CN104108102A - Mechanical arm of bionic robot - Google Patents
Mechanical arm of bionic robot Download PDFInfo
- Publication number
- CN104108102A CN104108102A CN201410317934.8A CN201410317934A CN104108102A CN 104108102 A CN104108102 A CN 104108102A CN 201410317934 A CN201410317934 A CN 201410317934A CN 104108102 A CN104108102 A CN 104108102A
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- CN
- China
- Prior art keywords
- paw
- drive motors
- wrist
- worm screw
- manipulator
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- Legal status (The legal status 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 status listed.)
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Abstract
The invention discloses a mechanical arm of a bionic robot. The mechanical arm is characterized by comprising a wrist driving motor (7) for controlling the wrist to move and a paw driving motor (4) for driving the palm to move, the wrist driving motor (7) is connected with the paw driving motor (4) through a connecting support (5), the paw driving motor (4) is connected with a worm gear (1) and a worm (2) through a shaft coupler (3), and the worm (2) is fixedly connected with a paw (6). By means of the mechanical arm of the structure, enough clamping force is achieved, a certain opening-closing angle is achieved, the sufficient intensity and the sufficient rigidity are achieved, an object can be grabbed, loads of a robot body can be borne when the robot walks, stable walking can be achieved, and the mechanical arm is simple, light and handy in structure.
Description
Technical field
The present invention relates to a kind of manipulator, relate in particular to a kind of manipulator of bio-robot.
Background technology
The move mode of robot mainly comprises sufficient formula, wheeled and crawler type.Wherein wheeled and crawler type speed of related movement is very fast, but to the adaptive capacity of complicated ground a little less than.Legged type robot is stronger to rugged natural ground adaptive capacity to environment, can be the in the situation that of harmless barrier across obstacle.
Generally the pedipulator of sufficient formula bio-robot and manipulator are separately designs, and its complex structure, controls difficulty large.Thereby cause its high cost, be unsuitable for applying of sufficient formula bio-robot.
Summary of the invention
The object of the invention is to address the above problem, a kind of manipulator of bio-robot is provided, this manipulator can be used as equally standby pedipulator and uses.
The technical solution used in the present invention is: a kind of manipulator of bio-robot, comprise the wrist drive motors of control " wrist " motion and the paw drive motors of control " palm " motion, described wrist drive motors is connected by connection bracket with paw drive motors, described paw drive motors connects turbine and worm screw by shaft coupling, the affixed paw of described worm screw.
As a further improvement on the present invention, described paw is " eight " shape, and when turbine drives worm screw 2, worm screw is controlled paw and realizes crawl function.
As of the present invention, further improve, described turbine, worm screw, shaft coupling, paw drive motors, support and wrist drive motors are arranged in the shell inner cavity that compression damping material is made.
As of the present invention, further improve, the crawl working face of described paw is provided with pressure sensor.
The beneficial effect that the present invention adopts is: adopt the manipulator of this structure, have enough clamping forces, certain switching angle, enough strength and stiffness, can capture object, also can when robot ambulation, bear load and the stabilized walking of fuselage, and simple in structure, light and handy.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention.
Shown in figure: 1 turbine, 2 worm screws, 3 shaft couplings, 4 paw drive motors, 5 connection brackets, 6 paws, 7 wrist drive motors.
The specific embodiment
Below in conjunction with Fig. 1, the present invention is described further.
As shown in Figure 1, a kind of manipulator of bio-robot, comprise the wrist drive motors 7 of control " wrist " motion and control the paw drive motors 4 that " palm " moves, described wrist drive motors 7 is connected by connection bracket 5 with paw drive motors 4, described paw drive motors 4 connects turbine 1 and worm screw 2, the affixed paw 6 of described worm screw 2 by shaft coupling 3.The revolving structure of whole wrist is all arranged in connection bracket 5, and when capturing object, the revolving structure of wrist is rotated by shaft coupling driven gear by wrist drive motors 7, thereby drives the revolution of paw structural entity.When special circumstances need paw walking, paw is closed, reinforcement intensity, and realizes walking function by the work of wrist drive motors.
For realizing and capture function more accurately, described paw 6 is " eight " shape, and when turbine 2 drives worm screw 2, worm screw 2 is controlled paw 6 realizations and captures function.
In order to guarantee the life-span of manipulator, minimizing is in impulsive force during face pressurized reposefully not, adopt the compression damping material of surge buffering accumulated energy to make shell, and turbine 1, worm screw 2, shaft coupling 3, paw drive motors 4, support 5 and wrist drive motors 7 is included.
For better ensureing the control of the grasp force of paw, at the crawl working face of paw 6, pressure sensor is installed.
Adopt the manipulator of this structure, there is enough clamping forces, certain switching angle, enough strength and stiffness, can capture object, also can when robot ambulation, bear load and the stabilized walking of fuselage, and simple in structure, light and handy.
Those skilled in the art should know; protection scheme of the present invention is not limited only to the above embodiments; can also on the basis of above-described embodiment, carry out various permutation and combination and conversion; under the prerequisite without prejudice to spirit of the present invention, the various conversion that the present invention is carried out all drop in protection scope of the present invention.
Claims (4)
1. the manipulator of a bio-robot, the paw drive motors (4) that it is characterized in that comprising the wrist drive motors (7) of control " wrist " motion and control " palm " motion, described wrist drive motors (7) is connected by connection bracket (5) with paw drive motors (4), described paw drive motors (4) connects turbine (1) and worm screw (2), the affixed paw of described worm screw (2) (6) by shaft coupling (3).
2. the manipulator of a kind of bio-robot according to claim 1, is characterized in that described paw (6) is " eight " shape, and when turbine (2) drives worm screw (2), worm screw (2) is controlled paw (6) and realizes crawl function.
3. the manipulator of a kind of bio-robot according to claim 1 and 2, is characterized in that described turbine (1), worm screw (2), shaft coupling (3), paw drive motors (4), support (5) and wrist drive motors (7) are arranged in the shell inner cavity that compression damping material is made.
4. the manipulator of a kind of bio-robot according to claim 3, is characterized in that the crawl working face of described paw (6) is provided with pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410317934.8A CN104108102A (en) | 2014-07-07 | 2014-07-07 | Mechanical arm of bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410317934.8A CN104108102A (en) | 2014-07-07 | 2014-07-07 | Mechanical arm of bionic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104108102A true CN104108102A (en) | 2014-10-22 |
Family
ID=51705191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410317934.8A Pending CN104108102A (en) | 2014-07-07 | 2014-07-07 | Mechanical arm of bionic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104108102A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109677865A (en) * | 2018-12-07 | 2019-04-26 | 王燕 | A kind of Pharmacy's automatic drug supplying transport device |
| CN109794920A (en) * | 2019-02-27 | 2019-05-24 | 燕山大学 | A kind of bionical restructural rescue robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1511680A (en) * | 2002-12-26 | 2004-07-14 | 哈尔滨工业大学 | Multiple joint human-imitating robot arm |
| CN101372097A (en) * | 2008-09-12 | 2009-02-25 | 山东大学 | Tower type robot arm and paw suitable for service location |
| CN101664927A (en) * | 2009-09-15 | 2010-03-10 | 华南理工大学 | Modularized biomimetic climbing robot |
| US20120177473A1 (en) * | 2011-01-12 | 2012-07-12 | Bradley Kenneth Smith | Gripper Assembly for Bottles for Pharmaceutical Prescriptions |
| CN203510232U (en) * | 2013-07-01 | 2014-04-02 | 洛阳理工学院 | Mechanical clamping device of explosive-handling robot |
-
2014
- 2014-07-07 CN CN201410317934.8A patent/CN104108102A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1511680A (en) * | 2002-12-26 | 2004-07-14 | 哈尔滨工业大学 | Multiple joint human-imitating robot arm |
| CN101372097A (en) * | 2008-09-12 | 2009-02-25 | 山东大学 | Tower type robot arm and paw suitable for service location |
| CN101664927A (en) * | 2009-09-15 | 2010-03-10 | 华南理工大学 | Modularized biomimetic climbing robot |
| US20120177473A1 (en) * | 2011-01-12 | 2012-07-12 | Bradley Kenneth Smith | Gripper Assembly for Bottles for Pharmaceutical Prescriptions |
| CN203510232U (en) * | 2013-07-01 | 2014-04-02 | 洛阳理工学院 | Mechanical clamping device of explosive-handling robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109677865A (en) * | 2018-12-07 | 2019-04-26 | 王燕 | A kind of Pharmacy's automatic drug supplying transport device |
| CN109794920A (en) * | 2019-02-27 | 2019-05-24 | 燕山大学 | A kind of bionical restructural rescue robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141022 |