CN108568805A - A kind of organic elastomer robot - Google Patents
A kind of organic elastomer robot Download PDFInfo
- Publication number
- CN108568805A CN108568805A CN201810430204.7A CN201810430204A CN108568805A CN 108568805 A CN108568805 A CN 108568805A CN 201810430204 A CN201810430204 A CN 201810430204A CN 108568805 A CN108568805 A CN 108568805A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- organic elastomer
- shaft
- robot according
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of organic elastomer robots, including first mechanical arm, second mechanical arm and third mechanical arm；The right end of the first mechanical arm opens up fluted, and the left end of second mechanical arm is installed with connecting rod, and connecting rod is rotatably installed in the inside of groove by rotary shaft；The second mechanical arm and third mechanical arm are the cylindrical structure of one end open, and the right side opening of second mechanical arm is equipped with annular groove, and the left end of third mechanical arm is slidably mounted on the inside of annular groove；The inside of the annular groove is installed with several electric pushrods, and electric pushrod is fixedly connected with third mechanical arm；The inside of the second mechanical arm is installed with electric rotating machine, and the output end of electric rotating machine is fixedly connected with the second shaft；The right end of the first rotating shaft is installed with manipulator.The present invention changes the position of manipulator by the cooperation between first mechanical arm, second mechanical arm and third mechanical arm, improves accuracy when robot work.
Description
Technical field
The present invention relates to robotic technology field, specifically a kind of organic elastomer robot.
Background technology
Robot is the automatic installations for executing work, mainly by mechanical body, memory or program function and core zero
The compositions such as part.It can not only receive mankind commander, but also can run the program of advance layout, can also be according to artificial intelligence skill
The principle program action that art is formulated.Its task is to assist or replace the work of the mankind, such as production industry, construction industry, or danger
The work of danger.
Robot is advanced integral traffic control opinion, mechano-electronic, computer, material and bionic product.Including housework type,
Manipulation type, digital-control type, searches and rescues several major class such as class, flatbed and study control type at program-controlled type.Currently, robot is in industry, doctor
Equalization has important use in the fields such as, agricultural or even military affairs.
It is existing during manipulator is processed as common operating device extensive utilization in robot field to existing industrial production
By manipulator be made of mostly exposed metal machine frame, this manipulator surface is hard nonelastic, and not only sense of touch is very poor, but also
It is unfavorable for the protection of metal machine frame.
Invention content
The purpose of the present invention is to provide a kind of organic elastomer robots, to solve mentioned above in the background art ask
Topic.
To achieve the above object, the present invention provides the following technical solutions：
A kind of organic elastomer robot, including first mechanical arm, second mechanical arm and third mechanical arm；The first mechanical arm
Right end open up fluted, the left end of second mechanical arm is installed with connecting rod, and connecting rod is rotatably installed in by rotary shaft
The inside of groove；The second mechanical arm and third mechanical arm are the cylindrical structure of one end open, the right side of second mechanical arm
Annular groove is offered, the left end of third mechanical arm is slidably mounted on the inside of annular groove；The inside of the second mechanical arm is fixed
Electric rotating machine is installed, the output end of electric rotating machine is fixedly connected with the second shaft；The inner rotation of the third mechanical arm is pacified
Equipped with first rotating shaft, first rotating shaft and the second shaft are mutually matched spline shaft structure；The right end of the first rotating shaft is fixed
Manipulator is installed；The first mechanical arm, second mechanical arm, third mechanical arm are identical with the material of manipulator, the first machinery
Arm, second mechanical arm, third mechanical arm and manipulator are made of metal machine frame and the organosilicon being coated on the outside of metal machine frame.
As a further solution of the present invention：It is hinged with hydraulic telescopic rod on the upside of the first mechanical arm.
As further scheme of the invention：The upper left side of the second mechanical arm is installed with fixed block.
As further scheme of the invention：The telescopic end of the hydraulic telescopic rod is rotatablely connected with fixed block.
As further scheme of the invention：The second mechanical arm and third mechanical arm form a driving chamber.
As further scheme of the invention：The inside of the annular groove is installed with several electric pushrods.
As further scheme of the invention：The electric pushrod is fixedly connected with third mechanical arm.
As further scheme of the invention：The inside of the second mechanical arm is additionally provided with to be rotated convenient for the second shaft
Second bearing.
As further scheme of the invention：The inside of the third mechanical arm is additionally provided with to be rotated convenient for first rotating shaft
First bearing.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention passes through first mechanical arm, second mechanical arm and
Between three-mechanical arm cooperation change manipulator position, improve robot work when accuracy, while first mechanical arm,
The outside of second mechanical arm, third mechanical arm and manipulator metal machine frame coats organosilicon, to make robot have centainly
Elasticity makes surface have certain flexibility while protecting interior metal rack.
Description of the drawings
Fig. 1 is the structural schematic diagram of organic elastomer robot.
Fig. 2 is the structural schematic diagram of first mechanical arm in organic elastomer robot.
Fig. 3 is the right view structural schematic diagram of first mechanical arm in organic elastomer robot.
Fig. 4 is first mechanical arm and second mechanical arm attachment structure schematic diagram in organic elastomer robot.
In figure：1- first mechanical arms, 2- hydraulic telescopic rods, 3- second mechanical arms, 4- fixed blocks, 5- annular grooves, 6- are electronic
Push rod, 7- thirds mechanical arm, 8- driving chambers, 9- manipulators, 10- first rotating shafts, 11- first bearings, the second shafts of 12-, 13-
Two bearings, 14- shaft joints, 15- electric rotating machines, 16- connecting rods, 17- organosilicons, 18- metal machine frames, 19- rotary shafts, 20- are recessed
Slot.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig.1~4, in the embodiment of the present invention, a kind of organic elastomer robot, including first mechanical arm 1, second
Mechanical arm 3 and third mechanical arm 7；The right end of the first mechanical arm 1 opens up fluted 20, and the left end of second mechanical arm 3 is fixed
Connecting rod 16 is installed, connecting rod 16 is rotatably installed in the inside of groove 20 by rotary shaft 19, so as to turning for second mechanical arm 3
It is dynamic；The upside of the first mechanical arm 1 is hinged with hydraulic telescopic rod 2, and the upper left side of second mechanical arm 3 is installed with fixed block
4, telescopic end and the fixed block 4 of the hydraulic telescopic rod 2 are rotatablely connected, and the telescopic end of hydraulic telescopic rod 2 drives second when extending
Mechanical arm 3 rotates clockwise, and drives second mechanical arm 3 to rotate counterclockwise when the telescopic end of hydraulic telescopic rod 2 shortens；Described second
Mechanical arm 3 and third mechanical arm 7 are the cylindrical structure of one end open, and the right side opening of second mechanical arm 3 is equipped with annular groove 5, the
The left end of three-mechanical arm 7 is slidably mounted on the inside of annular groove 5, and second mechanical arm 3 and third mechanical arm 7 form a driving chamber
8；The inside of the annular groove 5 is installed with several electric pushrods 6, and electric pushrod 6 is fixedly connected with third mechanical arm 7, with
Just horizontally slipping for third mechanical arm 7 is driven；The inside of the second mechanical arm 3 is installed with electric rotating machine 15, electric rotating
The output end of machine 15 is fixedly connected with the second shaft 12, and the inside of second mechanical arm 3 is additionally provided with to be rotated convenient for the second shaft 12
Second bearing 13；The inner rotation of the third mechanical arm 7 is equipped with first rotating shaft 10, first rotating shaft 10 and the second shaft 12
For mutually matched spline shaft structure, the inside of third mechanical arm 7 is additionally provided with the first bearing rotated convenient for first rotating shaft 10
11；The right end of the first rotating shaft 10 is installed with manipulator 9；The first mechanical arm 1, second mechanical arm 3, third machinery
Arm 7 is identical with the material of manipulator 9, and first mechanical arm 1, second mechanical arm 3, third mechanical arm 7 and manipulator 9 are by metal machine
Frame 18 and the organosilicon 17 for being coated on 18 outside of metal machine frame form, to make robot have certain elasticity, in protection
Make surface that there is certain flexibility while portion's metal machine frame 18.
The present invention changes the position of manipulator by the cooperation between first mechanical arm, second mechanical arm and third mechanical arm
It sets, improves accuracy when robot work, while in first mechanical arm, second mechanical arm, third mechanical arm and manipulator gold
The outside for belonging to rack coats organosilicon, to make robot have certain elasticity, makes while protecting interior metal rack
Surface has certain flexibility.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (9)
1. a kind of organic elastomer robot, which is characterized in that including first mechanical arm（1）, second mechanical arm（3）With third machine
Tool arm（7）；The first mechanical arm（1）Right end open up it is fluted（20）, second mechanical arm（3）Left end be installed with company
Extension bar（16）, connecting rod（16）Pass through rotary shaft（19）It is rotatably installed in groove（20）Inside；The second mechanical arm（3）With
Third mechanical arm（7）It is the cylindrical structure of one end open, second mechanical arm（3）Right side opening be equipped with annular groove（5）, third machine
Tool arm（7）Left end be slidably mounted on annular groove（5）Inside；The second mechanical arm（3）Inside be installed with rotation
Motor（15）, electric rotating machine（15）Output end be fixedly connected with the second shaft（12）；The third mechanical arm（7）Inside turn
It is dynamic that first rotating shaft is installed（10）, first rotating shaft（10）With the second shaft（12）For mutually matched spline shaft structure；Described
One shaft（10）Right end be installed with manipulator（9）；The first mechanical arm（1）, second mechanical arm（3）, third machinery
Arm（7）And manipulator（9）Material it is identical, first mechanical arm（1）, second mechanical arm（3）, third mechanical arm（7）And manipulator
（9）By metal machine frame（18）Be coated on metal machine frame（18）The organosilicon in outside（17）Composition.
2. organic elastomer robot according to claim 1, which is characterized in that the first mechanical arm（1）Upside
It is hinged with hydraulic telescopic rod（2）.
3. organic elastomer robot according to claim 2, which is characterized in that the second mechanical arm（3）Upper left
Side is installed with fixed block（4）.
4. organic elastomer robot according to claim 3, which is characterized in that the hydraulic telescopic rod（2）It is flexible
End and fixed block（4）Rotation connection.
5. organic elastomer robot according to claim 1, which is characterized in that the second mechanical arm（3）And third
Mechanical arm（7）Form a driving chamber（8）.
6. organic elastomer robot according to claim 1, which is characterized in that the annular groove（5）Inside fix
Several electric pushrods are installed（6）.
7. organic elastomer robot according to claim 6, which is characterized in that the electric pushrod（6）With third machine
Tool arm（7）It is fixedly connected.
8. organic elastomer robot according to claim 1, which is characterized in that the second mechanical arm（3）Inside
It is additionally provided with and is convenient for the second shaft（12）The second bearing of rotation（13）.
9. organic elastomer robot according to claim 1, which is characterized in that the third mechanical arm（7）Inside
It is additionally provided with and is convenient for first rotating shaft（10）The first bearing of rotation（11）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810430204.7A CN108568805A (en) | 2018-05-08 | 2018-05-08 | A kind of organic elastomer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810430204.7A CN108568805A (en) | 2018-05-08 | 2018-05-08 | A kind of organic elastomer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108568805A true CN108568805A (en) | 2018-09-25 |
Family
ID=63571941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810430204.7A Pending CN108568805A (en) | 2018-05-08 | 2018-05-08 | A kind of organic elastomer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108568805A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111332994A (en) * | 2020-05-22 | 2020-06-26 | 湖南汉坤建筑安保器材有限公司 | Mechanical arm for mechanical construction platform |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3916701A (en) * | 1973-04-17 | 1975-11-04 | Automation Prod | Rotary wrist actuator for industrial robots |
| CN101563424A (en) * | 2006-12-15 | 2009-10-21 | 陶氏康宁东丽株式会社 | Silicone elastomer composition for artificial skin |
| WO2011019120A1 (en) * | 2009-08-12 | 2011-02-17 | 한국과학기술원 | Docking system of ship and docking method of ship using same |
| CN206066032U (en) * | 2016-10-08 | 2017-04-05 | 深圳信息职业技术学院 | Boring machine mechanical hand |
| CN106737851A (en) * | 2017-02-28 | 2017-05-31 | 无锡飞而康精铸工程有限公司 | One kind automation universal mechanical arm |
| CN107263533A (en) * | 2017-06-21 | 2017-10-20 | 太仓望虞机械科技有限公司 | A kind of Telescopic rotating mechanical arm of compact conformation |
| CN107520859A (en) * | 2017-08-29 | 2017-12-29 | 重庆交通大学 | High precision position and posture positioning mechanical arm |
-
2018
- 2018-05-08 CN CN201810430204.7A patent/CN108568805A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3916701A (en) * | 1973-04-17 | 1975-11-04 | Automation Prod | Rotary wrist actuator for industrial robots |
| CN101563424A (en) * | 2006-12-15 | 2009-10-21 | 陶氏康宁东丽株式会社 | Silicone elastomer composition for artificial skin |
| WO2011019120A1 (en) * | 2009-08-12 | 2011-02-17 | 한국과학기술원 | Docking system of ship and docking method of ship using same |
| CN206066032U (en) * | 2016-10-08 | 2017-04-05 | 深圳信息职业技术学院 | Boring machine mechanical hand |
| CN106737851A (en) * | 2017-02-28 | 2017-05-31 | 无锡飞而康精铸工程有限公司 | One kind automation universal mechanical arm |
| CN107263533A (en) * | 2017-06-21 | 2017-10-20 | 太仓望虞机械科技有限公司 | A kind of Telescopic rotating mechanical arm of compact conformation |
| CN107520859A (en) * | 2017-08-29 | 2017-12-29 | 重庆交通大学 | High precision position and posture positioning mechanical arm |
Non-Patent Citations (3)
| Title |
|---|
| 刘文剑主编: "《工业机器人设计与应用》", 31 October 1990, 黑龙江科学技术出版社 * |
| 周伯英编著: "《工业机器人设计》", 31 August 1995, 机械工业出版社 * |
| 黄东，朱楠主编: "《机械基础》", 31 March 2016, 北京理工大学出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111332994A (en) * | 2020-05-22 | 2020-06-26 | 湖南汉坤建筑安保器材有限公司 | Mechanical arm for mechanical construction platform |
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| 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 | ||
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Application publication date: 20180925 |