CN108032306A - Arm structure and robot - Google Patents
Arm structure and robot Download PDFInfo
- Publication number
- CN108032306A CN108032306A CN201711260167.1A CN201711260167A CN108032306A CN 108032306 A CN108032306 A CN 108032306A CN 201711260167 A CN201711260167 A CN 201711260167A CN 108032306 A CN108032306 A CN 108032306A
- Authority
- CN
- China
- Prior art keywords
- arm
- steering engine
- axis
- limb arm
- lower limb
- 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
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention belongs to robotic technology field, more particularly to a kind of arm structure and robot, wherein, arm structure includes omoplate, upper limb arm, lower limb arm, it is fixed on omoplate and the second steering engine for driving the first steering engine that upper limb arm and lower limb arm rotate around first axle and being fixed on lower limb arm, arm structure further includes the intermediate connector for being fixed on the 3rd steering engine of upper limb arm and being connected between the second steering engine and the 3rd steering engine, second servo driving lower limb arm is rotated relative to intermediate connector around second axis, 3rd servo driving intermediate connector is rotated around the 3rd axis, wherein, first axle is staggered with the 3rd axis, second axis is staggered with the 3rd axis.For the present invention by the design of intermediate connector and the 3rd steering engine, upper limb arm and lower limb arm can be movable in different planes, increase the scope of activities of arm structure.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of arm structure and robot.
Background technology
Robot includes arm structure, wherein, arm structure includes omoplate, upper limb arm, lower limb arm, is fixed on omoplate
And for driving the first steering engine that upper limb arm rotates around first axle and being fixed on lower limb arm and be used to drive upper limb hand
The second steering engine that arm is rotated around second axis, wherein, first axle and second axis are arranged in parallel, in use, omoplate,
It is movable that upper limb arm and lower limb arm are always in a plane, and scope of activities is smaller.
The content of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, there is provided a kind of arm structure, its omoplate, upper limb
It is movable that arm and lower limb arm are always in a plane, the less problem of scope of activities.
What the present invention was realized in：A kind of arm structure, including omoplate, upper limb arm, lower limb arm, be fixed on it is described
Omoplate and for driving the first steering engine and be fixed on institute that the upper limb arm and the lower limb arm rotate around first axle
The second steering engine of lower limb arm is stated, the arm structure further includes the 3rd steering engine for being fixed on the upper limb arm and is connected to
Intermediate connector between second steering engine and the 3rd steering engine, lower limb arm described in second servo driving relative to
The intermediate connector is rotated around second axis, and intermediate connector described in the 3rd servo driving is rotated around the 3rd axis, its
In, the first axle is staggered with the 3rd axis, and the second axis is staggered with the 3rd axis.
Alternatively, the first axle is parallel with the 3rd axis, the 3rd axis and the first axle and institute
It is vertical to state second axis, and the 3rd axis is parallel with the upper limb arm extending direction.
Alternatively, second steering engine and the 3rd steering engine are generally positioned on straight line, and with the upper limb hand
Arm extending direction is arranged in parallel；First steering engine and second steering engine and the 3rd steering engine are generally vertically.
Alternatively, first steering engine and second steering engine are spherical steering engine, and the 3rd steering engine is cylindricality steering engine.
Alternatively, the upper limb arm include the first upper limb arm shell, with the first upper limb arm shell cover close coordinate with institute
The second upper limb arm shell that the first upper limb arm shell wraps up the 3rd steering engine jointly is stated, on the first upper limb arm shell or described second
Limb arm shell is offered is connected to the jack hole of the 3rd steering engine for the intermediate connector, the jack hole open up direction with
3rd axis is parallel.
Alternatively, the intermediate connector includes connection pedestal, the Yi Jijun with the output axis connection of the 3rd steering engine
The first linking arm and the second linking arm for connecting and being oppositely arranged with the connection pedestal, first linking arm and described second
The extending direction of linking arm and the 3rd axis general parallel orientation, the output shaft of first linking arm and second steering engine connect
Connect, second linking arm coordinates with second steering engine switching.
Alternatively, the lower limb arm include the first lower limb arm shell, with the first lower limb arm shell cover close coordinate with institute
The second lower limb arm shell that the first lower limb arm shell wraps up second steering engine jointly is stated, the first lower limb arm shell offers first and keeps away
Allow hole, so that first linking arm can be connected to the output shaft of second steering engine, the second lower limb arm shell opens up
Two avoid holes, so that second linking arm, which can transfer, is engaged to second steering engine.
Alternatively, the first upper limb arm shell includes wearing and connecing ring, and described wear connects the inner ring of ring and form the jack hole；
The connection pedestal includes connection matrix, connects matrix connection and the output also with the 3rd steering engine with described
The connecting pole of axis connection and with it is described connection matrix connection and with it is described wear connect ring outer shroud socket coordinate socket ring.
Alternatively, the intermediate connector includes connection ring, and the inner ring of the connection ring coordinates with connecting pole socket
And be fixedly connected, the outer ring surface of the connection ring wears the inner ring socket cooperation for connecing ring and cooperation of transferring with described.
The present invention provides a kind of robot, including above-mentioned arm structure.
Based on the structure of the present invention, by the design of intermediate connector and the 3rd steering engine, in upper limb arm and lower limb arm
Between add a cradle head point, the axis of increased cradle head is the 3rd axis, wherein, first axle and the second axis
Line is staggered with the 3rd axis, in this way, upper limb arm and lower limb arm can be movable in different planes, increases arm
The scope of activities of structure.
Brief description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the partial exploded view of arm structure provided in an embodiment of the present invention；
Fig. 2 is the part-structure schematic diagram of arm structure provided in an embodiment of the present invention, and in this figure, upper limb arm, which is in, to hang down
Put state
Fig. 3 is the exploded view under a visual angle of arm structure provided in an embodiment of the present invention；
Fig. 4 is the exploded view under another visual angle of arm structure provided in an embodiment of the present invention；
Fig. 5 is the exploded view of upper limb arm provided in an embodiment of the present invention；
Fig. 6 is the exploded view of lower limb arm provided in an embodiment of the present invention；
Fig. 7 is the exploded view of intermediate connector provided in an embodiment of the present invention.
Drawing reference numeral explanation：
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
Please refer to Fig.1 to Fig.4, the embodiment of the present invention provides a kind of arm structure, and arm structure includes omoplate 100, upper limb
Arm 200, lower limb arm 300, be fixed on omoplate 100 and for driving upper limb arm 200 and lower limb arm 300 around first axle
First steering engine 400 of rotation and the second steering engine 500 for being fixed on lower limb arm 300.Arm structure, which further includes, is fixed on upper limb
3rd steering engine 700 of arm 200 and the intermediate connector 600 being connected between the second steering engine 500 and the 3rd steering engine 700, the
Two steering engines 500 driving lower limb arm 300 is rotated relative to intermediate connector 600 around second axis, and the 3rd steering engine 700 drives centre
Connector 600 is rotated around the 3rd axis, wherein, first axle is staggered with the 3rd axis, and second axis is handed over the 3rd axis
Mistake is set.
Based on this structure, by the design of 600 and the 3rd steering engine 700 of intermediate connector, in upper limb arm 200 and lower limb hand
A cradle head point is added between arm 300, the axis of increased cradle head is the 3rd axis, wherein, first axle and
Second axis is staggered with the 3rd axis, in this way, upper limb arm 200 and lower limb arm 300 can be in different planes
Activity, increases the scope of activities of arm structure.
In above-mentioned, it is preferable that first axle is vertically arranged with the 3rd axis, and second axis is vertically arranged with the 3rd axis,
And the 3rd the extending direction of axis and upper limb arm 200 be arranged in parallel, in such manner, it is possible to maximize the scope of activities of arm structure.
Please refer to Fig.1 to Fig.4, in embodiments of the present invention, the second steering engine 500 and the 3rd steering engine 700 are generally positioned at one
On bar straight line, and it is arranged in parallel with 200 extending direction of upper limb arm；First steering engine 400 and the second steering engine 500 and the 3rd steering engine
700 generally vertically.Specifically, the first steering engine 400 and the second steering engine 500 are spherical steering engine, and the 3rd steering engine 700 is cylindricality steering engine.
Fig. 3 to Fig. 5 is referred to, in embodiments of the present invention, upper limb arm 200 includes the first upper limb arm shell 210 and first
Upper limb arm shell 210 covers the second upper limb arm shell 220 coordinated to wrap up the 3rd steering engine 700 jointly with the first upper limb arm shell 210, this
Sample, upper limb arm 200 is divided for the first upper limb arm shell 210 and the second upper limb arm shell 220, can be by the 3rd in assembling process
Steering engine 700 is installed to the first upper limb arm shell 210 or the second upper limb arm shell 220, then covers the first upper limb arm shell 210 and again
Two upper limb arm shells 220, you can complete the assembling between upper limb arm 200 and the 3rd steering engine 700, simplify 200 He of upper limb arm
Assembling between 3rd steering engine 700.
Wherein, to ensure the connection between 600 and the 3rd steering engine 700 of intermediate connector, the first upper limb arm shell 210 offers
The jack hole 2101 of the 3rd steering engine 700 is connected to for intermediate connector 600, the direction that opens up of jack hole 2101 is put down with the 3rd axis
OK.
In embodiments of the present invention, it is removable by bolt arrangement between the first upper limb arm shell 210 and the second upper limb arm shell 220
Connection is unloaded, in this way, easy to follow-up dismounting and maintenance.
Fig. 3, Fig. 4 and Fig. 6 are referred to, in embodiments of the present invention, intermediate connector 600 includes and the 3rd steering engine 700
Export the connection pedestal 610 of axis connection and connected and the first linking arm 620 for being oppositely arranged and the with being connected pedestal 610
The extending direction and the 3rd axis general parallel orientation of two linking arms 630, the first linking arm 620 and the second linking arm 630, the first connection
The output axis connection of 620 and second steering engine 500 of arm, in this way, the output shaft of the second steering engine 500 can drive during rotation
Dynamic lower limb arm 300 is rotated around second axis.Wherein, since the output shaft of the first linking arm 620 and the second steering engine 500 is fixed
Connection, in specific implementation, spline can be set on the output shaft of the second steering engine 500, the first linking arm 620 then offer with
The spline of spline fitted.
Further, in embodiments of the present invention, the second linking arm 630 and the switching of the second steering engine 500 coordinate, in this way, increasing
The supporting point between 600 and second steering engine 500 of intermediate connector is added, has been conducive to improve 600 and second steering engine of intermediate connector
Connective stability between 500.
Refer to Fig. 3, Fig. 4 and Fig. 7, in embodiments of the present invention, lower limb arm 300 include the first lower limb arm shell 310, with
First lower limb arm shell 310 covers the second lower limb arm shell coordinated to wrap up the second steering engine 500 jointly with the first lower limb arm shell 310
320,, can be with assembling process in this way, dividing lower limb arm 300 for the first lower limb arm shell 310 and the second lower limb arm shell 320
Second steering engine 500 is installed to the first lower limb arm shell 310 or the second lower limb arm shell 320, then covers the first lower limb arm shell again
310 and the second lower limb arm shell 320, you can complete the assembling between lower limb arm 300 and the second steering engine 500, simplify lower limb hand
Assembling between 300 and second steering engine 500 of arm.
Wherein, the output shaft of the second steering engine 500, the first lower limb arm shell 310 can be connected to for the first linking arm 620 of guarantee
The first avoid holes 3101 are offered, and are to ensure that the second linking arm 630 can transfer to be engaged to the second steering engine 500, the second lower limb
Arm shell 320 opens up the second avoid holes.
Referring to Fig. 5, in embodiments of the present invention, the first upper limb arm shell 210 includes wearing connecing ring 211, wears and connects the interior of ring 211
Ring forms jack hole 2101.And connecting pedestal 610 then includes connection matrix 611, is connected and also with the 3rd with being connected matrix 611
The connecting pole 612 of the output axis connection of steering engine 700 and be connected matrix 611 connect and connect with wearing ring 211 outer shroud socket match somebody with somebody
The socket ring 613 of conjunction.Wherein, it is socketed ring 613 and is located at the outer rim side worn and connect ring 211, ring 211 is connect by being socketed ring 613 and wearing
Matching relationship, the movement that connection matrix 611 can be avoided to connect ring 211 relative to wearing and radial direction occurs, in this way, being conducive to improve
Connect the connective stability between matrix 611 and connection ring 640.
Further, referring to Fig. 6, intermediate connector 600 includes connection ring 640, the inner ring and connecting pole of connection ring 640
612 sockets coordinate and are fixedly connected, and the inner ring socket that the outer ring surface of connection ring 640 connects ring 211 with wearing coordinates and switching coordinates.
The movement that the socket limitation of ring 613 connection matrix 611 connects ring 211 and radial direction occurs relative to wearing, also increases connection ring 640 to limit
The movement that system connection matrix 611 connects ring 211 and radial direction occurs relative to wearing, therefore, it is possible to further improve connection matrix
Connective stability between 611 and connection ring 640.
The present invention also proposes a kind of robot, which includes arm structure, the concrete structure reference of the arm structure
Above-described embodiment, since robot employs whole technical solutions of above-mentioned all embodiments, equally has above-mentioned reality
All beneficial effects caused by the technical solution of example are applied, this is no longer going to repeat them.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, it is all the present invention spirit and
Any modification, equivalent substitution or improvement for being made within principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of arm structure, including omoplate, upper limb arm, lower limb arm, it is fixed on the omoplate and described for driving
The first steering engine that limb arm and the lower limb arm are rotated around first axle and the second steering engine for being fixed on the lower limb arm,
It is characterized in that, the arm structure further includes the 3rd steering engine for being fixed on the upper limb arm and is connected to second rudder
Intermediate connector between machine and the 3rd steering engine, lower limb arm described in second servo driving connect relative to the centre
Fitting is rotated around second axis, and intermediate connector described in the 3rd servo driving is rotated around the 3rd axis, wherein, described first
Axis is staggered with the 3rd axis, and the second axis is staggered with the 3rd axis.
2. arm structure as claimed in claim 1, it is characterised in that the first axle is parallel with the 3rd axis, institute
It is vertical with the first axle and the second axis to state the 3rd axis, and the 3rd axis and the upper limb arm extension side
To parallel.
3. arm structure as claimed in claim 2, it is characterised in that second steering engine is substantially set with the 3rd steering engine
Point-blank, and with the upper limb arm extending direction it is arranged in parallel；First steering engine and second steering engine and institute
State the 3rd steering engine generally vertically.
4. arm structure as claimed in claim 3, it is characterised in that first steering engine and second steering engine are bulb rudder
Machine, the 3rd steering engine are cylindricality steering engine.
5. arm structure according to any one of claims 1 to 4, it is characterised in that the upper limb arm is included on first
Limb arm shell, close with the first upper limb arm shell cover coordinate with wrap up the 3rd steering engine jointly with the first upper limb arm shell the
Two upper limb arm shells, the first upper limb arm shell or the second upper limb arm shell offer be connected to for the intermediate connector it is described
The jack hole of 3rd steering engine, the jack hole to open up direction parallel with the 3rd axis.
6. arm structure as claimed in claim 5, it is characterised in that the intermediate connector includes defeated with the 3rd steering engine
Go out axis connection connection pedestal and with it is described connection pedestal connect and the first linking arm being oppositely arranged and second connect
The extending direction of arm, first linking arm and second linking arm and the 3rd axis general parallel orientation, described first connects
The output axis connection of arm and second steering engine is connect, second linking arm coordinates with second steering engine switching.
7. arm structure as claimed in claim 6, it is characterised in that the lower limb arm includes the first lower limb arm shell and institute
State the first lower limb arm shell cover and close the second lower limb arm shell coordinated to wrap up second steering engine jointly with the first lower limb arm shell,
The first lower limb arm shell offers the first avoid holes, so that first linking arm can be connected to the defeated of second steering engine
Shaft, the second lower limb arm shell open up the second avoid holes, so that second linking arm can transfer and be engaged to described second
Steering engine.
8. arm structure as claimed in claim 5, it is characterised in that the first upper limb arm shell includes wearing connecing ring, described to wear
The inner ring for connecing ring forms the jack hole；
The connection pedestal includes connection matrix, the output shaft with the connection matrix connection and also with the 3rd steering engine connects
The connecting pole that connects and wear the socket ring for connecing the outer shroud socket of ring and coordinating with the connection matrix connection and with described.
9. arm structure as claimed in claim 8, it is characterised in that the intermediate connector includes connection ring, the connection
The inner ring of ring is socketed with the connecting pole to be coordinated and is fixedly connected, and the outer ring surface of the connection ring wears the inner ring sleeve for connecing ring with described
Connect cooperation and switching coordinates.
10. a kind of robot, it is characterised in that including arm structure as claimed in any one of claims 1-9 wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711260167.1A CN108032306A (en) | 2017-12-04 | 2017-12-04 | Arm structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711260167.1A CN108032306A (en) | 2017-12-04 | 2017-12-04 | Arm structure and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108032306A true CN108032306A (en) | 2018-05-15 |
Family
ID=62094989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711260167.1A Pending CN108032306A (en) | 2017-12-04 | 2017-12-04 | Arm structure and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032306A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895108A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of machine human skeleton and robot |
| CN109895133A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of manipulator and robot |
| CN110039529A (en) * | 2019-05-16 | 2019-07-23 | 湖北工业大学 | A kind of more servo driving mechanical arms |
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| US20060015214A1 (en) * | 2002-10-22 | 2006-01-19 | Honda Motor Co., Ltd. | Joint structure of robot |
| KR100777115B1 (en) * | 2006-10-26 | 2007-11-19 | 강삼태 | Arm joint apparatus for robot |
| US20110067517A1 (en) * | 2009-09-22 | 2011-03-24 | Gm Global Technology Operations,Inc. | Rotary series elastic actuator |
| CN106239559A (en) * | 2016-09-27 | 2016-12-21 | 成都普诺思博科技有限公司 | A kind of mechanical arm |
| CN106737585A (en) * | 2016-12-29 | 2017-05-31 | 深圳市优必选科技有限公司 | Waist structure and anthropomorphic robot |
| CN107116571A (en) * | 2017-05-22 | 2017-09-01 | 中新智擎科技有限公司 | A kind of multivariant robot arm and robot |
| CN207534825U (en) * | 2017-12-04 | 2018-06-26 | 深圳市优必选科技有限公司 | Arm structure and robot |
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2017
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060015214A1 (en) * | 2002-10-22 | 2006-01-19 | Honda Motor Co., Ltd. | Joint structure of robot |
| KR100777115B1 (en) * | 2006-10-26 | 2007-11-19 | 강삼태 | Arm joint apparatus for robot |
| US20110067517A1 (en) * | 2009-09-22 | 2011-03-24 | Gm Global Technology Operations,Inc. | Rotary series elastic actuator |
| CN106239559A (en) * | 2016-09-27 | 2016-12-21 | 成都普诺思博科技有限公司 | A kind of mechanical arm |
| CN106737585A (en) * | 2016-12-29 | 2017-05-31 | 深圳市优必选科技有限公司 | Waist structure and anthropomorphic robot |
| CN107116571A (en) * | 2017-05-22 | 2017-09-01 | 中新智擎科技有限公司 | A kind of multivariant robot arm and robot |
| CN207534825U (en) * | 2017-12-04 | 2018-06-26 | 深圳市优必选科技有限公司 | Arm structure and robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895108A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of machine human skeleton and robot |
| CN109895133A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of manipulator and robot |
| CN109895108B (en) * | 2019-03-01 | 2021-07-06 | 达闼科技（北京）有限公司 | Robot skeleton and robot |
| CN110039529A (en) * | 2019-05-16 | 2019-07-23 | 湖北工业大学 | A kind of more servo driving mechanical arms |
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