotation shaft in turn is connected to the other end of the hand gripping structure and the second hollow rotation shaft connected the fourth gear unit input terminal and an output terminal connected to the fifth servo system, one end of the output terminal is connected to a solid shaft, said solid shaft and the other end of the sub-graph of a third bevel curve bevel gear a gear connected to a bevel gear pair of the third curve to another curve bevel gear connected to one end of the first shaft, the other end of the first transmission shaft by means of a second belt of the second transmission shaft 一端连接,所述第二传动轴的另一端与腕部关节结构连接; One end connected to a second transmission shaft connected to the other end of the wrist joint structure;

[0011] 所述第三转动机构包括第六伺服系统,所述第六伺服系统的输出轴与夹持手结构连接,所述第六伺服系统安装于腕部关节结构; [0011] The third mechanism includes a sixth rotational servo system, the output shaft of the servo system of the sixth hand gripping structure and connected to a sixth servo system mounted on the wrist-joint structure;

[0012] 所述肘部关节结构还包括配重装置,所述配重装置和肘部关节结构可拆卸连接。 [0012] The elbow joint structure further comprises counterweight means, said counterweight means and is detachably connected to the elbow joint structure.

[0013] 它还包括平衡机构,所述平衡机构包括平衡缸、支架和铰链,所述铰链、平衡缸和支架依次连接,所述铰链安装于底座结构,所述支架安装于大臂结构。 [0013] further comprising balancing means, the balancing means comprises a balancing cylinder, the bracket and the hinge, the hinge, and a counterbalance cylinder bracket sequentially connected, said hinge structure mounted to the base, the bracket is attached to the boom structure.

[0014] 采用以上结构后,本发明与现有技术相比,具有以下优点:每个转动机构和摆动机构都分别由一套伺服系统控制,且伺服电机没有全都安装于大臂本体或小臂本体内,因此大臂本体和小臂本体的体积较小,重量较轻,动作灵活且精度较高,即使得整个机械手臂系统达到动态平衡,进而使其活动范围变大,大大地增加了其使用场所的拓展,同时,由于配备了平衡机构,即使当机械手臂在进行速度较快、负载较大的作业时,动作也非常灵活且精度较高,不会造成系统震动,从而增加了设备的使用寿命。 [0014] With the above structure, compared with the prior art the present invention has the following advantages: each swing mechanism and the rotation mechanism are respectively set by the servo control system, and the servo motor is not attached to all or body boom arm the body, therefore the volume of the boom arm and the body the body is small, lightweight, flexible operation and high precision, even if the whole robot system to give dynamic equilibrium, and thus widens the range of its activities, greatly increasing its expand the use of premises, while, with the balance due to the agency, even when the mechanical arm during the faster, larger work load, action is also very flexible and high accuracy, the system will not cause vibration, thereby increasing equipment life. 另一方面,采用以上结构的机械手臂,由于精度较高且每个转动机构和摆动机构都分别由一套伺服系统控制,各机构之间相对比较自由,进而有效地避免了各个结构之间的耦合效应,即机械手臂系统无需补偿一定的额外运动来消除耦合效应的影响,降低了整个系统不必要的负担。 On the other hand, the above construction of the robot, since the high precision and each of the rotation mechanism and the oscillating mechanism are respectively set by the servo control system, relatively freely between agencies, thereby effectively avoided between the respective structures coupling effect, namely mechanical arm the system without having to compensate for some extra exercise to eliminate the coupling effect, reducing the unnecessary burden on the overall system.

[0015] 作为优选,所述底座本体包括轴承座、基座板,所述第一转动结构包括第一伺服系统、第一减速器、第一曲线齿伞齿轮副、垂直转动轴和第一推力轴承;所述第一减速器的输入端与第一伺服系统的输出端连接,输出端与垂直转动轴连接;所述第一伺服系统和第一减速器安装于基座板上,所述垂直传动轴和推力轴承安装于轴承座上;结构紧凑且合理,单独控制底座结构和肩关节结构之间的转动,精度高。 [0015] Advantageously, the base body comprising a bearing block, base plate, said first structure comprising a first rotation servo system, a first speed reducer, a first curve bevel gear pair, a first vertical rotation axis and the thrust bearings; input of the first output of the first reducer and the servo system is connected to the output terminal of the vertical rotation axis; said first speed reducer and a first servo system mounted on the base plate, the vertical drive shaft and a thrust bearing mounted to the housing; compact and reasonable structure, the base structure and rotatable between a shoulder structure of the individual control with high accuracy.

[0016] 作为又一优选,所述肩部关节本体包括安装于底座结构垂直转动轴上的旋转圆盘、蜗杆、蜗轮以及安装于旋转圆盘的电机安装架和大臂关节支承,所述第一摆动机构包括第二伺服系统和大臂传动轴;所述第二伺服系统的输出端与蜗杆相连,所述蜗轮与大臂传动轴一端相连,所述大臂传动轴另一端与大臂结构连接,所述蜗轮与蜗杆啮合;所述第二伺服系统安装于电机安装架;单独控制肩关节结构和大臂结构之间的摆动,控制简单且直接。 [0016] As yet another preferred, the shoulder joint body comprises a vertical structure attached to the base of the rotary disk rotating shaft, a worm, and a worm wheel attached to the rotating disk motor mounts and the joint support arm, said first a swing mechanism comprising a boom and a second servo drive shaft; an output terminal coupled with the worm of the second servo system, a worm shaft coupled to an end of the arm, the other end of the arm shaft with the large boom structure connection, the worm wheel meshed with the worm; the second servo system is mounted on a motor mounting bracket; individually controlled swings between the structure and the shoulder boom structure, easy to control and direct.

[0017] 作为又一优选,所述第二摆动机构包括小臂传动轴、第三伺服系统、第二减速器、 第二曲线齿伞齿轮副和轴承副;所述第二减速器的输入端与第三伺服系统的输出端连接, 输出端与小臂传动轴连接;单独控制小臂结构和肘关节结构之间的摆动,控制简单直接,且与第一摆动结构的结构类似,节约了成本。 [0017] As yet another preferred, the second swinging arm mechanism comprises a drive shaft, a third servo system, a second speed reducer, a second curve and the bevel gear pair of bearings; the input of the second reduction gear the third servo system connected to an output terminal, an output terminal connected to the arm shaft; individually controlled swinging arm between the elbow and the structural configuration, the direct control is simple and similar to the structure of the first swing structure, cost savings .

[0018] 作为又一优选,所述第二转动机构包括第四伺服系统、第三减速器、第一同步带装置、第一空心转动轴以及与第一空心转动轴连接的第二空心转动轴,所述第三摆动机构包括第五伺服系统、第四减速器、实心传动轴、第三曲线齿伞齿轮副、第二同步带装置、第一传动轴和第二传动轴;所述第三减速器输入端与第四伺服系统的输出端连接,输出端与第一同步带装置、第一空心转动轴和第二空心转动轴的一端依次连接,所述第二空心转动轴的另一端与夹持手结构连接,所述第四减速器输入端与第五伺服系统的输出端连接,输出端与实心传动轴的一端连接,所述实心传动轴的另一端与第三曲线齿伞齿轮副的一个曲线齿伞齿轮连接,所述第三曲线齿伞齿轮副的另一个曲线齿伞齿轮与第一传动轴的一端连接, 所述第一传动轴的另一端通过第二同步带装 [0018] As yet another preferred, the second rotating means includes a fourth servo system, the third reduction gear, a first belt means, a first hollow rotation shaft and the second hollow rotation shaft connected to the first hollow rotation shaft the third; the third oscillating means comprises a fifth servo system, a fourth retarder, a solid shaft, the third curve bevel gear pair, a second belt means, first and second drive shafts gear unit input terminal and an output terminal connected to the fourth servo system, the output terminal of the first belt means, one end of a first hollow rotary shaft and the second hollow rotation shaft connected sequentially, the second hollow rotation shaft and the other end hand gripping structure connected to a fourth reduction gear input and output terminals connected to the fifth servo system, one end of the output terminal is connected to a solid shaft, said solid shaft and the other end of the third curve bevel gear pair the bevel gears connected to a curve, the third curve bevel gear pair of bevel gears another curve connected to one end of the first drive shaft, the other end of the first transmission shaft by means of a second belt 与第二传动轴的一端连接,所述第二传动轴的另一端与腕部关节结构连接;所述第二转动机构单独控制腕部关节结构与小臂结构之间的转动,所述第三摆动机构单独控制腕部关节结构与小臂结构之间的摆动,进一步增加了各个结构之间的自由度,控制更简单、方便。 A second transmission shaft connected to one end, the other end of the wrist joint connecting the second shaft structure; the second rotation mechanism independent rotation between the arm and the wrist joint structure control structure, the third pivot means between the individual control swing arm structure and the wrist joint structure further increases the degree of freedom between the respective structures, control is more simple and convenient.

[0019] 作为又一优选,所述第三转动机构包括第六伺服系统,所述第六伺服系统的输出轴与夹持手结构连接,所述第六伺服系统安装于腕部关节结构;单独控制夹持手结构与腕部关节结构之间的转动,增加了整个动平衡机械手臂的自由度。 [0019] As a further preferable that the third means includes sixth rotation servo system, the output shaft of the servo system of the sixth hand gripping structure and connected to a sixth servo system mounted on the wrist-joint structure; alone controlling rotation between the gripping hand and wrist joint structure structure, the degree of freedom of the whole robot balancing.

[0020] 作为又一优选,所述肘部关节结构还包括配重装置,所述配重装置和肘部关节结构可拆卸连接,无论是负载较大还是较小,本发明的动平衡机械手臂都能保持动平衡,提高整个系统的精度。 [0020] As yet another preferred, the elbow joint structure further comprises counterweight means, said counterweight means and is detachably connected to the elbow joint structure, whether it is large or small load, balancing the mechanical arm of the present invention can maintain dynamic balance, improve the accuracy of the entire system.

附图说明: BRIEF DESCRIPTION OF:

[0021] 图1是本发明动平衡机械手臂的结构示意图 [0021] FIG. 1 is a schematic view of the dynamic balance of the robot arm of the present invention

[0022] 图2是本发明动平衡机械手臂的主视图。 [0022] FIG. 2 is a front view of the dynamic balance of the robot arm of the present invention.

[0023] 图3是本发明动平衡机械手臂的小臂剖面图。 [0023] FIG. 3 is a sectional view of balancing the arm of the robot arm of the present invention.

[0024] 图4是本发明动平衡机械手臂的左视图。 [0024] FIG. 4 is a left side view of the dynamic balance of the robot arm of the present invention.

[0025] 图5是本发明动平衡机械手臂的第二摆动机构的结构示意图。 [0025] FIG. 5 is a schematic view of the second swing arm mechanism balancing machine of the present invention.

[0026] 图6是本发明动平衡机械手臂的自由度状态示意图。 [0026] FIG. 6 is a schematic view of the state of dynamic balance DOF robotic arm of the present invention. [0027] 如图所示:1、肩部关节结构,2、大臂结构,3、肘部关节结构,4、小臂结构,5、腕部关节结构,6、夹持手结构,7、底座结构,8、底座本体,9、肩部关节本体,10、大臂本体,11、肘部关节本体,12、腕部关节本体,13、轴承座,14、基座板,15、第一伺服系统,16、第一减速器, 17、第一曲线齿伞齿轮副,18、垂直转动轴,19、第一推力轴承,20、旋转圆盘,21、蜗杆,22、蜗轮,23、电机安装架,24、大臂关节支承,25、第二伺服系统,26、大臂传动轴,27、小臂传动轴, 观、第三伺服系统,29、第二减速器,30、第二曲线齿伞齿轮副,31、第四伺服系统,32、第三减速器,33、第一同步带装置,34、第一空心转动轴,35、第二空心转动轴,36、第五伺服系统, 37、第四减速器,38、实心传动轴,39、第三曲线齿伞齿轮副,40、第二同步带装置,41、第六 [0027] As shown in FIG: 1, the shoulder joint structure 2, the arm structure 3, the elbow joint structure 4, the structure of the arm 5, the wrist joint structure 6, the hand gripping structure, 7, base structure, 8, the base body 9, the shoulder joint body 10, the boom body 11, the elbow joint body 12, wrist joint body 13, bearing housing 14, base plate 15, a first The servo system 16, a first reduction gear 17, a first curve bevel gear pair 18, the vertical rotation shaft 19, a first thrust bearing 20, the rotary disc 21, worm 22, worm wheel 23, the motor mounting bracket 24, the joint support arm 25, a second servo system 26, the arm shaft 27, the arm shaft, concept, the third servo system 29, a second reduction gear 30, a second curve bevel gear pair 31, a fourth servo system 32, the third reduction gear 33, a first belt means 34, a first hollow rotation shaft 35, a second hollow rotation shaft 36, a fifth servo system, 37, a fourth speed reducer 38, solid shaft 39, the third curve bevel gear pair 40, the second belt means 41, a sixth 服系统,42、配重装置,43、平衡缸,44、支架,45、铰链,46、末端盘。 Servo system, 42, the counterweight means 43, the balance cylinders 44, the bracket 45, the hinge 46, the end plate.

具体实施方式: Detailed ways:

[0028] 下面结合附图和具体实施例对本发明作进一步说明。 [0028] conjunction with the accompanying drawings and the following specific embodiments of the present invention will be further described.

[0029] 如图1和2所示,本发明的动平衡机械手臂,它包括肩部关节结构1、大臂结构2、 肘部关节结构3、小臂结构4、腕部关节结构5和夹持手结构6,所述大臂结构2连接肩部关节结构1和肘部关节结构3,所述小臂结构4连接肘部关节结构3和腕部关节结构5,所述夹持手结构6安装于腕部关节结构5,它还包括安装于肩部关节结构1的底座结构7,所述底座结构7包括底座本体8和安装于底座本体8内部的第一转动机构,所述第一转动机构与底座本体8固定连接,且与肩部关节结构1传动连接;所述肩部关节结构1包括肩部关节本体9和安装在肩部关节本体9上的第一摆动机构,所述第一摆动机构与大臂结构2传动连接;所述大臂结构2包括大臂本体10和安装在大臂本体10内的第二摆动机构,所述第二摆动机构与大臂本体10固定连接,且与小臂结构4传动连接;所述肘部关节结构3 [0029] FIGS. 1 and 2, the balancing of the mechanical arm of the present invention, which includes a shoulder joint structure 1, the boom structure 2, the elbow joint structure 3, the arm structure 4 and structure 5 interposed wrist joint the handle structure 6, connected to the boom structure 2 the shoulder joints and elbow joints structure 1 structure 3, 4 is connected to the arm structure 3 and the elbow joint structures wrist joint structure 5, said hand gripping structure 6 5 is attached to the wrist joint structure, the base structure further comprising a shoulder attached to the structure of the joint 7, the base structure 7 includes a base body 8 and a first rotating mechanism attached to the interior of the base body 8, the first rotation means 8 is fixedly connected with the base body and connected to the shoulder joint driving structure 1; the shoulder joint structure includes a shoulder joint body 1 and the first swing mechanism 9 is mounted on the shoulder 9 of the joint body, the first oscillating mechanism drive 2 connected to the boom structure; the boom structure 2 comprises a second boom pivot means mounted within the body 10 and the body 10 of the boom, the second boom and the swing mechanism 10 is fixedly connected to the body, and the arm 4 connected to the drive structure; the elbow joint structure 3 括肘部关节本体11、安装于肘部关节本体11的第二转动机构和安装于肘部关节本体11的第三摆动机构,所述第二转动机构和第三摆动机构皆与腕部关节结构5传动连接;所述腕部关节结构5包括腕部关节本体12和安装于腕部关节本体12的第三转动机构,所述第三转动机构与夹持手结构6传动连接。 Elbow joint 11 comprises a main body, a second rotating mechanism attached to the elbow joint of the body 11 and the third pivot means attached to the body 11 of the elbow joint, the second and third rotation mechanism and swing mechanism are wrist joint structure 5 is connected drive; wrist joint structure of the wrist joint 5 comprises a body 12 attached to the wrist joint and the third rotating mechanism 12 of the main body, and the third rotating mechanism 6 drivingly connected chucking hand structure.

[0030] 具体来说,如图2、3、4和5所示,所述底座本体8包括轴承座13、基座板14,所述第一转动结构包括第一伺服系统15、第一减速器16、第一曲线齿伞齿轮副17、垂直转动轴18和第一推力轴承19,所述第一减速器16为RV减速器,所述第一伺服系统15和RV减速器安装于基座板14上,所述垂直传动轴和第一推力轴承19安装于轴承座13上,所述第一伺服系统15包括伺服电机、控制器和反馈装置,所述电机输出轴连接RV减速器的输入端, RV减速器的输出端通过第一曲线齿伞齿轮副17与垂直转动轴18连接,当伺服电机启动,带动垂直转动轴18旋转,带动了整个手臂系统转动,所述第一伺服系统15单独控制整个手臂系统相对于底座结构7的转动;所述肩部关节本体9包括安装于底座结构7垂直转动轴18 上的旋转圆盘20、蜗杆21、蜗轮22以及安装于旋转圆盘20的电机安装架23和大臂关 [0030] Specifically, as shown in FIG. 3, 4 and 5, the base body 8 includes a bearing housing 13, the base plate 14, the first rotating structure comprising a first servo system 15, a first reduction 16, a first curve bevel gear pair 17, a first vertical rotation shaft 18 and thrust bearing 19, the first reduction gear 16 RV reducer, servo system 15 of the first gear unit attached to the base and RV upper plate 14, a vertical drive shaft and a first thrust bearing 19 is mounted on the bearing block 13, 15 includes a servo motor, and feedback control means, an input connected to said motor output shaft of the speed reducer RV first servo system output side, RV reducer first curve bevel gear pair 17 and the vertical rotation shaft 18 is connected through, when the servo motor starts to drive the vertical rotation shaft 18 rotates, the drive system of the entire arm is rotated, the first servo system 15 individually controlling the entire system is rotated relative to the base arm structure 7; the shoulder joint body 9 comprises a rotary disk mounted on the base structure 7 on a vertical shaft 18 is rotated 20, the worm 21, the worm wheel 22 and mounted to the rotating disc 20 motor mounts 23 and the boom off 支承对,所述第一摆动机构包括第二伺服系统25和大臂传动轴沈,所述第二伺服系统25包括伺服电机、控制器和反馈装置,伺服电机的输出轴与蜗杆21连接,所述大臂传动轴沈与蜗轮22连接,所述蜗杆21和蜗轮22啮合,当电机启动,带动蜗杆21旋转,蜗杆21带动蜗轮22进而带动大臂传动轴沈,所述第二伺服系统25的伺服电机、控制器和反馈装置都安装于电机安装架23,所述第一摆动机构单独控制大臂传动轴沈,进而控制大臂结构2相对于肩部关节结构1的摆动,如图5所示,所述第二摆动机构包括小臂传动轴27、第三伺服系统观、第二减速器四、第二曲线齿伞齿轮副30和轴承副,所述第二减速器四为RV减速器,所述第三伺服系统观包括伺服电机、控制器和反馈装置,所述电机输出轴连接RV减速器的输入端,所述RV减速器的输出端通过第二曲线齿齿轮副与小臂传动 Support for the said first oscillating means comprises a second servo system 25 and the boom sink shaft, said second servo system, the servo motor 25, and feedback control means, the output shaft of the worm comprises a servo motor 21 is connected, the Shen said arm shaft 22 is connected with the worm wheel, the worm engages the worm wheel 21 and 22, when the motor starts to drive the worm 21 rotates, the worm 21 drives worm gear shaft 22 so as to drive the boom sink, the second servo system 25 servo motor, a controller and feedback device are mounted to the motor mount 23, the first swing arm shaft means individually controlling sink, thereby controlling the boom swing structure 2 with respect to the structure of the shoulder joint, as shown in FIG 5 shows, the second swinging arm mechanism comprises a drive shaft 27, the third concept of the servo system, a second reduction gear four, the sub-bearing 30 and a second sub-curve bevel gears, four for the second reduction gear reducer RV the concept of the servo system comprises a third servo motor and feedback control means connected to an input terminal of the RV reducer motor output shaft, the output of the speed reducer via a second curve RV toothed gear with the sub-arm drive 27连接,带动小臂传动轴27,进而带动了小臂的摆动,所述第二摆动机构单独控制小臂传动轴27,进而控制小臂结构4相对于肘部关节结构3的摆动,所述第二转动机构包括第四伺服系统31、第三减速器32、第一同步带装置33、第一空心转动轴34以及与第一空心转动轴34连接的第二空心转动轴35,所述第三减速器32为谐波减速器,所述第四伺服系统31包括伺服电机、控制器和反馈装置,所述第四伺服系统31的伺服电机的输出轴与谐波减速器的输入端连接,所述谐波减速器的输出端通过第一同步带装置33与第一空心转动轴34连接,当电机启动,从减速器以及第一同步带装置33带动第一空心转动轴34转动,进而带动第二空心轴转动,所述第二转动机构单独控制腕部关节结构5相对于小臂结构4的转动,所述第三摆动机构包括第五伺服系统36、第四减速器37、实心传动轴3 27 is connected to drive arm shaft 27, so as to drive the swing arm, the second individual control means of the arm swinging shaft 27 so as to control the structure of the arm 4 with respect to the elbow joint swing structure 3, the the second rotation mechanism 31 includes a fourth servo system, the third reduction gear 32, a first belt means 33, a first hollow rotation shaft 34 and the first hollow rotation shaft 34 connected to the second hollow rotation shaft 35, the second three harmonic reduction gear reducer 32, the fourth servo system includes a servo motor 31, and feedback control means, input harmonic reducer output shaft of the servo motor 31 is connected to a fourth servo system, output of the first harmonic reducer and timing belt means 33 a first hollow rotation shaft 34 is connected through, when the motor starts, the rotational shaft 34 and a gear unit driven by a first timing belt 33 a first hollow means, thereby bringing a second hollow shaft, said second rotation control means individually wrist joint structure 5 is rotated relative to the arm structure 4, the oscillating mechanism comprises a fifth third servo system 36, a fourth speed reducer 37, solid shaft 3 8、第三曲线齿伞齿轮副39、第二同步带装置40、第一传动轴和第二传动轴;所述第四减速器37为谐波减速器,所述第五伺服系统36包括伺服电机、控制器和反馈装置,所述第五伺服系统36的伺服电机输出轴连接第三摆动机构的谐波减速器的输入端,所述第三摆动机构的谐波减速器的输出端与实心传动轴38的一端连接,所述实心传动轴38的另一端与第三曲线齿伞齿轮副39的一个曲线齿伞齿轮连接,所述第三曲线齿伞齿轮副39的另一个曲线齿伞齿轮与第一传动轴的一端连接,所述第一传动轴的另一端通过第二同步带装置40与第二传动轴的一端连接,所述第二传动轴的另一端与腕部关节结构5连接;所述第三摆动机构单独控制腕部关节结构5相对于小臂结构4的摆动,所述第三转动机构包括第六伺服系统41,所述第六伺服系统41的输出轴与夹持手结构6连接,所述第 8, the third curve bevel gear pair 39, the second belt means 40, the first and second drive shafts; the fourth harmonic reduction gear reducer 37, the fifth servo system includes a servo 36 motor, and feedback control means connected to the swinging mechanism of the third harmonic reducer input of the fifth servo system of the servo motor output shaft 36, the swing mechanism of the third harmonic reducer output end solid one end of the drive shaft 38 is connected to the other end of the solid drive shaft 38 is connected with a third bevel gear tooth profile curve of the bevel gear pair 39, the third curve to another curve bevel gear pair of bevel gears 39 a first transmission shaft connected to one end of the other end of the first transmission shaft is connected to one end of the second belt means 40 and the second drive shaft, the other end of the second transmission shaft connected to the wrist joint structure 5 ; individual control means of said third pivot joint structure of the wrist swinging arm 5 with respect to the structure 4, the third rotating mechanism 41 includes a sixth servo system, the servo system output shaft and the sixth holding hand 41 structure 6 is connected to the second 伺服系统41包括伺服电机、控制器和反馈装置,所述夹持手本体包括末端盘46、用于安装末端盘的安装轴和支承套;所述支承套一端连接安装轴,另一端连接末端盘,所述第六伺服系统41的伺服电机输出轴与末端盘连接,所述第三转动机构单独控制夹持手结构6相对于腕部关节结构5的转动;所述第一转动机构、第二转动机构和第三转动机构为类似结构,所述第一摆动机构、第二摆动机构和第三摆动机构为类似结构。 The servo system 41 includes a servo motor, and feedback control means, said gripping hand comprises an end plate body 46 for mounting the end plate and the bearing sleeve mounting shaft; sleeve end connected to the support shaft is mounted, and the other end connected to the end plate , the sixth servo system of the servo motor output shaft 41 is connected with the end plate, said third rotation means individually controlling the hand gripping structure 6 rotatable with respect to the wrist joint structure 5; the first rotation mechanism, a second and the third rotating mechanism rotating mechanism is similar to the structure of the first oscillating means, second oscillating means, and a third swing mechanism is a similar structure. [0031] 如图6所示,本发明的动平衡机械手臂由六套伺服系统分别控制,可以达到六个方向的自由度,有效地避免了各个关节之间的耦合效应,分别控制的方法也大大地提高了机械手臂的精度和稳定性,另外,所述本发明的动平衡机械手臂它还包括平衡机构,所述平衡机构包括平衡缸43、支架44和铰链45,所述铰链45、平衡缸43和支架44依次连接,所述铰链45安装于底座结构7,所述支架44安装于大臂结构2,大大地提高了整个机械手臂系统的负载能力,在不配带平衡结构的前提下,系统负载大约为20〜30KG。 [0031] As shown, the robot arm of the present invention, balancing the six sets are controlled by a servo system 6, can achieve six degrees of freedom directions, effectively avoid the coupling effects between the respective joints, the method may also control the greatly improves the accuracy and stability of the robot arm, further, dynamic balancing of the mechanical arm of the present invention further comprises a balancing means, the balancing means comprises a balancing cylinder 43, bracket 44 and the hinge 45, the hinge 45, the balance cylinder 43 and the bracket 44 in turn connected to a hinge 45 mounted to the base structure 7, the bracket 44 is mounted to the boom structure 2, greatly improved the load capacity of the entire robot system, under the premise of not qualified with the balance of the structure, the system load is about 20~30KG. 所述第一伺服系统15、第二伺服系统25、第三伺服系统观、第四伺服系统31、第五伺服系统36和第六伺服系统41为相同结构,由于伺服系统为常见的公知技术,便不在此赘述。 The first servo system 15, a second servo system 25, a third concept servo system, the servo system 31 of the fourth, fifth and sixth servo 36 servo system 41 have the same configuration, since the servo system is a common known techniques, I will not repeat them here.

Claims (8)

1. 一种动平衡机械手臂,它包括肩部关节结构(1)、大臂结构O)、肘部关节结构(3)、 小臂结构G)、腕部关节结构(5)和夹持手结构(6),所述大臂结构(2)连接肩部关节结构(1)和肘部关节结构(3),所述小臂结构(4)连接肘部关节结构(3)和腕部关节结构(5), 所述夹持手结构(6)安装于腕部关节结构(5),其特征在于,它还包括安装于肩部关节结构⑴的底座结构(7),所述底座结构(7)包括底座本体⑶和安装于底座本体⑶内部的第一转动机构,所述第一转动机构与底座本体(8)固定连接,且与肩部关节结构(1)传动连接;所述肩部关节结构(1)包括肩部关节本体(9)和安装在肩部关节本体(9)上的第一摆动机构,所述第一摆动机构与大臂结构(2)传动连接;所述大臂结构(2)包括大臂本体(10)和安装在大臂本体(10)内的第二摆动机构,所述第二摆动机构与大 A balancing robot, comprising a shoulder joint structures (1), O boom structure), the elbow joint structure (3), an arm structure G), wrist joint structure (5) and the gripping hand structure (6), said boom structure (2) connected to the shoulder joint structure (1) and elbow joint structure (3), said arm structure (4) connecting the elbow joint structure (3) and the wrist joint structure (5), said hand gripping structure (6) is attached to the wrist joint structure (5), characterized in that it further comprises a base attached to the structure (7) of the shoulder joint ⑴ structure, the base structure ( 7) comprises a first base body and ⑶ rotating mechanism installed inside the base body ⑶, said first rotation means and the base body (8) is fixedly connected, and the transmission is connected to the shoulder joint structure (1); the shoulder joint structure (1) comprises a shoulder joint body (9) and the swing mechanism is mounted on the first shoulder joint body (9), said first oscillating means and the boom structure (2) drivingly connected; said boom structure (2) comprises a boom body (10) and a boom mounted in the body (10) of the second oscillating means, said second oscillating means and the large 本体(10)固定连接,且与小臂结构(4)传动连接;所述肘部关节结构(3)包括肘部关节本体(11)、安装于肘部关节本体(11)的第二转动机构和安装于肘部关节本体(11)的第三摆动机构,所述第二转动机构和第三摆动机构皆与腕部关节结构(5)传动连接;所述腕部关节结构(5)包括腕部关节本体(12)和安装于腕部关节本体(12)的第三转动机构,所述第三转动机构与夹持手结构(6)传动连接。 The body (10) is fixedly connected, and (4) drivingly connected to the arm structure; the elbow joint structure (3) includes an elbow joint body (11), the elbow joint is mounted on the body (11) of the second rotation mechanism and third swing mechanism attached to the elbow joint of the body (11), said second rotation means and the third means are in driving connection with the swing arm joint structure (5); the wrist joint structure (5) comprises a wrist the third rotary joint mechanism body portion (12) attached to the wrist joint and the body (12), the third rotatable means and the hand holding structure (6) drivingly connected.
2.根据权利要求1所述的一种动平衡机械手臂,其特征在于,所述底座本体(8)包括轴承座(13)、基座板(14),所述第一转动结构包括第一伺服系统(15)、第一减速器(16)、第一曲线齿伞齿轮副(17)、垂直转动轴(18)和第一推力轴承(19);所述第一减速器(16)的输入端与第一伺服系统(15)的输出端连接,输出端与垂直转动轴(18)连接;所述第一伺服系统(1¾和第一减速器(16)安装于基座板(14)上,所述垂直传动轴(1¾和第一推力轴承(19)安装于轴承座(13)上。 2. According to one arm of the balancing machine as claimed in claim 1, characterized in that the base body (8) comprises a bearing housing (13), the base plate (14), said first structure comprising a first rotation servo (15), a first speed reducer (16), a first curve bevel gear pair (17), the vertical rotation axis (18) and a first thrust bearing (19); said first reduction gear (16) a first input terminal of the servo system (15) connected to the output terminal, the output terminal of the vertical rotation axis (18); said first servo system (1¾ and a first reduction gear (16) attached to the base plate (14) on the vertical drive shaft (1¾ and a first thrust bearing (19) mounted on the bearing housing (13).
3.根据权利要求1所述的一种动平衡机械手臂,其特征在于,所述肩部关节本体(9)包括安装于底座结构(7)垂直转动轴上的旋转圆盘(20)、蜗杆(21)、蜗轮02)以及安装于旋转圆盘00)的电机安装架03)和大臂关节支承(M),所述第一摆动机构包括第二伺服系统05)和大臂传动轴06);所述第二伺服系统05)的输出端与蜗杆相连,所述蜗轮(22)与大臂传动轴06) —端相连,所述大臂传动轴06)另一端与大臂结构(2)连接,所述蜗轮02)与蜗杆啮合;所述第二伺服系统05)安装于电机安装架03)。 3. According to one arm of the balancing machine as claimed in claim 1, wherein the shoulder joint body (9) comprising a structure mounted to the base (7) perpendicular to the axis of rotation of the rotating disk (20), a worm (21), the worm wheel 02) and 03) and the joint support arm mounted to the rotating disc 00) of the motor mounts (M), said first oscillating means comprises a second servo system 05) and the arm shaft 06) ; said second servo system 05) is connected to the output terminal with the worm, the worm wheel (22) and the arm shaft 06) - connected to terminal 06) and the other end of the boom and the arm shaft structure (2) connected to a worm gear 02) engaging with the worm; the second servo system 05) is mounted on motor mounts 03).
4.根据权利要求1所述的一种动平衡机械手臂,其特征在于,所述第二摆动机构包括小臂传动轴(27)、第三伺服系统(¾)、第二减速器(四)、第二曲线齿伞齿轮副(30)和轴承副;所述第二减速器09)的输入端与第三伺服系统08)的输出端连接,输出端与小臂传动轴(27)连接。 One kind of balancing according to claim 1 of the robot arm, wherein said oscillating means comprises a second arm drive shaft (27), a third servo system (¾), a second speed reducer (IV) the second sub-curve bevel gear (30) and the sub-bearing; 08) the output of the second reduction gear 09) and the third input of the servo system is connected to the output terminal of the drive shaft arm (27) is connected.
5.根据权利要求1所述的一种动平衡机械手臂,其特征在于,所述第二转动机构包括第四伺服系统(31)、第三减速器(32)、第一同步带装置(33)、第一空心转动轴(34)以及与第一空心转动轴(34)连接的第二空心转动轴(35),所述第三摆动机构包括第五伺服系统(36)、第四减速器(37)、实心传动轴(38)、第三曲线齿伞齿轮副(39)、第二同步带装置(40)、第一传动轴和第二传动轴;所述第三减速器(3¾输入端与第四伺服系统(31)的输出端连接,输出端与第一同步带装置(33)、第一空心转动轴(34)和第二空心转动轴(3¾的一端依次连接,所述第二空心转动轴(35)的另一端与夹持手结构(6)连接,所述第四减速器(37)输入端与第五伺服系统(36)的输出端连接,输出端与实心传动轴(38)的一端连接,所述实心传动轴(38)的另一端与第三曲线齿伞齿轮副(39)的一个曲 One kind of balancing according to claim 1 of the robot arm, wherein said second means comprises a fourth rotational servo (31), a third speed reducer (32), a first belt means (33 ), a first hollow rotation shaft (34) and the second hollow rotation shaft and the first hollow (34) connected to the rotary shaft (35), said third pivot means comprising a fifth servo system (36), a fourth speed reducer (37), a solid shaft (38), the third curve bevel gear pair (39), a second belt means (40), the first and second drive shafts; said third speed reducer (3¾ input terminal and a fourth servosystem (31) connected to the output terminal, an output terminal of the first belt means (33), a first hollow rotation shaft (34) and the second hollow rotation shaft (3¾ sequentially connected to one end of said first two hollow rotating shaft (35) and the other end of the hand gripping structure (6) connected to a fourth reduction gear (37) and the fifth input terminal of the servo system (36) connected to the output terminal, an output terminal and a solid shaft one end (38) is connected to the other end of the solid shaft (38) and the third curve bevel gear pair (39) of a curved 线齿伞齿轮连接,所述第三曲线齿伞齿轮副(39)的另一个曲线齿伞齿轮与第一传动轴的一端连接,所述第一传动轴的另一端通过第二同步带装置GO)与第二传动轴的一端连接,所述第二传动轴的另一端与腕部关节结构(5)连接。 Line bevel gear connected to a third curve bevel gear pair (39) of the other curve bevel gear connected to one end of the first drive shaft, the other end of the first transmission shaft by means of the second timing belt GO ) connected to one end of the second transmission shaft, the other end of the second transmission shaft with a wrist joint structure (5) is connected.
6.根据权利要求1所述的一种动平衡机械手臂,其特征在于,所述第三转动机构包括第六伺服系统(41),所述第六伺服系统Gl)的输出轴与夹持手结构(6)连接,所述第六伺服系统Gl)安装于腕部关节结构(5)。 One kind of balancing according to claim 1 of the robot arm, wherein said third means includes a sixth rotational servo (41), the sixth servo system of Gl) with the output shaft of the chucking hand structure (6), the sixth servo system of Gl) mounted to the wrist joint structure (5).
7.根据权利要求1所述的一种动平衡机械手臂,其特征在于,所述肘部关节结构(3)还包括配重装置(42),所述配重装置02)和肘部关节结构(3)可拆卸连接。 The claim requires a balancing of the robot arm 1, characterized in that said elbow joint structure (3) further comprises counterweight means (42), said counterweight means 02) and the elbow joint structure (3) is detachably connected.
8.根据权利要求1所述的一种动平衡机械手臂,其特征在于,它还包括平衡机构,所述平衡机构包括平衡缸^幻、支架G4)和铰链(45),所述铰链0¾、平衡缸和支架04) 依次连接,所述铰链G5)安装于底座结构(7),所述支架04)安装于大臂结构O)。 Requires a balancing according to claim 1 of the robot arm, characterized in that it further comprises a balancing means, the balancing means comprises a balancing cylinder ^ phantom stent G4) and a hinge (45), the hinge 0¾, balancing cylinder and the bracket 04) are sequentially connected, the hinge G5) mounted to the base structure (7), the bracket 04) attached to the boom structure O).
CN2011104169570A 2011-12-14 2011-12-14 Dynamic balance manipulator CN102431040A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011104169570A CN102431040A (en) 2011-12-14 2011-12-14 Dynamic balance manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011104169570A CN102431040A (en) 2011-12-14 2011-12-14 Dynamic balance manipulator

Publications (1)

Publication Number Publication Date
CN102431040A true CN102431040A (en) 2012-05-02

Family

ID=45979570

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2011104169570A CN102431040A (en) 2011-12-14 2011-12-14 Dynamic balance manipulator

Country Status (1)

Country Link
CN (1) CN102431040A (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102785248A (en) * 2012-07-23 2012-11-21 华中科技大学 Motion control method of decoupling type 6-DOF (six degrees of freedom) industrial robot
CN102785242A (en) * 2012-08-27 2012-11-21 江苏嘉盛光伏科技有限公司 Manipulator
CN103029123A (en) * 2012-12-22 2013-04-10 浙江万丰科技开发有限公司 Light-weight six-shaft universal robot
CN103802127A (en) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 Axial type arm
CN103802096A (en) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 Robot mechanical arm
CN103878763A (en) * 2014-03-14 2014-06-25 江苏大学 Three-freedom degree manipulator
CN104209957A (en) * 2014-09-06 2014-12-17 苏州神运机器人有限公司 Telescopic arm applied to transfer robot
CN104339367A (en) * 2013-07-30 2015-02-11 株式会社安川电机 Robot
CN104385267A (en) * 2014-10-11 2015-03-04 浙江创龙机器人制造有限公司 Four-joint manipulator
CN104723087A (en) * 2015-04-17 2015-06-24 安徽工程大学 Wrist structure of manipulator arm used for assembling fasteners
CN106182074A (en) * 2016-07-12 2016-12-07 诺伯特智能装备(山东)有限公司 Six-DOF industrial robot
CN106335047A (en) * 2016-10-31 2017-01-18 苏州立源信智能科技有限公司 Truss robot resisting shake
CN106363666A (en) * 2016-12-06 2017-02-01 希美埃(芜湖)机器人技术有限公司 Robot arm gravity balance device
CN106711847A (en) * 2016-12-21 2017-05-24 国网安徽省电力公司淮南供电公司 10kV distribution network line live obstacle clearing mechanical arm

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1507046A (en) * 1923-10-08 1924-09-02 Benjamin F Cockerell Adjustable form
US3922930A (en) * 1974-12-23 1975-12-02 Nasa Remotely operable articulated manipulator
WO1984001536A1 (en) * 1982-10-19 1984-04-26 Fanuc Ltd Articulated arm type of industrial robot
CN1112474A (en) * 1993-12-17 1995-11-29 康茂股份公司 Industrial robot with integrated reduction gear units
US6145403A (en) * 1997-11-05 2000-11-14 Kuka Roboter Gmbh Robot arm with weight compensation
CN1307956A (en) * 2000-06-30 2001-08-15 佛山市佛山机器人有限公司 Hand-in-hand demonstration robot
CN101589980A (en) * 2009-06-30 2009-12-02 哈尔滨工业大学 Five degree-of-freedom manipulator
CN202344547U (en) * 2011-12-14 2012-07-25 杭州英若飞科技有限公司 Dynamic balance robotic arm

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1507046A (en) * 1923-10-08 1924-09-02 Benjamin F Cockerell Adjustable form
US3922930A (en) * 1974-12-23 1975-12-02 Nasa Remotely operable articulated manipulator
WO1984001536A1 (en) * 1982-10-19 1984-04-26 Fanuc Ltd Articulated arm type of industrial robot
CN1112474A (en) * 1993-12-17 1995-11-29 康茂股份公司 Industrial robot with integrated reduction gear units
US6145403A (en) * 1997-11-05 2000-11-14 Kuka Roboter Gmbh Robot arm with weight compensation
CN1307956A (en) * 2000-06-30 2001-08-15 佛山市佛山机器人有限公司 Hand-in-hand demonstration robot
CN101589980A (en) * 2009-06-30 2009-12-02 哈尔滨工业大学 Five degree-of-freedom manipulator
CN202344547U (en) * 2011-12-14 2012-07-25 杭州英若飞科技有限公司 Dynamic balance robotic arm

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102785248B (en) * 2012-07-23 2015-03-04 华中科技大学 Motion control method of decoupling type 6-DOF (six degrees of freedom) industrial robot
CN102785248A (en) * 2012-07-23 2012-11-21 华中科技大学 Motion control method of decoupling type 6-DOF (six degrees of freedom) industrial robot
CN102785242A (en) * 2012-08-27 2012-11-21 江苏嘉盛光伏科技有限公司 Manipulator
CN103802127A (en) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 Axial type arm
CN103802096A (en) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 Robot mechanical arm
CN103802096B (en) * 2012-11-08 2015-08-12 沈阳新松机器人自动化股份有限公司 A kind of robot mechanical arm
CN103029123A (en) * 2012-12-22 2013-04-10 浙江万丰科技开发有限公司 Light-weight six-shaft universal robot
CN104339367A (en) * 2013-07-30 2015-02-11 株式会社安川电机 Robot
CN103878763A (en) * 2014-03-14 2014-06-25 江苏大学 Three-freedom degree manipulator
CN103878763B (en) * 2014-03-14 2015-12-30 江苏大学 Three freedom degree manipulator
CN104209957A (en) * 2014-09-06 2014-12-17 苏州神运机器人有限公司 Telescopic arm applied to transfer robot
CN104385267A (en) * 2014-10-11 2015-03-04 浙江创龙机器人制造有限公司 Four-joint manipulator
CN104723087A (en) * 2015-04-17 2015-06-24 安徽工程大学 Wrist structure of manipulator arm used for assembling fasteners
CN106182074A (en) * 2016-07-12 2016-12-07 诺伯特智能装备(山东)有限公司 Six-DOF industrial robot
CN106335047A (en) * 2016-10-31 2017-01-18 苏州立源信智能科技有限公司 Truss robot resisting shake
CN106363666A (en) * 2016-12-06 2017-02-01 希美埃(芜湖)机器人技术有限公司 Robot arm gravity balance device
CN106711847A (en) * 2016-12-21 2017-05-24 国网安徽省电力公司淮南供电公司 10kV distribution network line live obstacle clearing mechanical arm

Similar Documents

Publication Publication Date Title
CN100372657C (en) 3-degree-of-freedom 6-UPS tri-translational parallel robot
TWI306428B (en) A device for the production of schonflies motions
CN100393484C (en) Three-translation and one-rotation parallel mechanism
CN101518898B (en) Parallel mechanism with three freedom degrees of twice rotation and once motion
CN201998169U (en) Mechanical arm system for nuclear detecting and emergency processing robot
WO2008155286A1 (en) Forearm rotation mechanism and orthosis including such mechanism
CN2465893Y (en) Vertical joint type robot operator
CN101977737A (en) Two degree-of-freedom parallel manipulator
CN102441889A (en) Parallel-connection robot
CN101973030B (en) High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation
CN101804631A (en) Parallel robot provided with wrist section having three degrees of freedom
CN2796972Y (en) Structure of fire freedom space location robot
CN101862223B (en) Operating robot
CN101817452A (en) Packing and palletizing robot
US8607659B2 (en) Robotic arm assembly
CN102069499A (en) Parallel Robot
CN103465272B (en) Six-degree-of-freedom humanoid robot arm
CN101837592B (en) Humanoid robot head based on bevel gear differential coupling mechanism
CN101006958B (en) Ankle joint rehabilitation training device
US8511198B2 (en) Robot arm system
CN201808063U (en) Six-degrees-of-freedom parallel robot device
CN1003220B (en) Industrie-roboter for unterschiedliche einsatzzwecke
CN102039240B (en) Spraying robot mechanism
CN101589980B (en) Five degree-of-freedom manipulator
CN201942330U (en) Four-spatial-activity controlled stacking robot

Legal Events

Date Code Title Description
C06 Publication
C10 Entry into substantive examination
C02 Deemed withdrawal of patent application after publication (patent law 2001)