CN107351123A - A kind of robot arm - Google Patents
A kind of robot arm Download PDFInfo
- Publication number
- CN107351123A CN107351123A CN201710807270.7A CN201710807270A CN107351123A CN 107351123 A CN107351123 A CN 107351123A CN 201710807270 A CN201710807270 A CN 201710807270A CN 107351123 A CN107351123 A CN 107351123A
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- CN
- China
- Prior art keywords
- housing
- arm housing
- motor
- robot
- arm
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of robot arm, in addition to：Rotating seat, big arm housing, small arm housing and hand housing；The big arm housing connects one end of the small arm housing, is connected on the rotating seat；The small arm housing connects one end of the big arm housing, is set in outside first connector, and first motor is located at the forearm enclosure interior；The hand housing is integrated with the small arm housing or package assembly.A kind of robot arm provided by the invention, the arm rotary swing mechanism is compact-sized, it is installed to again between big arm housing and small arm housing after the completion of other rotary swing mechanism is composable, and greatly between arm housing and upper body housing, significantly improve installation effectiveness, and the action of simulation human elbow and shoulder joint, wherein elbow joint have two frees degree, shoulder has two frees degree.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of robot arm.
Background technology
Robot is to lean on self power and control ability to realize a kind of machine of various functions, and it can both receive the mankind
Commander, can run the program of advance layout again, can also be according to the principle guiding principle action formulated with artificial intelligence technology.
Classification for robot, although in the world without unified standard, typically can be according to application field, use
On the way, the standard such as structure type, the free degree, load and control mode is classified.According to the difference of application field, China at present
Robot mainly have two kinds, i.e. industrial robot and specialized robot.Industrial robot, the i.e. multi-joint towards industrial circle
Manipulator or multi-freedom robot.Divide by purposes, industrial robot can be divided into transfer robot, welding robot, assembling
Robot, vacuum robot, robot palletizer, paint-spray robot, cutting robot, clean-room robot etc..
As the Cenozoic in family of robot, the particularly severe definition of service robot still neither one, various countries' science
Family is also not quite similar to its view.Wherein, the higher definition of degree of recognition comes from international alliance of robot（International
Federationof Robotics, IFR）Formulation：" service robot is the robot of a kind of semi-autonomous or full utonomous working,
It can complete the healthy services that is beneficial to man, but not include manufacturing-oriented equipment ".And China exists《It is long-term in country
Scientific and technological development planning outline（2006-2020）》In definition to service robot be that " intellect service robot is
The integrated intelligent equipment of a variety of high-tech of essential service is provided for the mankind under non-structure environment ".Service robot can be thin
It is divided into individual, domestic robot, professional service robot.
The time of occurrence of service robot is later than industrial robot, just formally climbs up the arena of history nineties in last century.
From the point of view of current state of development, global service robot is still in the starting stage, and Market Orientation is not high, but due to by simple
The influence that rigidly driving and development in science and technology promote such as manpower shortage and aging population, service robot industry development are very fast
Speed, application are also progressively expanding.Service robot divides according to its application field, mainly including individual/home-care service machine
Device people and the major class of professional service robot two.Wherein, individual/household service robot mainly includes educational robot, sweeper
Device people, amusement robot, disability auxiliary robot etc.；Professional service robot mainly include national defence robot, field robot,
Medical robot, merchandising machine people etc..
Robot intelligence make upgrading it is irresistible, with domestic workforce population increasing option, labour accounts for the ratio of total population
Example is also gliding rapidly, and future will face the situation of labor shortage, and demographic dividend will also disappear therewith.Current maximally effective side
Method is exactly to carry out manufacturing automatic updating transformation.Government vigorously support with the pulling of conventional industries transition and upgrade,
Robot concept will be lasting hot, and market participates in temperature and continues to rise.
Robot still needs to strengthen research and development ability, and domestic industry robot starts late, and has preliminarily formed industrialization at present,
It has been born some fully reinforced mark post enterprises, but overall innovation ability lags behind advanced international standard, it is advanced with the world
Manufacturing power gap is still more apparent.Break technology barriers reduce cost, break through major products to middle and high end manufacture stride forward, also need
Strengthen Personnel System Construction, put into more research and development strengths and time energy.
Service robot will catch up with and surpass, and aging population aggravation instantly and labor cost rise violently, and other society's rigidity need
Ask and increase, under the driving of such background, the popularization of service robot turns into inevitable.In addition, in this emerging industry, Chinese development
Degree and foreign gap are smaller, develop characteristic demand scene with reference to mainland culture, can obtain competitive advantage.Therefore, service-delivery machine
People's industry has bigger opportunity and space, or will turn into future robot manufacturing industry main force, and the market share is inestimable.
Support policy will tend to specification, and domestic Robot industry draws because of the market space of government's advantage policy and great potential
Carry out a large amount of capitals of following the wind, overheat hidden danger be present, to alleviate the trend of robot industry blind expansion and " high-end industry is low-end ",
Further specification is improved and encourages support system by government, and the ordering of power-assisted market is formed, and promotes the benign sane hair of robot industry
Exhibition.
With the development of science and technology the research application field of robot is constantly extending, the wherein research of human emulated robot
Common concern is particularly subject to application, and as one of most active study hotspot in field in intelligent robotics, apery type machine
People mainly by robot arm complete task, but existing many robot arms exist articulation structure it is too fat to move and control
The shortcomings of cumbersome.
Such as a kind of light-weight service robot arms disclosed in Chinese patent (CN101780673B), its by reductor and
Motor, which coordinates, drives each joint action so that the robot arm is complicated, further, since by robot arm installing space
Limitation, reductor can only use the speed reducer drive of microminiature realize arms swing function, but the valency of the reductor of microminiature
Lattice are higher.
The content of the invention
It is an object of the invention to provide a kind of robot arm, the robot arm that is used for of production cost can be reduced
Rotary swing mechanism and include the robot arm of the rotary swing mechanism and the robot comprising the robot arm.
In order to achieve the above object, the invention provides a kind of robot arm, in addition to：Rotating seat, big arm housing
100th, small arm housing 200 and hand housing 300；
The big arm housing 100 connects one end of the small arm housing 200, is connected on the rotating seat；
The small arm housing 200 connects one end of the big arm housing 100, is set in outside first connector 402, and described
First motor 401 is located inside the small arm housing 200；The hand housing 300 and the small 200 integrated knot of arm housing
Structure or package assembly.
Preferably, the big arm housing 100 connects one end of the small arm housing 200, is connected on the rotating seat, bag
Include：
The one end of the big arm housing 100 away from the small arm housing 200, is set in outside first connector 402, and described
First motor 401 is located in the big arm housing 100；The big arm housing 100, the small arm housing 200 and the hand shell
It is package assembly or/and integral structure between the three of body 300.
Preferably, the rotary swing mechanism for robot arm also includes the second motor 421, the second connector
422 and flange 423.
Preferably, the flange 423 is fixed on the rotating seat, and the flange 423 connects second motor 421
Output shaft, the output shaft axis of second motor 421 are mutually perpendicular to the axis of support shaft 415.
Preferably, second motor 421 is fixed on second connector 422, and second connector 422 is located at
Between second motor 421 and the flange 423；
Preferably, the big arm housing 100 connects one end of the small arm housing 200, is socketed in outside the second connector 422, and
Second motor 421 is located inside the big arm housing 100.
Preferably, it is assembling knot between the big arm housing, the small arm housing 200 and the three of hand housing 300
Structure or/and integral structure.
Preferably, the output shaft of the output shaft of first motor 401 and the second motor 421 can be coaxially disposed, the first electricity
The motor 421 of machine 401 and second can be brush DC planetary reducing motor.
Compared with prior art, the beneficial effects of the present invention are:
A kind of robot arm of present invention offer, including including：Rotating seat, big arm housing, small arm housing and hand housing, and greatly
It is package assembly or/and integral structure between arm housing, small arm housing and hand housing three.The rotation of the robot arm
Swing mechanism is compact-sized, is installed to again between big arm housing and small arm housing after the completion of rotary swing mechanism is composable in addition,
And greatly between arm housing and upper body housing, installation effectiveness is improved, and the action of human elbow and shoulder joint is simulated, wherein
Elbow joint has two frees degree, and shoulder has two frees degree.
Brief description of the drawings
, below will be to the present invention or prior art in order to illustrate more clearly of technical scheme of the invention or of the prior art
The required accompanying drawing used is briefly described in description, it should be apparent that, drawings in the following description are only the present invention's
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other accompanying drawings.
The first schematic diagram of the structure of Fig. 1 robot arms.
Second of schematic diagram of the structure of Fig. 2 robot arms.
The third schematic diagram of the structure of Fig. 3 robot arms.
Wherein, 100：Big arm housing, 200：Small arm housing, 300：Hand housing, 401：First motor, 402：First connection
Part, 421：Second motor, 422：Second connector:423：Flange.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Below by specific embodiment, the present invention will be described in detail.
Referring to a kind of schematic diagram of the structure of Fig. 1 robot arms, including it is as follows：
Including a rotary swing mechanism, and big arm housing 100, small arm housing 200 and hand housing 300, big arm housing 100
One end of small arm housing 200 is connected, is connected on rotating seat, small arm housing 200 connects one end of big arm housing 100, is set in
Outside first connector 402, and the first motor 401 is located inside small arm housing 200；Hand housing 300 can be with small arm housing 200
Integral structure or package assembly.
In other embodiments, the one end of big arm housing 100 away from small arm housing 200, it is set in the first connector 402
Outside, and the first motor 401 is located in big arm housing 100, big arm housing 100, small arm housing 200 and the three of hand housing 300 it
Between be package assembly and/or integral structure.
Referring to Fig. 2 and Fig. 3, the rotary swing mechanism for robot arm also includes the second motor 421, the second connector
422 and flange 423, flange 423 be fixed on rotating seat, flange 423 connect the second motor 421 output shaft, the second motor 421
Output shaft axis be mutually perpendicular to the axis of support shaft 415, wherein the second motor 421 is fixed on the second connector 422, second
Connector 422 is between the second motor 421 and flange 423, and now, big arm housing 100 connects one end of small arm housing 200,
It can be socketed in outside the second connector 422, and the second motor 421 is located inside big arm housing 100.
The output shaft of the output shaft of first motor 401 and the second motor 421 can be coaxially disposed.
First motor 401 and the second motor 421 can be brush DC planetary reducing motor.
Embodiment provided in an embodiment of the present invention, the big arm housing 100 connect one end of the small arm housing 200, even
It is connected on the rotating seat；The small arm housing 200 connects one end of the big arm housing 100, is set in first connection
Outside part 402, and first motor 401 is located inside the small arm housing 200；The hand housing 300 and the forearm shell
Body 200 is integrated or package assembly.Rotary swing mechanism is compact-sized, after the completion of rotary swing mechanism is composable in addition
It is installed to again between big arm housing and small arm housing, and improves installation effectiveness, and mould between arm housing and upper body housing greatly
Intend the action of human elbow and shoulder joint, wherein elbow joint has two frees degree, and shoulder has two frees degree.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
Each embodiment in this specification is described by the way of related, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent substitution and improvements made within the spirit and principles in the present invention etc., are all contained in protection scope of the present invention
It is interior.
Claims (8)
- A kind of 1. robot arm, it is characterised in that including：Rotating seat, big arm housing（100）, small arm housing（200）And hand Housing（300）；The big arm housing（100）Connect the small arm housing（200）One end, and be connected on the rotating seat；The small arm housing（200）Connect the big arm housing（100）One end, be set in first connector（402）Outside, And first motor（401）Positioned at the small arm housing（200）It is internal；The hand housing（300）With the small arm housing （200）It is integrated or package assembly.
- A kind of 2. robot arm according to claim 1, it is characterised in that the big arm housing（100）Described in connection Small arm housing（200）One end, be connected on the rotating seat, including：The big arm housing（100）Away from the small arm housing（200）One end, be set in first connector（402）Outside, And first motor（401）Positioned at the big arm housing（100）It is interior.
- 3. a kind of robot arm according to claim 1, it is characterised in that the rotation for robot arm is put Motivation structure also includes the second motor（421）, the second connector（422）And flange（423）.
- A kind of 4. robot arm according to claim 3, it is characterised in that the flange（423）It is fixed on the rotation On swivel base, the flange（423）Connect second motor（421）Output shaft, second motor（421）Output shaft axle Line is mutually perpendicular to the axis of support shaft 415.
- A kind of 5. robot arm according to claim 3, it is characterised in that second motor（421）It is fixed on institute State the second connector（422）On, second connector（422）Positioned at second motor（421）With the flange（423）It Between.
- A kind of 6. robot arm according to claim 3, it is characterised in that the big arm housing（100）Described in connection Small arm housing（200）One end, be socketed in the second connector（422）Outside, and second motor（421）Positioned at the large arm shell Body（100）It is internal.
- A kind of 7. robot arm according to claim 2, it is characterised in that the big arm housing（100）, the forearm Housing（200）With the hand housing（300）It is package assembly or/and integral structure between three.
- 8. according to a kind of robot arm described in claim 1 and 3, it is characterised in that first motor（401）Output Axle and the second motor（421）Output shaft can be coaxially disposed, the first motor（401）With the second motor（421）Can be direct current without Brush planetary reducing motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710807270.7A CN107351123A (en) | 2017-09-08 | 2017-09-08 | A kind of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710807270.7A CN107351123A (en) | 2017-09-08 | 2017-09-08 | A kind of robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107351123A true CN107351123A (en) | 2017-11-17 |
Family
ID=60291003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710807270.7A Withdrawn CN107351123A (en) | 2017-09-08 | 2017-09-08 | A kind of robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107351123A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112587370A (en) * | 2020-12-14 | 2021-04-02 | 南京励智心理大数据产业研究院有限公司 | Wearable upper limb flexible rehabilitation robot |
| CN117381848A (en) * | 2022-07-05 | 2024-01-12 | 苏州艾利特机器人有限公司 | Differential low inertia arm |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120010749A1 (en) * | 2010-04-09 | 2012-01-12 | Deka Products Limited Partnership | System and apparatus for robotic device and methods of using thereof |
| CN106313009A (en) * | 2016-10-19 | 2017-01-11 | 哈工大机器人集团上海有限公司 | Multi-joint robot |
| CN106564050A (en) * | 2016-10-19 | 2017-04-19 | 哈工大机器人集团上海有限公司 | Multi-joint model robot |
| CN106625646A (en) * | 2016-12-01 | 2017-05-10 | 哈工大机器人集团上海有限公司 | Rotating swing mechanism for robot arms, robot arms and robot |
| CN206536467U (en) * | 2016-12-01 | 2017-10-03 | 哈工大机器人集团上海有限公司 | A kind of rotary swing mechanism, robot arm and robot for robot arm |
-
2017
- 2017-09-08 CN CN201710807270.7A patent/CN107351123A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120010749A1 (en) * | 2010-04-09 | 2012-01-12 | Deka Products Limited Partnership | System and apparatus for robotic device and methods of using thereof |
| CN106313009A (en) * | 2016-10-19 | 2017-01-11 | 哈工大机器人集团上海有限公司 | Multi-joint robot |
| CN106564050A (en) * | 2016-10-19 | 2017-04-19 | 哈工大机器人集团上海有限公司 | Multi-joint model robot |
| CN106625646A (en) * | 2016-12-01 | 2017-05-10 | 哈工大机器人集团上海有限公司 | Rotating swing mechanism for robot arms, robot arms and robot |
| CN206536467U (en) * | 2016-12-01 | 2017-10-03 | 哈工大机器人集团上海有限公司 | A kind of rotary swing mechanism, robot arm and robot for robot arm |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112587370A (en) * | 2020-12-14 | 2021-04-02 | 南京励智心理大数据产业研究院有限公司 | Wearable upper limb flexible rehabilitation robot |
| CN117381848A (en) * | 2022-07-05 | 2024-01-12 | 苏州艾利特机器人有限公司 | Differential low inertia arm |
| CN117381848B (en) * | 2022-07-05 | 2024-06-04 | 苏州艾利特机器人有限公司 | Differential low inertia arm |
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| 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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171117 |