CN103586869A - Robot with multi-axis rotating mechanism - Google Patents
Robot with multi-axis rotating mechanism Download PDFInfo
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- CN103586869A CN103586869A CN201310002377.6A CN201310002377A CN103586869A CN 103586869 A CN103586869 A CN 103586869A CN 201310002377 A CN201310002377 A CN 201310002377A CN 103586869 A CN103586869 A CN 103586869A
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- 210000000245 forearm Anatomy 0.000 claims description 92
- 230000008878 coupling Effects 0.000 claims description 27
- 238000010168 coupling process Methods 0.000 claims description 27
- 238000005859 coupling reaction Methods 0.000 claims description 27
- 230000009471 action Effects 0.000 claims description 18
- 230000002463 transducing effect Effects 0.000 claims description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
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Abstract
A robot comprises a first upper arm rotating mechanism and a second upper arm rotating mechanism, wherein the first upper arm rotating mechanism comprises a joint connecting piece and a first actuating piece. The first end of the joint connecting piece is installed in an upper arm component, the first actuating piece is installed in a drive part component and connected to the second end of the joint connecting piece, and the first actuating piece is used for driving the joint connecting piece to drive the upper arm component to rotate along the first axial direction. The second upper arm rotating mechanism comprises a second actuator, a transmission rod and a gear piece. The transmission rod penetrates through the first end of the joint connecting piece in a pivoted mode and is fixedly connected to the upper arm component. The gear piece is combined with the transmission rod, and the second actuator is used for driving the gear piece to drive the upper arm member to rotate along the second axial direction.
Description
Technical field
The present invention relates to a kind of robot, particularly relevant a kind of robot with multiaxis rotating mechanism.
Background technology
Generally speaking, be used for showing that the model of fashionable dress all can only show use as static state, that is to say, model's limb cadre relatively its trunk portion automatically adjusts its relative position, and the posture that only can just set is in advance shown fashionable dress.Therefore, be knownly used for showing that the model of fashionable dress cannot represent with limb action the feature of its fashionable dress of being shown, and need change in manual mode model's posture, the convenience that shortcoming is used.
Summary of the invention
The invention provides a kind of robot with multiaxis rotating mechanism, to address the above problem.
The present invention discloses a kind of robot with multiaxis rotating mechanism, and it includes arm member on a trunk portion member and.Described upper arm member is coupled to described trunk portion member rotationally.Described robot further includes one first upper arm rotating mechanism, and it includes a joint connector and one first actuated piece.One first end of described joint connector is arranged in described upper arm member, described the first actuated piece is arranged in described trunk portion member and is connected in a second end of described joint connector, and described the first actuated piece is used for driving described joint connector to drive the relatively described trunk of described upper arm member portion member along the first axial rotation.Described robot further includes one second upper arm rotating mechanism, and it includes one second actuated piece, a drive link, a gear member and an actuation gear part.Described the second actuated piece is arranged in described upper arm member, and described the second actuated piece is used for producing torsion, and described drive link runs through the described first end of described joint connector and is fixed in described upper arm member in the mode of pivot joint.Described gear member is incorporated into described drive link, described actuation gear part is incorporated into described the second actuated piece and is engaged in described gear member, described actuation gear part is used for transmitting torsion that described the second actuated piece produces to described gear member, uses and drives described gear member and described drive link to drive the relative described trunk portion's member of described upper arm member edge to be different from described first axial the second axial rotation.
It is a wrom tooth wheel that the present invention further discloses described gear member, and described actuation gear part is a worm screw.
The present invention further discloses described first axially in fact perpendicular to described second axial.
Further disclosing described robot further includes a head component and a head rotating mechanism in the present invention.Described head rotating mechanism is used for connecting rotationally described trunk portion's member and described head component, and described head rotating mechanism includes a head actuated piece and a head shaft coupling.Described head actuated piece is arranged in described trunk portion member, described head shaft coupling is connected in described head component and described head actuated piece, described head shaft coupling is used for transmitting torsion that described head actuated piece produces to described head component, uses and drives described head component to rotate.
Further disclosing described robot further includes a front arm member and forearm rotation mechanism in the present invention, it is used for connecting rotationally described upper arm member and described front arm member, and described forearm rotation mechanism includes a forearm actuated piece, a forearm drive link, a forearm gear member and a forearm actuation gear part.Described forearm actuated piece is arranged in described upper arm member, and described forearm actuated piece is used for producing torsion.Described forearm drive link is articulated in described upper arm member and is fixed in described front arm member, and described forearm gear member is incorporated into described forearm drive link.Described forearm actuation gear part is incorporated into described forearm actuated piece and is engaged in described forearm gear member, described forearm actuation gear part is used for transmitting torsion that described forearm actuated piece produces to described forearm gear member, uses and drives described forearm gear member and the described upper arm member of described forearm drive link drive to rotate relative to described trunk portion member.
It is a wrom tooth wheel that the present invention further discloses described forearm gear member, and described forearm actuation gear part is a worm screw.
Further disclosing described robot further includes a hand member and a hand rotating mechanism in the present invention, it is used for connecting rotationally described front arm member and described hand member, and described hand rotating mechanism includes a hand actuated piece and a hand shaft coupling.Described hand actuated piece is arranged in described front arm member, described hand shaft coupling is connected in described hand member and described hand actuated piece, described hand shaft coupling is used for transmitting torsion that described hand actuated piece produces to described hand member, uses and drives described hand member to rotate relative to described front arm member.
Further disclosing described robot further includes a waist member and a waist rotating mechanism in the present invention, it is used for connecting rotationally described trunk portion's member and described waist member, and described waist rotating mechanism includes a waist actuated piece and a waist shaft coupling.Described waist actuated piece is arranged in described waist member, described waist shaft coupling is connected in described trunk portion's member and described waist actuated piece, described waist shaft coupling is used for transmitting torsion that described waist actuated piece produces to described waist member, uses and drives described trunk portion member to rotate relative to described waist member.
Further disclosing described robot further includes a little leg member, a leg member and a shank rotating mechanism in the present invention.Described leg member is connected in described waist member, described shank rotating mechanism is used for connecting rotationally described leg member and described little leg member, and described shank rotating mechanism includes a shank actuated piece, a shank drive link, a shank gear member and a shank actuation gear part.Described shank actuated piece is arranged in described leg member, and described shank actuated piece is used for producing torsion.Described shank drive link is articulated in described leg member and is fixed in described little leg member, and described shank gear member is incorporated into described shank drive link.Described shank actuation gear part is incorporated into described shank actuated piece and is engaged in described shank gear member, described shank actuation gear part is used for transmitting torsion that described shank actuated piece produces to described shank gear member, uses and drives described shank gear member to rotate relative to described leg member with the described little leg member of described shank drive link drive.
It is a wrom tooth wheel that the present invention further discloses described shank gear member, and described shank actuation gear part is a worm screw.
Further disclosing described robot further includes an operational module and a processing module in the present invention.Described operational module is used for producing an operational order.Described processing module is respectively coupled to described the first actuated piece, described the second actuated piece and described operational module, and the described operational order that described processing module is used for transmitting according to described operational module drives described the first actuated piece and described the second actuated piece to carry out an action of corresponding described operational order.
Further disclosing described robot further includes an audio module in the present invention, and it is coupled to described processing module, and described audio module is used for sending sound wave.
Further disclosing described robot further includes a sensing module in the present invention, it is coupled to described processing module, described sensing module is used for producing a transducing signal and transmits described transducing signal to described processing module, and described processing module is used for driving described the first actuated piece, described the second actuated piece or described audio module to carry out an action of corresponding described transducing signal according to described transducing signal.
Further disclosing described the first rotating mechanism further includes a fixture in the present invention, and it is used for fixing described the first actuated piece on described trunk parts.
Further disclosing described the second rotating mechanism further includes a pedestal in the present invention, and it is arranged in described upper arm member, and described pedestal is used for fixing described drive link, described gear member and described the second actuated piece in described upper arm parts.
The present invention further discloses described the first actuated piece and described the second actuated piece is respectively a stepper motor.
In sum, robot of the present invention has head rotating mechanism, waist rotating mechanism, shank rotating mechanism, the first upper arm rotating mechanism, the second upper arm rotating mechanism, forearm rotation mechanism and hand rotating mechanism, above-mentioned rotating mechanism is used for driving the member of corresponding robot, so that robot can change posture, increase the convenience on using.In addition, the first upper arm rotating mechanism and the second upper arm rotating mechanism can be distinguished driven machine people's upper arm member along first axial and the second axial start, that is to say, robot of the present invention has multiaxis to rotating mechanism so that robot can carry out multiaxis to rotational action.About the advantages and spirit of the present invention, can be further understood by following detailed Description Of The Invention and appended accompanying drawing.
Accompanying drawing explanation
The schematic appearance of Tu1Wei embodiment of the present invention robot.
The element exploded perspective view of the local trunk portion's member of Tu2Wei embodiment of the present invention robot and head component.
The element exploded perspective view of the local trunk portion's member of Tu3Wei embodiment of the present invention robot and waist member.
The internal mechanism schematic diagram of the local leg member of Tu4Wei embodiment of the present invention robot and local little leg member.
The internal mechanism exploded perspective view of the local leg member of Tu5Wei embodiment of the present invention robot and local little leg member.
Local trunk portion of Tu6Wei embodiment of the present invention robot member and the local above internal mechanism exploded perspective view of arm member.
Fig. 7 is that the embodiment of the present invention the first upper arm rotating mechanism and the second upper arm rotating mechanism are at the internal mechanism exploded perspective view at another visual angle.
The internal mechanism schematic diagram of arm member and local front arm member on Tu8Wei embodiment of the present invention robot part.
The internal mechanism exploded perspective view of arm member and local front arm member on Tu9Wei embodiment of the present invention robot part.
Figure 10 is the element exploded perspective view of arm member and local hand member before inventive embodiments robot part.
Figure 11 is the function block schematic diagram of inventive embodiments robot.
Wherein, description of reference numerals is as follows:
30 robot 32 trunk portion members
34 head component 36 waist members
The little leg member of 38 leg member 40
The front arm member of arm member 44 on 42
46 hand member 48 head rotating mechanism
481 head actuated piece 483 head shaft couplings
50 waist rotating mechanism 501 waist actuated pieces
503 waist shaft coupling 52 shank rotating mechanisms
521 shank actuated piece 523 shank drive links
525 shank gear member 527 shank actuation gear parts
54 first upper arm rotating mechanism 541 joint connectors
543 first actuated piece 545 fixtures
56 second upper arm rotating mechanism 561 second actuated pieces
563 drive link 565 gear members
567 actuation gear part 569 pedestals
58 forearm rotation mechanism 581 forearm actuated pieces
583 forearm drive link 585 forearm gear members
587 forearm actuation gear part 60 hand rotating mechanisms
601 hand actuated piece 603 hand shaft couplings
62 processing module 64 operational modules
66 audio module 68 audio modules
The axial X2 second of X1 first is axial
P1 first end P2 the second end
The specific embodiment
Refer to Fig. 1, Fig. 1 is the schematic appearance of the embodiment of the present invention one robot 30.As shown in Figure 1, robot 30 includes the front arm member 44 of arm member 42, one and a hand member 46 on a trunk portion member 32, a head component 34, a waist member 36, a leg member 38, a shank member 40.Head component 34 is arranged on respectively on trunk portion member 32 with waist member 36, leg member 38 is connected in waist member 36, shank member 40 is arranged on the end of leg member 38, upper arm member 42 is coupled to trunk portion member 32 rotationally, and the two ends of front arm member 44 are arranged on respectively arm member 42 and hand member 46.
In this embodiment, robot 30 of the present invention can be for showing the model of fashionable dress, and is provided with rotating mechanism between each member of above-mentioned robot 30, uses and drives each member to rotate.By this, robot 30 of the present invention just can limb action represents its feature ，Qie robot 30 that shows fashionable dress can change posture by the above-mentioned rotating mechanism being arranged between each member, increases the convenience on using.Below for the structure configuration that is arranged on the rotating mechanism between each member, elaborate with action principle respectively.
Refer to the element exploded perspective view of the local trunk of Fig. 1 and Tu2，Tu2Wei embodiment of the present invention robot 30 portion member 32 and head component 34.As shown in Figure 1 and Figure 2, robot 30 further includes a head rotating mechanism 48, and it is used for connecting rotationally trunk portion member 32 and head component 34.Head rotating mechanism 48 includes a head actuated piece 481, and it is arranged in trunk portion member 32.In this embodiment, head actuated piece 481 can be a stepper motor, and it is used for producing torsion and rotates with drive head member 34, but not limit by this.For instance, head actuated piece 481 also can be a servo motor.That is to say, so long as can be used to produce the electro-motor element of torsion, in the category of all protecting in the present invention.
In addition, head rotating mechanism 48 further includes a head shaft coupling 483, and it is connected in head component 34 and head actuated piece 481.When head actuated piece 481 starts, head shaft coupling 483 can be used to transmit torsion that head actuated piece 481 produces to head component 34, uses drive head member 34 and rotates.So, the head component 34 of robot 30 just can rotate relative to the trunk portion member 32 of robot 30.And being used for transmitting the element of torsion, the present invention can be not limited to described in this embodiment.For instance, the present invention also can utilize a torque force limiting device to replace head shaft coupling 483.That is to say, so long as can be used to transmit the element of torsion, in the category of all protecting in the present invention.As for adopting above-mentioned whichever design, it is looked closely actual demand and determines.
Refer to the element exploded perspective view of the local trunk of Fig. 1 and Tu3，Tu3Wei embodiment of the present invention robot 30 portion member 32 and waist member 36.As shown in Figure 1 and Figure 3, robot 30 further includes a waist rotating mechanism 50, and it is used for connecting rotationally trunk portion member 32 and waist member 36.Waist rotating mechanism 50 includes a waist actuated piece 501, and it is arranged in waist member 36.In this embodiment, waist actuated piece 501 can be a stepper motor, and it is used for producing torsion to drive trunk portion member 32 to rotate, but not limit by this.For instance, waist actuated piece 501 also can be a servo motor.That is to say, so long as can be used to produce the electro-motor element of torsion, in the category of all protecting in the present invention.
In addition, waist rotating mechanism 50 further includes a waist shaft coupling 503, and it is connected in trunk portion member 32 and waist actuated piece 501.When waist actuated piece 501 starts, waist shaft coupling 503 can be used to transmit torsion that waist actuated piece 501 produces to trunk portion member 32, uses and drives trunk portion member 32 to rotate.So, the trunk portion member 32 of robot 30 just can rotate relative to the waist actuated piece 501 of robot 30.And being used for transmitting the element of torsion, the present invention can be not limited to described in this embodiment.For instance, the present invention also can utilize a torque force limiting device to replace waist shaft coupling 503.That is to say, so long as can be used to transmit the element of torsion, in the category of all protecting in the present invention.As for adopting above-mentioned whichever design, it is looked closely actual demand and determines.
Refer to Fig. 1, Fig. 4 and Fig. 5, the local leg member 38 of Tu4Wei embodiment of the present invention robot 30 and the local leg member 38 of internal mechanism schematic diagram ，Tu5Wei embodiment of the present invention robot 30 of local shank member 40 and the internal mechanism exploded perspective view of local shank member 40.As shown in Fig. 1, Fig. 4 and Fig. 5, robot 30 further includes a shank rotating mechanism 52, and it is used for connecting rotationally leg member 38 and shank member 40.Shank rotating mechanism 52 includes a shank actuated piece 521, and it is arranged in leg member 38.Shank actuated piece 521 is used for producing torsion, uses as shank member 40 and rotates required power resources relative to leg member 38.In this embodiment, shank actuated piece 521 can be a stepper motor, and it is used for producing torsion to drive shank member 40 to rotate, but not limit by this.For instance, shank actuated piece 521 also can be a servo motor.That is to say, so long as can be used to produce the electro-motor element of torsion, in the category of all protecting in the present invention.
In addition, shank rotating mechanism 52 further includes a shank drive link 523, a shank gear member 525 and a shank actuation gear part 527.Shank drive link 523 is articulated in leg member 38 and is fixed in shank member 40, and shank gear member 525 is incorporated into shank drive link 523, and shank actuation gear part 527 is incorporated into shank actuated piece 521 and is engaged in shank gear member 525.When shank actuated piece 521 starts, shank actuated piece 521 produces torsion to drive shank actuation gear part 527 central shafts along shank actuated piece 521 to rotate.Now, because shank actuation gear part 527 is engaged in shank gear member 525, therefore shank actuation gear part 527 just can be used to transmit torsion that shank actuated piece 521 produces to shank gear member 525, uses and drives shank gear member 525 to rotate along the axis (being the central axis of shank drive link 523) of the central shaft perpendicular to shank actuated piece 521.
In addition, because shank gear member 525 is incorporated into shank drive link 523, when shank gear member 525 driven and while rotating along the axis (being the central axis of shank drive link 523) perpendicular to the central shaft of shank actuated piece 521, shank gear member 525 just can drive shank drive link 523 simultaneously, so that shank drive link 523 drives shank member 40, relative to leg member 38, the central axis along shank drive link 523 rotates.In other words, the mechanism design by above-mentioned shank actuation gear part 527 with shank gear member 525, the axial-rotation that the present invention can produce shank actuated piece 521 moves, and changes a bending action of shank member 40 relative leg members 38 into.In this embodiment, shank gear member 525 is a wrom tooth wheel, and shank actuation gear part 527 is a worm screw, but not limit by this.In other words, so long as can be used to drive shank gear member 525 along the gear mechanism design of axis (being the central axis of the shank drive link 523) rotation of the central shaft perpendicular to shank actuated piece 521, in the category of all protecting in the present invention.
Refer to the local trunk of Fig. 1 and Tu6，Tu6Wei embodiment of the present invention robot 30 portion member 32 and the local above internal mechanism exploded perspective view of arm member 42.As shown in Fig. 1 and Fig. 6, robot 30 further includes one first upper arm rotating mechanism 54 and one second upper arm rotating mechanism 56, the first upper arm rotating mechanism 54 is used for driving arm member 42 to rotate along the first axial X1 relative to trunk portion member 32, and the second upper arm rotating mechanism 56 is used for driving arm member 42 to rotate along the second axial X2 that is different from the first axial X1 relative to trunk portion member 32.In other words, the upper arm member 42 of robot 30 of the present invention can rotate along the first axial X1 or along the second axial X2 relative to trunk portion member 32.That is to say, robot 30 of the present invention one has the robot of multiaxis rotating mechanism.In this embodiment, the first axial X1 is in fact perpendicular to the second axial X2.
Refer to Fig. 6 and Fig. 7, Fig. 7 is that the embodiment of the present invention the first upper arm rotating mechanism 54 and the second upper arm rotating mechanism 56 are at the internal mechanism exploded perspective view at another visual angle.As shown in Fig. 6 and Fig. 7, the first upper arm rotating mechanism 54 includes a joint connector 541 and one first actuated piece 543.One first end P1 of joint connector 541 is arranged in arm member 44, and the first actuated piece 543 is arranged in trunk portion member 32 and is connected in a second end P2 of joint connector 541.In this embodiment, the first end P1 of joint connector 541 is a U character form structure, and the second end P2 of joint connector 541 is a sleeve structure.When assembling the first actuated piece 543 and joint connector 541, the second end P2(that the torsion output shaft of the first actuated piece 543 can be inserted in to joint connector 541 in the mode of close-fitting is sleeve structure) in, use and fix the torsion output shaft of the first actuated piece 543 and the second end P2 of joint connector 541.
So, when the first actuated piece 543 starts, the torsion that the first actuated piece 543 produces just can driving joint connector 541 along the first axial X1(the first actuated piece 543 torsion output shaft axially) rotation.Now, joint connector 541 just can drive arm member 42 to rotate along the first axial X1 relative to trunk portion member 32.In other words, the first upper arm rotating mechanism 54 can be used to drive the relative trunk of arm member 42 portion member 32 to do a wobbling action.In this embodiment, the first actuated piece 543 can be a stepper motor, and it is used for producing torsion to drive upper arm member 42 to rotate, but not limit by this.For instance, the first actuated piece 543 also can be a servo motor.That is to say, so long as can be used to produce the electro-motor element of torsion, in the category of all protecting in the present invention.
In addition, as shown in Figure 6, the first upper arm rotating mechanism 54 further includes a fixture 545, and it is used for fixing the first actuated piece 543 on trunk parts 32.In this embodiment, the mode that fixture 545 can riveted is incorporated into the first actuated piece 543, but not limit by this.For instance, fixture 545 also can spot welding or the solid mode of spiral shell be incorporated into the first actuated piece 543.In other words, so long as can be used to the design in conjunction with fixture 545 and the first actuated piece 543, in the category of all protecting in the present invention.At assembling fixture 545 during with trunk parts 32, the mode that fixture 545 can riveted is incorporated into trunk portion member 32, uses and fixes the first actuated piece 543 on trunk parts 32, but not limit by this.For instance, fixture 545 also can spot welding or the solid mode of spiral shell be incorporated into trunk portion member 32.In other words, so long as can be used to the structural design with trunk parts 32 in conjunction with fixture 545, in the category of all protecting in the present invention.
As shown in Fig. 6 and Fig. 7, the second upper arm rotating mechanism 56 includes one second actuated piece 561, and it is arranged in arm member 42.The second actuated piece 561 is used for producing torsion, uses as upper arm member 42 and rotates required power resources relative to trunk portion member 32.In this embodiment, the second actuated piece 561 can be a stepper motor, and it is used for producing torsion to drive upper arm member 42 to rotate, but not limit by this.For instance, the second actuated piece 561 also can be a servo motor.That is to say, so long as can be used to produce the electro-motor element of torsion, in the category of all protecting in the present invention.
In addition, the second upper arm rotating mechanism 56 further includes a drive link 563, a gear member 565 and an actuation gear part 567.Drive link 563 runs through the second end P2 of joint connector 541 and is fixed in upper arm member 42 in the mode of pivot joint, and gear member 565 is incorporated into drive link 563, and actuation gear part 567 is incorporated into actuated piece 561 and is engaged in gear member 565.When actuated piece 561 starts, actuated piece 561 produces torsion to drive actuation gear part 567 to rotate along the central shaft of actuated piece 561.Now, because actuation gear part 567 is engaged in gear member 565, therefore actuation gear part 567 just can be used to transmit torsion that actuated piece 561 produces to gear member 565, using driven wheel part 565 is the central axis of drive link 563 along the second axial X2() rotate.
In addition, because gear member 565 is incorporated into drive link 563, when gear member 565 driven and be the central axis of drive link 563 along the second axial X2() while rotating, gear member 565 just can drive drive link 563 simultaneously, so that drive link 563 drives upper arm member 42 to rotate along the second axial X2 relative to trunk portion member 32.In other words, the mechanism design by above-mentioned actuation gear part 567 with gear member 565, the axial-rotation action that the present invention can produce actuated piece 561, changes one of the relative trunk of upper arm member 42 portion member 32 into and opens entire action.In this embodiment, gear member 565 is a wrom tooth wheel, and actuation gear part 567 is a worm screw, but not limit by this.In other words, so long as can be used to driven wheel part 565 along the gear mechanism design of axis (being the central axis of the drive link 563) rotation of the central shaft perpendicular to actuated piece 561, in the category of all protecting in the present invention.
In addition, as shown in Fig. 6 and Fig. 7, the second upper arm rotating mechanism 56 further includes a pedestal 569, and it is arranged in arm member 42.When assembling pedestal 569 and upper arm member 42, the mode that pedestal 569 can engage is incorporated into arm member 42, uses fixed conveyor bar 563, gear member 565 and the second actuated piece 561 in upper arm member 42, but not limit by this.For instance, pedestal 569 also can the solid mode of spiral shell be incorporated into arm member 42.In other words, so long as can be used to the structural design with upper arm member 42 in conjunction with pedestal 569, in the category of all protecting in the present invention.
Refer to Fig. 1, Fig. 8 and Fig. 9, the local upper arm member 42 of Tu8Wei embodiment of the present invention robot 30 and the local upper arm member 42 of internal mechanism schematic diagram ，Tu9Wei embodiment of the present invention robot 30 of local front arm member 44 and the internal mechanism exploded perspective view of local front arm member 44.As shown in Fig. 1, Fig. 8 and Fig. 9, robot 30 further includes a forearm rotation mechanism 58, and it is used for connecting rotationally arm member 42 and front arm member 44.Forearm rotation mechanism 58 includes a forearm actuated piece 581, and it is arranged in arm member 42.Forearm actuated piece 581 is used for producing torsion, uses as front arm member 44 and rotates required power resources relative to upper arm member 42.In this embodiment, forearm actuated piece 581 can be a stepper motor, and it is used for producing torsion to drive front arm member 44 to rotate, but not limit by this.For instance, forearm actuated piece 581 also can be a servo motor.That is to say, so long as can be used to produce the electro-motor element of torsion, in the category of all protecting in the present invention.
In addition, forearm rotation mechanism 58 further includes a forearm drive link 583, a forearm gear member 585 and a forearm actuation gear part 587.Forearm drive link 583 is articulated in arm member 42 and is fixed in front arm member 44, and forearm gear member 585 is incorporated into forearm drive link 583, and forearm actuation gear part 587 is incorporated into forearm actuated piece 581 and is engaged in forearm gear member 585.When forearm actuated piece 581 starts, forearm actuated piece 581 produces torsion to drive forearm actuation gear part 587 central shafts along forearm actuated piece 581 to rotate.Now, because forearm actuation gear part 587 is engaged in forearm gear member 585, therefore forearm actuation gear part 587 just can be used to transmit torsion that forearm actuated piece 581 produces to forearm gear member 585, uses and drives forearm gear member 585 to rotate along the axis (being the central axis of forearm drive link 583) of the central shaft perpendicular to forearm actuated piece 581.
In addition, because forearm gear member 585 is incorporated into forearm drive link 583, current arm gear part 585 is driven and while rotating along the axis (being the central axis of forearm drive link 583) perpendicular to the central shaft of forearm actuated piece 581, forearm gear member 585 just can drive forearm drive link 583 simultaneously, so that forearm drive link 583 drives front arm member 44, relative to upper arm member 42, the central axis along forearm drive link 583 rotates.In other words, the mechanism design by above-mentioned forearm actuation gear part 587 with forearm gear member 585, the axial-rotation action that the present invention can produce forearm actuated piece 581, changes the bending action that front arm member 44 is gone up arm member 42 relatively into.In this embodiment, forethiga gear member 585 is a wrom tooth wheel, and forearm actuation gear part 587 is a worm screw, but not limit by this.In other words, so long as can be used to drive forearm gear member 585 along the gear mechanism design of axis (being the central axis of the forearm drive link 583) rotation of the central shaft perpendicular to forearm actuated piece 581, in the category of all protecting in the present invention.
Refer to Fig. 1 and Figure 10, Figure 10 is the element exploded perspective view of embodiment of the present invention robot 30 local front arm members 44 and local hand member 46.As shown in Fig. 1 and Figure 10, robot 30 further includes a hand rotating mechanism 60, and it is used for connecting rotationally front arm member 44 and hand member 46.Hand rotating mechanism 60 includes a hand actuated piece 601, and it is arranged in front arm member 44.In this embodiment, hand actuated piece 601 can be a stepper motor, and it is used for producing torsion to drive hand member 46 to rotate, but not limit by this.For instance, hand actuated piece 601 also can be a servo motor.That is to say, so long as can be used to produce the electro-motor element of torsion, in the category of all protecting in the present invention.
In addition, hand rotating mechanism 60 further includes a hand shaft coupling 603, and it is connected in hand member 46 and hand actuated piece 601.When hand actuated piece 601 starts, hand shaft coupling 603 can be used to transmit torsion that hand actuated piece 601 produces to hand member 46, uses and drives hand member 46 to rotate.So, the hand member 46 of robot 30 just can rotate relative to the front arm member 44 of robot 30.And being used for transmitting the element of torsion, the present invention can be not limited to described in this embodiment.For instance, the present invention also can utilize a torque force limiting device to replace hand shaft coupling 603.That is to say, so long as can be used to transmit the element of torsion, in the category of all protecting in the present invention.As for adopting above-mentioned whichever design, it is looked closely actual demand and determines.
Refer to Figure 11, Figure 11 is the function block schematic diagram of embodiment of the present invention robot 30.As shown in figure 11, robot 30 further includes a processing module 62, and it is respectively coupled to head actuated piece 481, waist actuated piece 501, shank actuated piece 521, the first actuated piece 543, the second actuated piece 561, forearm actuated piece 581 and hand actuated piece 601.In addition, robot 30 can further include an operational module 64, and it is coupled to processing module 62.User can utilize operational module 64 to produce an operational order, and operational module 64 can be sent to operational order processing module 62.Then, the operational order that processing module 62 just can transmit according to operational module 64 is drive head actuated piece 481, waist actuated piece 501, shank actuated piece 521, the first actuated piece 543, the second actuated piece 561, forearm actuated piece 581 and hand actuated piece 601 respectively, uses and starts respectively head rotating mechanism 48, waist rotating mechanism 50, shank rotating mechanism 52, the first upper arm rotating mechanism 54, the second upper arm rotating mechanism 56, forearm rotation mechanism 58 and hand rotating mechanism 60.By this, robot 30 just can carry out an action of respective operations instruction, for example, change the posture of robot 30, uses the convenience increasing on using.
In this embodiment, operational module 64 can be one and shakes and defend, and it can be arranged on the outside of robot 30, and shakes and defend (being operational module 64) and can wired mode be coupled to processing module 62, but not limit by this.For instance, shake and defend (being operational module 64) and also can be coupled to wirelessly processing module 62.As for adopting above-mentioned whichever design, it is looked closely actual demand and determines.And operational module 64 can be not limited to described in this embodiment, for instance, operational module 64 also can be a keyboard.In other words, so long as can be used to produce the operational module 64 of the input unit of operational order, in the category of all protecting in the present invention.
In addition, robot 30 can further include an audio module 66 and a sensing module 68.Audio module 6 is respectively coupled to processing module 62 with sensing module 68, and audio module 66 can be used to send sound wave, and sensing module 68 can be used to sensing one object, such as human body etc.For instance, when user is near robot 30, sensing module 68 is can sensing user close, and then produces a transducing signal and transmit transducing signal to processing module 62.Now, processing module 62 just can be according to transducing signal drive head actuated piece 481, waist actuated piece 501, shank actuated piece 521, the first actuated piece 543, the second actuated piece 561, forearm actuated piece 581, hand actuated piece 601 and audio module 66, use an action of carrying out corresponding transducing signal, such as greeting to user or starting to carry out clothing show action etc.
Compared to prior art, robot of the present invention has head rotating mechanism, waist rotating mechanism, shank rotating mechanism, the first upper arm rotating mechanism, the second upper arm rotating mechanism, forearm rotation mechanism and hand rotating mechanism, above-mentioned rotating mechanism is used for driving the member of corresponding robot, so that robot can change posture, increase the convenience on using.In addition, the first upper arm rotating mechanism and the second upper arm rotating mechanism can be distinguished driven machine people's upper arm member along first axial and the second axial start, that is to say, robot of the present invention has multiaxis to rotating mechanism so that robot can carry out multiaxis to rotational action.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (16)
1. a robot with multiaxis rotating mechanism, is characterized in that, described robot includes:
One trunk portion member;
Arm member on one, it is coupled to described trunk portion member rotationally;
One first upper arm rotating mechanism, it includes:
One joint connector, one first end is arranged in described upper arm member; And
One first actuated piece, it is arranged in described trunk portion member and is connected in a second end of described joint connector, and described the first actuated piece is used for driving described joint connector to drive the relatively described trunk of described upper arm member portion member along the first axial rotation; And
One second upper arm rotating mechanism, it includes:
One second actuated piece, it is arranged in described upper arm member, and described the second actuated piece is used for producing torsion;
One drive link, its mode with pivot joint runs through the described first end of described joint connector and is fixed in described upper arm member;
One gear member, it is incorporated into described drive link; And
One actuation gear part, it is incorporated into described the second actuated piece and is engaged in described gear member, described actuation gear part is used for transmitting torsion that described the second actuated piece produces to described gear member, uses and drives described gear member and described drive link to drive the relative described trunk portion's member of described upper arm member edge to be different from described first axial the second axial rotation.
2. robot as claimed in claim 1, is characterized in that, described gear member is a wrom tooth wheel, and described actuation gear part is a worm screw.
3. robot as claimed in claim 1, is characterized in that, described first axially in fact perpendicular to described second axial.
4. robot as claimed in claim 1, is characterized in that, described robot further includes:
One head component; And
One head rotating mechanism, it is used for connecting rotationally described trunk portion's member and described head component, and described head rotating mechanism includes:
One head actuated piece, it is arranged in described trunk portion member; And
One head shaft coupling, it is connected in described head component and described head actuated piece, and described head shaft coupling is used for transmitting torsion that described head actuated piece produces to described head component, uses and drives described head component to rotate.
5. robot as claimed in claim 1, is characterized in that, described robot further includes:
One front arm member; And
One forearm rotation mechanism, it is used for connecting rotationally described upper arm member and described front arm member,
Described forearm rotation mechanism includes:
One forearm actuated piece, it is arranged in described upper arm member, and described forearm actuated piece is used for producing torsion;
One forearm drive link, it is articulated in described upper arm member and is fixed in described front arm member;
One forearm gear member, it is incorporated into described forearm drive link; And
One forearm actuation gear part, it is incorporated into described forearm actuated piece and is engaged in described forearm gear member, described forearm actuation gear part is used for transmitting torsion that described forearm actuated piece produces to described forearm gear member, uses and drives described forearm gear member and the described upper arm member of described forearm drive link drive to rotate relative to described trunk portion member.
6. robot as claimed in claim 5, is characterized in that, described forearm gear member is a wrom tooth wheel, and described forearm actuation gear part is a worm screw.
7. robot as claimed in claim 5, is characterized in that, described robot further includes:
One hand member; And
One hand rotating mechanism, it is used for connecting rotationally described front arm member and described hand member,
Described hand rotating mechanism includes:
One hand actuated piece, it is arranged in described front arm member; And
One hand shaft coupling, it is connected in described hand member and described hand actuated piece, and described hand shaft coupling is used for transmitting torsion that described hand actuated piece produces to described hand member, uses and drives described hand member to rotate relative to described front arm member.
8. robot as claimed in claim 1, is characterized in that, described robot further includes:
One waist member; And
One waist rotating mechanism, it is used for connecting rotationally described trunk portion's member and described waist member, and described waist rotating mechanism includes:
One waist actuated piece, it is arranged in described waist member; And
One waist shaft coupling, it is connected in described trunk portion's member and described waist actuated piece, and described waist shaft coupling is used for transmitting torsion that described waist actuated piece produces to described waist member, uses and drives described trunk portion member to rotate relative to described waist member.
9. robot as claimed in claim 8, is characterized in that, described robot further includes:
One little leg member;
One leg member, it is connected in described waist member; And
One shank rotating mechanism, it is used for connecting rotationally described leg member and described little leg member,
Described shank rotating mechanism includes:
One shank actuated piece, it is arranged in described leg member, and described shank actuated piece is used for producing torsion;
One shank drive link, it is articulated in described leg member and is fixed in described little leg member;
One shank gear member, it is incorporated into described shank drive link; And
One shank actuation gear part, it is incorporated into described shank actuated piece and is engaged in described shank gear member, described shank actuation gear part is used for transmitting torsion that described shank actuated piece produces to described shank gear member, uses and drives described shank gear member to rotate relative to described leg member with the described little leg member of described shank drive link drive.
10. robot as claimed in claim 9, is characterized in that, described shank gear member is a wrom tooth wheel, and described shank actuation gear part is a worm screw.
11. robots as claimed in claim 1, it further includes:
One operational module, it is used for producing an operational order; And
One processing module, it is respectively coupled to described the first actuated piece, described the second actuated piece and described operational module, and the described operational order that described processing module is used for transmitting according to described operational module drives described the first actuated piece and described the second actuated piece to carry out an action of corresponding described operational order.
12. robots as claimed in claim 11, is characterized in that, described robot further includes:
One audio module, it is coupled to described processing module, and described audio module is used for sending sound wave.
13. robots as claimed in claim 12, is characterized in that, described robot further includes:
One sensing module, it is coupled to described processing module, described sensing module is used for producing a transducing signal and transmits described transducing signal to described processing module, and described processing module is used for driving described the first actuated piece, described the second actuated piece or described audio module to carry out an action of corresponding described transducing signal according to described transducing signal.
14. robots as claimed in claim 1, is characterized in that, described the first rotating mechanism further includes:
One fixture, it is used for fixing described the first actuated piece on described trunk parts.
15. robots as claimed in claim 1, is characterized in that, described the second rotating mechanism further includes:
One pedestal, it is arranged in described upper arm member, described pedestal be used for fixing described drive link,
Described gear member and described the second actuated piece are in described upper arm parts.
16. robots as claimed in claim 1, is characterized in that, described the first actuated piece and described the second actuated piece are respectively a stepper motor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101129243 | 2012-08-13 | ||
| TW101129243A TW201406508A (en) | 2012-08-13 | 2012-08-13 | Robot with multiple rotation mechanisms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103586869A true CN103586869A (en) | 2014-02-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310002377.6A Pending CN103586869A (en) | 2012-08-13 | 2013-01-05 | Robot with multi-axis rotating mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN103586869A (en) |
| TW (1) | TW201406508A (en) |
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| CN105011642B (en) * | 2015-08-14 | 2018-08-21 | 哈尔滨工大服务机器人有限公司 | A kind of ten six degree of freedom clothes Robot models |
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Also Published As
| Publication number | Publication date |
|---|---|
| TW201406508A (en) | 2014-02-16 |
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Application publication date: 20140219 |