CN107088880A - A kind of robot arm - Google Patents
A kind of robot arm Download PDFInfo
- Publication number
- CN107088880A CN107088880A CN201710335991.2A CN201710335991A CN107088880A CN 107088880 A CN107088880 A CN 107088880A CN 201710335991 A CN201710335991 A CN 201710335991A CN 107088880 A CN107088880 A CN 107088880A
- Authority
- CN
- China
- Prior art keywords
- shoulder
- elbow
- wrist
- turns
- motor
- Prior art date
- 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.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 claims abstract description 102
- 238000005452 bending Methods 0.000 claims abstract description 7
- 230000006870 function Effects 0.000 abstract description 8
- 230000009471 action Effects 0.000 abstract description 7
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 210000004247 hand Anatomy 0.000 abstract description 3
- MFRCZYUUKMFJQJ-UHFFFAOYSA-N 1,4-dioxane-2,5-dione;1,3-dioxan-2-one Chemical compound O=C1OCCCO1.O=C1COC(=O)CO1 MFRCZYUUKMFJQJ-UHFFFAOYSA-N 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
A kind of robot arm, including shoulder, upper arm, elbow, underarm, wrist and paw, one end connection shoulder of the upper arm, the other end of the upper arm is connected to the underarm by elbow, the other end of the underarm connects paw by wrist, the supporting plate of connection right and left shoulders is provided between the robot right and left shoulders, rotation and bending motion can be achieved in the shoulder and wrist, and the elbow can realize rotary motion；The present invention be it is a kind of can freely look for fetch bit to put, the six degree of freedom mechanical arm of autonomous pattern conversion, both hands armlet button and independently two functions of crawl are reached, take article and and take action support, alternative three-freedom mechanical arm and fixing arm in home-services robot can be carried out.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of robot arm.
Background technology
Because instrument is increasingly advanced, technology constantly improves, and for robot, the direction used is also from script institute
The industrial field of limitation is gradually extended to house and service type aspect, and design concept also constantly changes and entered because of character of use
Change, following robot can be increasingly incorporated in the life range of daily people.So for the mankind, servicing humanoid robot
All it is in the future indispensable either in terms of family, health care, social activity, the function of robot also increasingly tends to polynary
Change, and in view of under Working Environments where people now, the human-like robotic arm of class of multi-joint axle relatively can adapt in the mankind
In various working environments, different gestures are changed by robotic arm and give people multi-functional assistance and interaction to reach.Work as robot
When being worked with people's coexistence in surroundings, it is necessary to consider that under people's different situations state, people's mesh can be captured in time
Preceding information, and give appropriate required response.
Robot can be for the problem of human resources shortage, assistance the elderly, which has, to be replied certainly on solution nursing old people
The ability of main movement, but because the accessory robot that takes action in the prior art is moved towards with single accessory function, and according to daily
Living needs, takes or submits and give people to be one of function for being required the most, although have many scholars to be studied all on its field,
But two functions can seldom be integrated, make the assistance of robot more complete.
The content of the invention
For problems of the prior art, the invention provides a kind of robot arm, it can freely look for fetch bit
Put, the six degree of freedom mechanical arm of autonomous pattern conversion, can carry out taking article with and action help, it is alternative in family's clothes
The three-freedom mechanical arm and fixing arm of business robot.
The technical solution adopted in the present invention is：A kind of robot arm, including shoulder, upper arm, elbow, underarm, wrist
And paw, one end connection shoulder of the upper arm, the other end of the upper arm is connected to the underarm, the underarm by elbow
The other end paw is connected by wrist, the supporting plate of connection right and left shoulders, institute are provided between the robot right and left shoulders
State shoulder and wrist and rotation and bending motion can be achieved, the elbow can realize rotary motion.
It is preferred that, the shoulder includes shoulder rotating part and shoulder lifts part, and the shoulder rotating part is arranged at
Above the supporting plate, the shoulder lift unit point is arranged at the shoulder rotating shaft, and the shoulder rotating part turns including shoulder
Motor and shoulder turn slowdown module, and the shoulder turns that slowdown module turns deceleration belt pulley including shoulder and shoulder turns reductor, and the shoulder turns to subtract
Fast belt pulley turns motor positioned at the shoulder and shoulder turns in the middle of reductor, and the shoulder turns the output shaft connection shoulder lift unit of motor
Point, the shoulder lift unit point includes shoulder lift motor and shoulder lift slowdown module, and the shoulder lift slowdown module includes shoulder and lifts deceleration skin
Belt wheel and shoulder lift reductor, the shoulder lift deceleration belt pulley are located at the shoulder and lifted in the middle of motor and shoulder lift reductor.
It is preferred that, the elbow is used to connect upper arm and underarm, and the elbow includes elbow rotating part, and the elbow turns
Dynamic part turns motor including elbow and elbow turns slowdown module, and the elbow turns slowdown module and turns deceleration belt pulley, the first elbow turn including elbow
Reductor and the second elbow turn reductor, and first elbow turns reductor and is vertically arranged in the Medial upper arm, the elbow turn motor,
Elbow turns deceleration belt pulley and the second elbow turns reductor and be arranged on the first elbow to turn below reductor, and the elbow turns deceleration belt pulley setting
Turn one end of motor in elbow, the elbow turns that deceleration belt tension turns motor in elbow and the second elbow turns on the outside of reductor, described first
Elbow turns reductor and also turns motor with elbow to be connected.
It is preferred that, the wrist includes wrist rotation part and wrist lifts part, and the wrist rotation part is arranged on
Wrist lifts upper, and the wrist rotation part turns motor including wrist and wrist turns reductor, and it is vertical that the wrist turns reductor
It is arranged on inside the underarm, the wrist turns motor and wrist and turns reductor and be connected and be arranged on wrist to turn below reductor, the wrist
Portion's lift unit point includes wrist lift motor and wrist lift reductor, and the wrist lift reductor is horizontally set on wrist rotation beneath portions,
The wrist lift reductor is set on wrist lift motor drive shaft.
It is preferred that, the paw is arranged on below wrist, and the paw includes gripper motor and two folder portions, the paw
Motor is arranged on below wrist, and a folder portion of the paw is linear, and another folder portion of the paw is inside from centre
Bending, the end of the paw is provided with groove.
It is preferred that, the robot arm has six-freedom degree.
It is preferred that, the ancon is provided with torsion torque sensor.
The beneficial effect that the present invention reaches is：The invention provides a kind of robot arm, it can freely look for fetch bit to put,
The six degree of freedom mechanical arm of autonomous pattern conversion, can reach both hands armlet button and independently two functions of crawl, Ke Yijin
Capable take article and and take action support, alternative three-freedom mechanical arm and fixing arm in home-services robot.
Brief description of the drawings
The present invention is further described below in conjunction with the accompanying drawings,
Fig. 1 is the front view of robot arm of the present invention；
Fig. 2 is the structural representation of robot arm shoulder rotating part in the present invention；
Fig. 3 is the structural representation that robot arm shoulder lifts part in the present invention；
Fig. 4 is the structural representation of the elbow rotating part of robot connection upper arm in the present invention
Fig. 5 is the structural representation of the elbow rotating part of robot connection underarm in the present invention；
Fig. 6 is the structural representation of robot wrist's rotating part in the present invention；
Fig. 7 is the structural representation that robot wrist lifts part in the present invention；
Fig. 8 is the structural representation of robot hand in the present invention；
Wherein, 1, shoulder, 11, shoulder rotating part, 111, shoulder turn motor, 112, shoulder turn slowdown module, 113, shoulder turn deceleration skin
Belt wheel, 114, shoulder turn reductor, 12, shoulder lift part, 121, shoulder lift motor, 122, shoulder lift slowdown module, 123, shoulder lift subtracts
Fast belt pulley, 124, shoulder lift reductor, 13, supporting plate, 2, upper arm, 3, elbow, 31, elbow rotating part, 32, elbow turn motor,
33rd, elbow turns slowdown module, 34, elbow turn deceleration belt pulley, the 35, first elbow turns reductor, and the 36, second elbow turns reductor, 4, underarm,
5th, wrist, 51, wrist rotation part, 511, wrist turn motor, 512, wrist turn reductor, 52, wrist lift part, 521, wrist lift horse
Reach, 522, wrist lift reductor, 6, paw, 61, gripper motor, 62, folder portion, 63, groove.
Embodiment
The embodiment to the present invention is described further below in conjunction with the accompanying drawings.
The technical solution adopted in the present invention is：As shown in Figures 1 to 8, a kind of robot arm, including shoulder 1, upper arm
2nd, elbow 3, underarm 4, wrist 5 and paw 6, one end connection shoulder 1 of the upper arm 2, the other end of the upper arm 2 pass through elbow
3 are connected to the underarm 4, and the other end of the underarm 4 is connected between paw 6, the robot right and left shoulders 1 by wrist 5
The supporting plate 13 of connection right and left shoulders is provided with, rotation and bending motion, the elbow 3 can be achieved in the shoulder 1 and wrist 5
Rotary motion can be achieved.
It is preferred that scheme be that the shoulder 1 includes shoulder rotating part 11 and shoulder and lifts part 12, and the shoulder is rotated
Part 11 is arranged at the top of supporting plate 13, and the shoulder lifts part 12 and is arranged at the rotating shaft of shoulder 1, the shoulder
Rotating part 11 turns motor 111 including shoulder and shoulder turns slowdown module 112, and the shoulder turns slowdown module 112 and turns deceleration skin including shoulder
Belt wheel 113 and shoulder turn reductor 114, and the shoulder turns that deceleration belt pulley 113 turns motor 111 positioned at the shoulder and shoulder turns reductor
In the middle of 114, the output shaft connection shoulder that the shoulder turns motor 111 lifts part 12, and the shoulder lifts part 12 and lifted including shoulder
Motor 121 and shoulder lift slowdown module 122, the shoulder lift slowdown module 122 include shoulder and lift deceleration belt pulley 123 and shoulder lift reductor
124, the shoulder lift deceleration belt pulley 123 is located at the shoulder and lifted in the middle of motor 121 and shoulder lift reductor 124.
In body to shoulder part, the present invention is configured with shoulder rotating part 11 and shoulder lifts part 12, turns in shoulder
Dynamic part 11, its shoulder turns slowdown module 112 and has used deceleration device twice, and first time deceleration device utilizes speed reducing ratio 1:4 when
Rule shoulder turns deceleration belt pulley 113 and slowed down, and shoulder turns deceleration belt pulley 113 and be assemblied in shoulder and turn motor 111 to subtract with harmonious formula shoulder turn
In the middle of fast machine 114, second of deceleration device is then to utilize speed reducing ratio 1:The 120 harmonious formula shoulder of high torsion, which turns reductor 114, to be carried out
Slow down, as shown in Figure 2.It is identical with shoulder rotating part 11 that the shoulder lifts part 12, includes deceleration device twice, the lift of its shoulder
Deceleration belt pulley 123 and harmonious formula shoulder lift reductor 124 selection and shoulder lift deceleration belt pulley 123 lead agency all with shoulder
As portion's rotating part 11, first with speed reducing ratio 1:4 when rule shoulder lift deceleration belt pulley 123 carries out first time deceleration, recycles
Speed reducing ratio 1:The 120 harmonious formula shoulder lift reductor 124 of high torsion carries out secondary deceleration, and in the shoulder lift connection of reductor 124
The part of arm 2 is supported using four groups of L types posts, as shown in Figure 3.
It is preferred that scheme be that the elbow 3 is used to connect upper arm 2 and underarm 4, and the elbow 3 includes elbow rotating part
31, the elbow rotating part 31 turns motor 32 including elbow and elbow turns slowdown module 33, and the elbow, which turns slowdown module 33, includes elbow
Turn deceleration belt pulley 34, the first elbow and turn the elbow of reductor 35 and second to turn reductor 36, first elbow turns reductor 35 and set vertically
Put in the inner side of the upper arm 2, the elbow turns motor 32, elbow and turns the elbow of deceleration belt pulley 34 and second and turn reductor 36 to be arranged on first
Elbow turns the lower section of reductor 35, and the elbow turns deceleration belt pulley 34 and is arranged on one end that elbow turns motor 32, and the elbow turns deceleration belt
It is stretched in elbow and turns the elbow of motor 32 and second and turn the outside of reductor 36, first elbow turns reductor 35 and also turns the phase of motor 32 with elbow
Even.
In the part of elbow 3, the free degree of elbow rotation and the free degree of about one bending, elbow are configured with
Rotation directly utilizes 1:120 elbow of harmonious formula first turns reductor and turns motor 32 with elbow and combined to be slowed down, as shown in Figure 4.Hand
Shoulder rotating part 11 is continued to use in bending above and below elbow and shoulder lifts the design of part 12, is with speed reducing ratio 1:4 when rule elbow turns to subtract
Fast belt pulley 34 carries out the deceleration of first time, then by 1:The 120 harmonious elbow of formula second of high torsion, which turns reductor 36, to be carried out second
Deceleration, as shown in Figure 5.
Due to consideration that when Robot Dual-Arm is combined, force scope of the user on robot bottom right arm and relax
Appropriateness, therefore by the increase of the length of two underarms 4 of robot, also because of that, chest breadth also needs to increase to the latch closure machine for making both hands arm
Structure can be combined.
It is preferred that scheme be that the wrist 5 includes wrist rotation part 51 and wrist and lifts part 52, the wrist rotation
Part 51 is arranged on wrist and lifts the top of part 52, and the wrist rotation part 51 turns motor 511 including wrist and wrist turns reductor
512, the wrist turns reductor 512 and is vertically arranged in inside the underarm 4, and the wrist turns motor 511 and turns the phase of reductor 512 with wrist
Connect and be arranged on wrist and turn the lower section of reductor 512, the wrist lifts part 52 and lifts motor 521 and wrist lift reductor 522 including wrist,
The wrist lift reductor 522 is horizontally set on the lower section of wrist rotation part 51, and the wrist lift reductor 522 is set in wrist lift motor
On 521 axles.
Wrist includes wrist rotation part 51 and wrist lifts part 52, is respectively moved down in wrist spinning movement and wrist
Action, wrist rotation part 51 directly utilizes 1:100 harmonious formula wrist turns reductor 512 and turns motor 511 with wrist to engage progress
Slow down, as shown in Figure 6.Wrist is lifted in part 52, because the influence of back clearance many relatively small compared to for above several axles,
So wrist lift reductor 522 is directly bonded on motor drive shaft using with the same maxon planetary speed reducers of motor, and with only
Paying screw enables motor to be combined closely with mechanism element, as shown in Figure 7.
It is preferred that scheme be that the paw 6 is arranged on the lower section of wrist 5, the paw 6 includes gripper motor 61 and two folders
Portion 62, the gripper motor 61 is arranged on the lower section of wrist 5, a folder portion of the paw 6 be it is linear, the paw 6 it is another
One folder portion curves inwardly from centre, and the end of the folder portion 62 is provided with groove 63.
The part of the folding of paw 6 is provided with one degree of freedom, can complete the most frequently used in mankind's daily life
Action, for example：Hold a pen, by bottle, by cup etc..The shape of the paw 6 takes the external form of similar claw, the paw folder portion
62 one groove of Front-end Design, main purpose is able to do an action held a pen, and the complications in the middle of finger, purpose
Then it is able to pick up the simple object of general external form, type of drive using the reductor of genuine is entered with gripper motor 61
After row slows down, 1 is utilized:1 gear mechanism drives paw, and its gripper motor axle is on gear part with set screw with being done
With reference to.
It is preferred that, the robot arm has six-freedom degree.The six-freedom degree of the robot arm can be divided into
Three parts are constituted, respectively shoulder, elbow and wrist, and wherein shoulder has two frees degree, elbow to have two frees degree, with
And wrist is made up of two frees degree.
It is preferred that, the ancon is provided with torsion torque sensor.
For robot arm, it is contemplated that shoulder to wrist joint considers the factor of pinpoint accuracy, using DC servo
Motor is arranged in pairs or groups, and reaches the pinpoint accuracy of positioning, in motor from upper, employs the DC servo that MAXON companies are produced
Motor, contains d.c. motor, reductor and the part of encoder three.
In view of arm weight and the demand of motor torque itself, therefore arm joint is divided into 4 kinds of different size torsion
Grade, be respectively（The axle of shoulder two）2 RE-35,（Elbow axle）1 RE-Max29,（Wrist rotates）1 RE-25 and
（Above and below wrist）1 RE-Max24, totally 5 motor configurations are on an arm of robot, because the axle load of shoulder two
The weight of whole arm, thus using big torsion motor specification, elbow partly because burden lower arms weight, with shoulder
Comparatively two axle motors, bear smaller, therefore the motor of torsion drives in selecting, and wrist rotation and wrist top and the bottom
Point, weight is relatively smaller compared to above each axle, so from the motor of small torsion.Paw section, then be to utilize
FAULHABER d.c. motor drives paw, due to consideration that paw needs enough grips to deal with different weight
Object is captured, so reaching from the motor of higher torsion.
And in the part of motor control, it is divided into shoulder to the two kinds of controls of wrist and independent paw, first, shoulder to wrist
It is the motor using MAXON, therefore uses the same DC servomotor controller EPOS 24/ produced by MAXON
1 and EPOS2 24/5.Encoder numerical value can be directly read by flat cable and controls motor to carry out position control, speed
Several controls such as control and current control, control mode used in the present invention is that position is controlled and speed control, position control
For example same loop circuit of its control mode is made, after a position command is assigned, controller can constantly read encoder readings and be subject to
Control motor error correction is to reach set order, and the mode corrected controls for PID, and this patent can be adjusted by PID
Each parameter, making the error correction efficiency of controller has appropriate performance, and speed control is also control after speed command tripping in
Device also can constantly read encoder readings, until the input of subsequent command.And control gripper motor to be straight from FAULHABER
Servo motor is flowed, its control mode is the DSP motion control cards researched and developed using this laboratory, and its core is produced for TI
TMS320F240DSP processors.This DSP does not only have PWM outputs and can be used for motor speed command, also includes QEP decodings
Circuit, can directly read shaft encoder signals, as the feedback signal of speed control.The function of this motion control card is according to meter
The speed command that generator terminal is assigned is calculated, stable PWM signals is exported and gives motor servo-driver, and record shaft encoder institute
The motor rotary speed information of passback, and the pulse number that every 51ms returns shaft encoder makes computer can pass through pulse wave to computer terminal
Number calculates motor rotary speed.And the function of motor servo-driver is amplified to receive the PWM signals of motion control card, and utilizing
PWM signals afterwards carry out drive motor.
In terms of material of the present invention, since it is considered that robot arm needs its weight of mitigation to make configuration on robot
Motor burden reduction, so the aluminium alloy for the advantages of employing light weight and high intensity is used as material, the material of spindle portion
For steel, it is therefore an objective to inaccurate caused by reduction loss deformation, and then it is to utilize L type aluminium extruded types in robot overall structure
Supported design mode improves the structural strength of part.
Above is presently preferred embodiments of the present invention, not makees any formal limitation, every foundation to the present invention
The technical spirit of the present invention belongs to inventive technique to any simple modification made for any of the above embodiments, equivalent variations and modification
In the range of scheme.
Claims (7)
1. a kind of robot arm, it is characterised in that including shoulder, upper arm, elbow, underarm, wrist and paw, the upper arm
One end connects shoulder, and the other end of the upper arm is connected to the underarm by elbow, and the other end of the underarm passes through wrist
Connect the supporting plate that connection right and left shoulders is provided between paw, the robot right and left shoulders, the shoulder and wrist
Rotation and bending motion are realized, the elbow can realize rotary motion.
2. a kind of robot arm according to claim 1, it is characterised in that the shoulder include shoulder rotating part and
Shoulder lifts part, and the shoulder rotating part is arranged above the supporting plate, and the shoulder lift unit point is arranged on described
At shoulder rotating shaft, the shoulder rotating part turns motor including shoulder and shoulder turns slowdown module, and the shoulder, which turns slowdown module, includes shoulder
Turn deceleration belt pulley and shoulder turn reductor, the shoulder turns that deceleration belt pulley turns motor positioned at the shoulder and shoulder turns in the middle of reductor,
The output shaft connection shoulder that the shoulder turns motor lifts part, and the shoulder lift unit point includes shoulder lift motor and shoulder lift deceleration mould
Block, the shoulder lift slowdown module includes shoulder and lifts deceleration belt pulley and shoulder lift reductor, and the shoulder lift deceleration belt pulley is located at described
Shoulder is lifted in the middle of motor and shoulder lift reductor.
3. a kind of robot arm according to claim 1, it is characterised in that the elbow is used to connect upper arm with
Arm, the elbow includes elbow rotating part, and the elbow rotating part turns motor including elbow and elbow turns slowdown module, the elbow
Turn slowdown module and turn that deceleration belt pulley, the first elbow turn reductor and the second elbow turns reductor including elbow, first elbow turns to slow down
Machine is vertically arranged in the Medial upper arm, and the elbow turns that motor, elbow turn deceleration belt pulley and the second elbow turns reductor and is arranged on
One elbow turns below reductor, and the elbow turns deceleration belt pulley and is arranged on one end that elbow turns motor, and the elbow turns deceleration belt tension
Turn motor in elbow and the second elbow turns on the outside of reductor, first elbow turns reductor and also turn motor with elbow to be connected.
4. a kind of robot arm according to claim 1, it is characterised in that the wrist include wrist rotation part and
Wrist lifts part, and the wrist rotation part is arranged on wrist and lifts upper, and the wrist rotation part turns including wrist
Motor and wrist turn reductor, and the wrist turns reductor and is vertically arranged in inside the underarm, and the wrist turns motor and turns to slow down with wrist
Machine, which is connected and is arranged on wrist, to be turned below reductor, and the wrist lift unit point includes wrist lift motor and wrist lift reductor, the wrist
Lift reductor is horizontally set on wrist rotation beneath portions, and the wrist lift reductor is set on wrist lift motor drive shaft.
5. a kind of robot arm according to claim 1, it is characterised in that the paw is arranged on below wrist, institute
Stating paw includes gripper motor and two folder portions, and the gripper motor is arranged on below wrist, and a folder portion of the paw is
Linearly, another folder portion of the paw curves inwardly from centre, and the end of the paw is provided with groove.
6. a kind of robot arm according to claim 1, it is characterised in that the robot arm has six freedom
Degree.
7. a kind of robot arm according to claim 1, it is characterised in that the ancon is provided with torsion torque sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710335991.2A CN107088880A (en) | 2017-05-12 | 2017-05-12 | A kind of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710335991.2A CN107088880A (en) | 2017-05-12 | 2017-05-12 | A kind of robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107088880A true CN107088880A (en) | 2017-08-25 |
Family
ID=59638195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710335991.2A Pending CN107088880A (en) | 2017-05-12 | 2017-05-12 | A kind of robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107088880A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972046A (en) * | 2017-12-23 | 2018-05-01 | 华南理工大学广州学院 | A kind of feast robot |
| CN108527308A (en) * | 2018-04-24 | 2018-09-14 | 邢明的 | A kind of firefighting movable crawl rescue robot |
| CN110039509A (en) * | 2019-05-14 | 2019-07-23 | 西安工业大学 | A kind of wired home robot and its method |
| CN110270993A (en) * | 2019-07-29 | 2019-09-24 | 永嘉县信达智能设备制造有限公司 | Robot shoulder structure |
| CN110340934A (en) * | 2018-04-04 | 2019-10-18 | 西南科技大学 | A kind of bionic mechanical arm with anthropomorphic characteristic |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029130A (en) * | 2012-12-05 | 2013-04-10 | 长春工业大学 | Humanoid robot |
| CN103465272A (en) * | 2013-09-29 | 2013-12-25 | 哈尔滨工业大学 | Six-degree-of-freedom humanoid robot arm |
| CN104440873A (en) * | 2014-11-03 | 2015-03-25 | 贵州亿丰升华科技机器人有限公司 | Robot arm with six degrees of freedom |
| KR20160116445A (en) * | 2015-03-30 | 2016-10-10 | 경남대학교 산학협력단 | Intelligent tools errands robot |
| CN206937331U (en) * | 2017-05-12 | 2018-01-30 | 江苏信息职业技术学院 | A kind of robot arm |
-
2017
- 2017-05-12 CN CN201710335991.2A patent/CN107088880A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029130A (en) * | 2012-12-05 | 2013-04-10 | 长春工业大学 | Humanoid robot |
| CN103465272A (en) * | 2013-09-29 | 2013-12-25 | 哈尔滨工业大学 | Six-degree-of-freedom humanoid robot arm |
| CN104440873A (en) * | 2014-11-03 | 2015-03-25 | 贵州亿丰升华科技机器人有限公司 | Robot arm with six degrees of freedom |
| KR20160116445A (en) * | 2015-03-30 | 2016-10-10 | 경남대학교 산학협력단 | Intelligent tools errands robot |
| CN206937331U (en) * | 2017-05-12 | 2018-01-30 | 江苏信息职业技术学院 | A kind of robot arm |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972046A (en) * | 2017-12-23 | 2018-05-01 | 华南理工大学广州学院 | A kind of feast robot |
| CN107972046B (en) * | 2017-12-23 | 2024-03-19 | 华南理工大学广州学院 | Feast robot |
| CN110340934A (en) * | 2018-04-04 | 2019-10-18 | 西南科技大学 | A kind of bionic mechanical arm with anthropomorphic characteristic |
| CN108527308A (en) * | 2018-04-24 | 2018-09-14 | 邢明的 | A kind of firefighting movable crawl rescue robot |
| CN110039509A (en) * | 2019-05-14 | 2019-07-23 | 西安工业大学 | A kind of wired home robot and its method |
| CN110270993A (en) * | 2019-07-29 | 2019-09-24 | 永嘉县信达智能设备制造有限公司 | Robot shoulder structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107088880A (en) | A kind of robot arm | |
| CN205889243U (en) | People's arm is imitated to modularization | |
| CN202964653U (en) | Horizontal multi-joint robot | |
| CN106945023A (en) | Organ removing manipulator, arm and method | |
| CN206937331U (en) | A kind of robot arm | |
| CN104708637A (en) | Human-simulated mechanical arm | |
| CN103465272A (en) | Six-degree-of-freedom humanoid robot arm | |
| CN101204815A (en) | Seven degrees of freedom copy man arm of air-powered artificial muscle drive | |
| CN105798905A (en) | Six-axis intelligent carrying mechanical hand for stamping | |
| CN107263526A (en) | A kind of multifunctional light quantification service joint of robot module | |
| CN201881384U (en) | Arm mechanism of planar multi-joint robot | |
| CN102476383A (en) | Planar articulated robot arm mechanism | |
| CN103448070A (en) | Tail end structure of multipurpose manipulator | |
| CN107322582A (en) | A kind of six degree of freedom biomimetic manipulator | |
| CN102699907A (en) | Three-degree-of-freedom mobile decoupling parallel robot mechanism | |
| CN107717978A (en) | A kind of industrial robot | |
| CN106003008A (en) | Intelligent motor device of humanoid robot | |
| Hoshino et al. | Pinching with finger tips in humanoid robot hand | |
| CN203636817U (en) | Wrist transmission component of selective compliance assembly robot arm | |
| CN105479451B (en) | A kind of planar redundant robot | |
| CN107803832A (en) | A kind of control system of robot leg guy structure | |
| CN108748232B (en) | Grabbing manipulator | |
| CN109854691B (en) | Direction-changing transmission mechanism | |
| CN202702239U (en) | Six-freedom-degree mechanical arm device for teaching | |
| CN206967487U (en) | A kind of Bevel Gear Transmission modularized joint mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170825 |
|
| RJ01 | Rejection of invention patent application after publication |