CN107877539A - Building block system joint and robot arm - Google Patents
Building block system joint and robot arm Download PDFInfo
- Publication number
- CN107877539A CN107877539A CN201711342790.1A CN201711342790A CN107877539A CN 107877539 A CN107877539 A CN 107877539A CN 201711342790 A CN201711342790 A CN 201711342790A CN 107877539 A CN107877539 A CN 107877539A
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- building block
- block system
- joint
- driver
- swing component
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention provides a kind of building block system joint, including：Swing mechanism, including driver and swing component mutually hinged, the driver are used to drive the swing component to swing；Slew gear, including the output end being arranged on the swing component, the output end can realize circular motion, and the driver, the swing component stack gradually distribution with the output end in building block system, and the direction that distribution is stacked gradually axially along the building block system of the output end is arranged.Present invention also offers a kind of robot arm, including at least one of shoulder joint, large arm, elbow joint, forearm and the wrist joint being sequentially connected, the shoulder joint, the elbow joint and the wrist joint is the building block system joint.Building block system joint provided by the invention and robot arm, there is building block system distributed architecture, the uniformity with height is transmitted with motion, there is the advantages of reliable delicate structure, motion, stable performance.
Description
Technical field
The invention belongs to robotic technology field, is a kind of building block system joint and robot arm specifically.
Background technology
Joint is the critical component of robot, directly determines freedom of motion and the flexibility of robot.Joint has rotation
Rotating shaft, the relative rotary motion such as human arm.Usually, joint needs preferable kinematic dexterity and sensitivity.
With the appearance and development of anthropomorphic robot, the effect more shape in joint is important.Particularly robot arm is, it is necessary to height
The arm structure of the degree simulation mankind is, it is necessary to introduce a variety of articulation structures such as shoulder joint, elbow joint, wrist joint, and make each joint
A synergistically body running.Obviously, the brand-new development trend of robot arm, configuration flexibility and stability to joint propose
Brand-new technical requirements.
At present, robot arm is more tight using the articulated ways such as electric pushrod, steering wheel rotation traction, or motion jitter
Weight and influence precision, or structure is too fat to move and influence configuration flexibility, or even causes serious motion conflict and interference.With more
On the robot arm of joint conspiracy relation, existing articulate structure problem is more prominent, the serious hair for restricting robot arm
Exhibition.
The content of the invention
For overcome the deficiencies in the prior art, the invention provides a kind of building block system joint and robot arm, has product
Wooden formula distributed architecture, the uniformity with height is transmitted with motion, there is the advantages of reliable delicate structure, motion, stable performance.
The purpose of the present invention is achieved through the following technical solutions：
A kind of building block system joint, including：
Swing mechanism, including driver and swing component mutually hinged, the driver are used to drive the swing component to put
It is dynamic；
Slew gear, including the output end being arranged on the swing component, the output end can realize circular motion, institute
State driver, the swing component and the output end stack gradually distribution in building block system, the output end axially along the product
Wooden formula stacks gradually the direction arrangement of distribution.
As the improvement of above-mentioned technical proposal, the hinged end between the driver and the swing component has embedded junction
Structure.
As the further improvement of above-mentioned technical proposal, the hinged end of the swing component has c-type structure, the driver
Hinged end insertion be installed on the opening of the c-type structure.
As the further improvement of above-mentioned technical proposal, the swing of the swing component is plane rocking, and with the swing
The jointed shaft of part and the driver is axle.
As the further improvement of above-mentioned technical proposal, the slew gear is installed on described including rotary support with insertion
Revolution driving portion on rotary support, the rotary support are fixedly connected with the one end of the swing component away from the driver,
The described one end of revolution driving portion away from the swing component has the output end.
A kind of robot arm, including shoulder joint, large arm, elbow joint, forearm and the wrist joint being sequentially connected, the shoulder joint
At least one of section, the elbow joint and described wrist joint are the building block system joint described in any of the above item, and the building block system closes
Driver, swing component and the output end of section stack gradually along direction of the robot arm away from robot shoulder in building block system
Distribution.
As the improvement of above-mentioned technical proposal, the shoulder joint is the building block system joint, the drive in the building block system joint
The dynamic bearing of trend of device, swing component and output end along the large arm stacks gradually distribution in building block system, the building block system joint
Driver is used to be fixedly connected with the robot shoulder, and the output end in the building block system joint is fixedly connected with the large arm.
As the further improvement of above-mentioned technical proposal, the elbow joint is the building block system joint, and the building block system closes
Bearing of trend of driver, swing component and the output end of section along the forearm stacks gradually distribution, the building block system in building block system
The driver in joint is fixedly connected with the large arm, and the output end in the building block system joint is fixedly connected with the forearm.
As the further improvement of above-mentioned technical proposal, the wrist joint is the building block system joint, and the building block system closes
Bearing of trend of driver, swing component and the output end of section along robot palm stacks gradually distribution, the building blocks in building block system
The driver in formula joint is fixedly connected with the forearm, and the output end in the building block system joint is used to consolidate with the robot palm
Fixed connection.
As the further improvement of above-mentioned technical proposal, the wrist joint includes the driver and the swing component, institute
State driver to be fixedly connected with the forearm, the swing component is fixedly connected with robot palm.
The beneficial effects of the invention are as follows：
Swing mechanism with driver and swing component and the slew gear with output end are set, make output end synchronous
Oscillating motion and circumference spinning motion are exported, and there is building block system to stack gradually distribution relation for driver, swing component and output end,
Distributed architecture with motion transmit with height uniformity, avoid partial structurtes it is too fat to move caused by motion conflict dashed forward with structure
Become, there is provided a kind of delicate structure, move reliable, the building block system joint of stable performance and robot arm.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, 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 related accompanying drawings.
Fig. 1 is the axle geodesic structure schematic diagram in the building block system joint that the embodiment of the present invention 1 provides；
Fig. 2 is the main structure diagram in the building block system joint that the embodiment of the present invention 1 provides；
Fig. 3 is the axle geodesic structure schematic diagram of robot arm provided in an embodiment of the present invention；
Fig. 4 is the carpal axle geodesic structure schematic diagram for the robot arm that the embodiment of the present invention 6 provides.
Main element symbol description：
100- building block systems joint, 110- swing mechanisms, 111- drivers, 112- swing components, 120- slew gears, 121- are returned
Turn support, 122- revolution drivings portion, 122a- output ends, 1000- robot arms, 1100- shoulder joint, 1110- shoulder oscillating machines
Structure, 1111- shoulder drivers, 1112- shoulder swing components, 1120- shoulder slew gears, 1121- shoulder rotary supports, the revolution of 1122- shoulders are driven
Dynamic portion, 1122a- shoulder output ends, 1200- large arm, 1300- elbow joints, 1310- elbow swing mechanisms, 1311- elbow drivers, 1312-
Elbow swing component, 1320- elbow slew gears, 1321- elbow rotary supports, 1322- elbow revolution drivings portion, 1322a- elbow output ends,
1400- forearms, 1500- wrist joints, 1510- wrist swing mechanisms, 1511- wrist drivers, 1512- wrist swing components, the revolution of 1520- wrists
Mechanism, 1521- wrist rotary supports, 1522- wrist revolution drivings portion, 1522a- wrist output ends.
Embodiment
For the ease of understanding the present invention, building block system joint is carried out with robot arm below with reference to relevant drawings more complete
The description in face.The preferred embodiment of building block system joint and robot arm is given in accompanying drawing.But building block system joint and machine
Human arm can be realized by many different forms, however it is not limited to embodiment described herein.On the contrary, provide these
The purpose of embodiment is made to the disclosure of building block system joint and robot arm more thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element be referred to as " directly existing " another element " on " when,
In the absence of intermediary element.Term as used herein " vertically ", " horizontal ", "left", "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Herein in building block system joint and the art used in the description of robot arm
Language is intended merely to describe the purpose of specific embodiment, it is not intended that the limitation present invention.Term as used herein " and/or " bag
Include the arbitrary and all combination of the Listed Items of one or more correlations.
Embodiment 1
Fig. 1~2 are please referred to, the present embodiment provides a kind of building block system joint 100, and the building block system joint 100 includes pendulum
Motivation structure 110 and slew gear 120, exported so as to obtain to swing with rotating, realize the synchronous driving of two kinds of motions.Below to product
The main construction in wooden formula joint 100 describes in detail.
Swing mechanism 110 is used for the swing output for realizing building block system joint 100, so as to realize driven member (such as arm arm-piece)
Swing.Wherein, swing mechanism 110 includes driver 111 mutually hinged and swing component 112, and driver 111, which is used to drive, to be put
Moving part 112 is swung, and swing output is realized by swing component 112.
Driver 111 belongs to driving link, and exporting it to swing component 112 swings required power.The type of driver 111 is many
It is more, include the structural member of the exportable circular motion such as all kinds of electric rotating machines, hydraulic motor.Here, the output shaft of driver 111 with
Swing component 112 is fixedly connected, and the output shaft of driver 111 is then rotatably held on the body of driver 111, so as to real
Now swing output.
In an exemplary embodiment, driver 111 uses the implementation of steering wheel.Steering wheel is that one kind carries position
The servo-driver 111 of feedback control, its essence belong to the servo-control system of closed-loop control.Under closed-loop control, oscillating machine
The swing output of structure 110 is steady accurate.
The swaying movement regularity of swing component 112 is set in response to practical application, it is preferable that and the swing of swing component 112 is plane rocking,
And using the jointed shaft of swing component 112 and driver 111 as axle.Under the swaying movement regularity, swing component 112 is enough to realize reliable and steady
Fixed swing.Further preferably, the swing of swing component 112 is moved for planar circumferential, is made swaying movement regularity more standard and is easy to real
Existing motion control.
Preferably, the hinged end between driver 111 and swing component 112 has damascene structures.In other words, in driver
111 among both swing components 112, the hinged end that the hinged end of one is coated on another one is outside, forms similar fit side
The flush type mounting structure of formula.Under this structure, the attachment structure between driver 111 and swing component 112 is compact, avoids structure
It is too fat to move.
The implementation of flush type mounting structure is a lot, in an exemplary embodiment, the hinged end of swing component 112
With c-type structure.Wherein, the hinged end insertion of driver 111 is installed on the opening of c-type structure.Under this structure, driver
111 with the connecting portion space hold very little of swing component 112, while ensure the swing of swing component 112 from hindering, have broad
Swing angle scope.
Slew gear 120 is used for the gyroscopic output for realizing building block system joint 100, so as to realize driven member (such as arm arm-piece)
Autologous rotation.Wherein, slew gear 120 includes the output end 122a being arranged on swing component 112, and output end 122a can be real
Existing circular motion.
It is specifically intended that driver 111, swing component 112 stack gradually distribution with output end 122a in building block system.Change speech
It, three stacks gradually formula connection along identical stacking direction with modular system.For example, the both ends of swing component 112 connect respectively
Driver 111 and output end 122a.More specifically, the stacking direction of three is consistent with the transmission direction in building block system joint 100.
Under this structure, linearly it is distributed between three, avoids that centralized stacking occurs, so as to simplifies annexation and fortune
It is dynamic to coordinate, the movement interference caused by multiple stacking will not occur and be mutated with local volume, there is building block system joint 100 and protrude
Kinematic dexterity, and with smooth outward appearance and be better achieved bionical.
Wherein, the output end 122a direction that distribution is stacked gradually axially along building block system is arranged.In other words, output end 122a
Axial direction it is consistent with the transmission direction in building block system joint 100.Accurately exported here, motion is transmitted, while avoid laterally offset
Caused beat power, ensure transmission efficiency and stable movement degree.
Preferably, slew gear 120 includes rotary support 121 and the embedded revolution driving being installed on rotary support 121
Portion 122.Rotary support 121 is fixedly connected with the one end of swing component 112 away from driver 111, and revolution driving portion 122 is away from swing
One end of part 112 has output end 122a.
In an exemplary embodiment, the inside of rotary support 121 has receiving space, and revolution driving portion 122 is embedded in
In in the receiving space.Output end 122a is stretched out in outside receiving space along the direction away from swing component 112, realizes external fortune
Dynamic output.
Wherein, the numerous types in revolution driving portion 122, including the exportable circumference fortune such as all kinds of electric rotating machines, hydraulic motor
Dynamic structural member.Here, the output shaft in revolution driving portion 122 is fixedly connected with swing component 112, and revolution driving portion 122 is defeated
Shaft is then rotatably held on the body in revolution driving portion 122, and output is swung so as to realize.It should be appreciated that revolution driving
The output shaft in portion 122 forms the output end 122a in building block system joint 100.
Embodiment 2
Fig. 1~3 are please referred to, on the basis of embodiment 1, the present embodiment provides a kind of robot arm 1000, should
Robot arm 1000 includes shoulder joint 1100, large arm 1200, elbow joint 1300, forearm 1400 and the wrist joint being sequentially connected
1500.Wherein, the building block system that at least one of shoulder joint 1100, elbow joint 1300 and wrist joint 1500 are introduced by embodiment 1
Joint 100.
Wherein, in the articulation structure using the building block system joint 100, driver 111, swing component 112 and output end
122a stacks gradually distribution along direction of the robot arm 1000 away from robot shoulder in building block system.In other words, driver
111st, swing component 112 is linearly connected one by one with output end 122a from robot shoulder to robot palm.
Under this articulation structure, the joint component of robot arm 1000 is in the relation arranged one by one, avoids the occurrence of concentration
Stack.Meanwhile the structure ensures that drive path is consistent with moving component distribution link, avoids the occurrence of lateral beat or the shadow that topples
Ring, make the stable movement of robot arm 1000 reliable.
Embodiment 3
Fig. 1~3 are please referred to, on the basis of embodiment 1 or 2, the present embodiment specifically introduces a kind of shoulder joint 1100
Using the robot arm 1000 of the structure in building block system joint 100.
As it was previously stated, shoulder joint 1100 is building block system joint 100, (i.e. shoulder drives the driver 111 in building block system joint 100
Device 1111), swing component 112 (i.e. shoulder swing component 1112) and output end 122a (i.e. shoulder output end 1122a) prolonging along large arm 1200
Stretch direction and stack gradually distribution in building block system, so as to be adapted to the joint connection request of shoulder.
Wherein, shoulder driver 1111 forms shoulder swing mechanism 1110 with shoulder swing component 1112, corresponding to building block system joint 100
Swing mechanism 110；Shoulder output end 1122a belongs to a part for shoulder slew gear 1120, corresponding to returning for building block system joint 100
Rotation mechanism 120.In an exemplary embodiment, shoulder slew gear 1120 should also include shoulder rotary support 1121 and be turned round with shoulder
Drive division 1122, corresponding to rotary support 121 and the revolution driving portion 122 in building block system joint 100.Shoulder swing mechanism 1110 and shoulder
In detail as described in Example 1, here is omitted for remaining specific implementation structure of slew gear 1120.
Wherein, shoulder driver 1111 is used to be fixedly connected with robot shoulder, and shoulder output end 1122a fixes with large arm 1200
Connection.Supplementary notes, shoulder output end 1122a axial direction is consistent with the bearing of trend of large arm 1200, so that motion is transmitted along axle
To realization, avoid the occurrence of beat and topple.Using when, by the driving of shoulder driver 1111, large arm 1200 can be with shoulder swing component
1112 one are swung；By the driving in shoulder revolution driving portion 1122, shoulder output end 1122a drives large arm 1200 to rotate, and realizes big
The pivoted arm function of arm 1200.
Embodiment 4
Fig. 1~3 are please referred to, in embodiment 1~3 on the basis of any one, the present embodiment specifically introduces a kind of elbow
Joint 1300 uses the robot arm 1000 of the structure in building block system joint 100.
As it was previously stated, elbow joint 1300 is building block system joint 100, (i.e. elbow drives the driver 111 in building block system joint 100
Device 1311), swing component 112 (i.e. elbow swing component 1312) and output end 122a (i.e. elbow output end 1322a) prolonging along forearm 1400
Stretch direction and stack gradually distribution in building block system, so as to be adapted to the joint connection request of ancon.
Wherein, elbow driver 1311 forms elbow swing mechanism 1310 with elbow swing component 1312, corresponding to building block system joint 100
Swing mechanism 110；Elbow output end 1322a belongs to a part for elbow slew gear 1320, corresponding to returning for building block system joint 100
Rotation mechanism 120.In an exemplary embodiment, elbow slew gear 1320 should also include elbow rotary support 1321 and be turned round with elbow
Drive division 1322, corresponding to rotary support 121 and the revolution driving portion 122 in building block system joint 100.Elbow swing mechanism 1310 and elbow
In detail as described in Example 1, here is omitted for remaining specific implementation structure of slew gear 1320.
Wherein, elbow driver 1311 is used to be fixedly connected with large arm 1200, and elbow output end 1322a fixes with forearm 1400 to be connected
Connect.Supplementary notes, elbow output end 1322a axial direction is consistent with the bearing of trend of forearm 1400, so that motion is transmitted vertically
Realize, avoid the occurrence of beat and topple.
Using when, by the driving of elbow driver 1311, forearm 1400 can be swung with the one of elbow swing component 1312；Pass through elbow
The driving in revolution driving portion 1322, elbow output end 1322a drive large arm 1200 to rotate, realize the pivoted arm function of forearm 1400.Together
When, elbow driver 1311 moves with the one of large arm 1200, and with the motion match of forearm 1400, realize large arm 1200 and forearm
1400 composite sport.
Embodiment 5
Fig. 1~3 are please referred to, in embodiment 1~4 on the basis of any one, the present embodiment specifically introduces a kind of wrist
Joint 1500 has the robot arm 1000 for simplifying structure.
In the present embodiment, wrist joint 1500 abandons the structure type in building block system joint 100 using structure is simplified.Specifically
Ground, wrist joint 1500 include wrist driver 1511 and wrist swing component 1512, and wrist driver 1511 is fixedly connected with forearm 1400, wrist
Swing component 1512 is fixedly connected with robot palm.Wherein, the knot of driver 111 that wrist driver 1511 is introduced with embodiment 1
Structure is identical, and wrist swing component 1512 is identical with the structure of swing component 112 that embodiment 1 is introduced, and here is omitted.In the structure
Under, wrist joint 1500 only drives the robot palm that sideshake occurs, so as to simplify the motion morphology of robot palm, at some
Response speed is improved in simple application.
Embodiment 6
Referring to Fig. 4, in embodiment 1~4 on the basis of any one, the present embodiment specifically introduces a kind of wrist joint 1500
Using the robot arm 1000 of the structure in building block system joint 100.
As it was previously stated, wrist joint 1500 is building block system joint 100, (i.e. wrist drives the driver 111 in building block system joint 100
Device 1511), swing component 112 (i.e. wrist swing component 1512) and output end 122a (i.e. wrist output end 1522a) prolonging along forearm 1400
Stretch direction and stack gradually distribution in building block system, so as to be adapted to the joint connection request of wrist.
Wherein, wrist driver 1511 forms wrist swing mechanism 1510 with wrist swing component 1512, corresponding to building block system joint 100
Swing mechanism 110；Wrist output end 1522a belongs to a part for wrist slew gear 1520, corresponding to returning for building block system joint 100
Rotation mechanism 120.In an exemplary embodiment, wrist slew gear 1520 should also include wrist rotary support 1521 and be turned round with wrist
Drive division 1522, corresponding to rotary support 121 and the revolution driving portion 122 in building block system joint 100.Wrist swing mechanism 1510 and wrist
In detail as described in Example 1, here is omitted for remaining specific implementation structure of slew gear 1520.
Wherein, wrist driver 1511 is used to be fixedly connected with forearm 1400, and wrist output end 1522a fixes with robot palm
Connection.Supplementary notes, wrist output end 1522a axial direction is consistent with the bearing of trend of robot palm, so that motion transmission edge
Axially realize, avoid the occurrence of beat and topple.
Using when, by the driving of wrist driver 1511, robot palm can be swung with the one of wrist swing component 1512；Pass through
The driving in wrist revolution driving portion 1522, wrist output end 1522a drive large arm 1200 to rotate, realize the rotation work(of robot palm
Energy.Meanwhile wrist driver 1511 moves with the one of forearm 1400, forearm 1400 has the motion of large arm 1200 concurrently, realizes large arm
1200th, the composite sport of forearm 1400 and robot palm.
In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, without
It is that therefore, other examples of exemplary embodiment can have different values as limitation.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore limitation of the scope of the invention can not be interpreted as.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.Therefore, protection scope of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. building block system joint, it is characterised in that including：Swing mechanism, including driver and swing component mutually hinged, the driver are used to drive the swing component to swing；Slew gear, including the output end being arranged on the swing component, the output end can realize circular motion, the drive Dynamic device, the swing component and the output end stack gradually distribution in building block system, the output end axially along the building block system Stack gradually the direction arrangement of distribution.
- 2. building block system joint according to claim 1, it is characterised in that the hinge between the driver and the swing component Connecing end has damascene structures.
- 3. building block system joint according to claim 2, it is characterised in that the hinged end of the swing component has c-type structure, The hinged end insertion of the driver is installed on the opening of the c-type structure.
- 4. building block system joint according to claim 1, it is characterised in that the swing of the swing component is plane rocking, and Using the jointed shaft of the swing component and the driver as axle.
- 5. building block system joint according to claim 1, it is characterised in that the slew gear includes rotary support and insertion The revolution driving portion being installed on the rotary support, the rotary support and the one end of the swing component away from the driver It is fixedly connected, the described one end of revolution driving portion away from the swing component has the output end.
- 6. a kind of robot arm, it is characterised in that shoulder joint, large arm, elbow joint, forearm and wrist including being sequentially connected close At least one of section, the shoulder joint, the elbow joint and described wrist joint are the building block system described in claim any one of 1-5 Joint, driver, swing component and the output end in the building block system joint are along side of the robot arm away from robot shoulder Distribution is stacked gradually in building block system.
- 7. robot arm according to claim 6, it is characterised in that the shoulder joint is the building block system joint, institute State the bearing of trend of the driver, swing component and output end in building block system joint along the large arm and stack gradually distribution in building block system, The driver in the building block system joint is used to be fixedly connected with the robot shoulder, the output end in the building block system joint and institute Large arm is stated to be fixedly connected.
- 8. robot arm according to claim 6, it is characterised in that the elbow joint is the building block system joint, institute State the bearing of trend of the driver, swing component and output end in building block system joint along the forearm and stack gradually distribution in building block system, The driver in the building block system joint is fixedly connected with the large arm, and output end and the forearm in the building block system joint are fixed Connection.
- 9. robot arm according to claim 6, it is characterised in that the wrist joint is the building block system joint, institute The bearing of trend of the driver, swing component and output end in building block system joint along robot palm is stated to stack gradually point in building block system Cloth, the driver in the building block system joint are fixedly connected with the forearm, the output end in the building block system joint be used for it is described Robot palm is fixedly connected.
- 10. robot arm according to claim 6, it is characterised in that the wrist joint includes the driver and institute Swing component is stated, the driver is fixedly connected with the forearm, and the swing component is fixedly connected with robot palm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711342790.1A CN107877539A (en) | 2017-12-14 | 2017-12-14 | Building block system joint and robot arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711342790.1A CN107877539A (en) | 2017-12-14 | 2017-12-14 | Building block system joint and robot arm |
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| CN107877539A true CN107877539A (en) | 2018-04-06 |
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| CN201711342790.1A Pending CN107877539A (en) | 2017-12-14 | 2017-12-14 | Building block system joint and robot arm |
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| CN108818543A (en) * | 2018-05-22 | 2018-11-16 | 季洪鑫 | A kind of intelligent sliding multiplies service robot |
| CN108818543B (en) * | 2018-05-22 | 2021-10-19 | 季洪鑫 | Intelligent transfer service robot |
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