CN108687751A - A kind of bionic machine human arm steering structure - Google Patents
A kind of bionic machine human arm steering structure Download PDFInfo
- Publication number
- CN108687751A CN108687751A CN201810752229.9A CN201810752229A CN108687751A CN 108687751 A CN108687751 A CN 108687751A CN 201810752229 A CN201810752229 A CN 201810752229A CN 108687751 A CN108687751 A CN 108687751A
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- Prior art keywords
- eccentric
- pin
- fixed
- disk
- axis
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- 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
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of bionic machine human arm steering structures,Including drive case,One end of drive case is fixed with the connection fixing block for being connect with imitation robot,The drive case other end is fixedly connected with rotary body,Rotary body end face is uniformly fixed with several connecting rods,When the present invention is rotated by electric motor starting,Spacing ring on rotary body is bonded rotation with the inner wall of drive case,Play position-limiting action,Protect the axial movement of rotary body,And it ensure that the normal operation of driving motor,And driving motor makes the precision of control greatly improve using servo motor,And Kazakhstan is mutually nibbled by the annular corrugated convex block of the outside of eccentric positive disk and eccentric cloudy disk and the gear pin axis in the upper pin gear set of one group of annular array in pin wheel housing cavity,To form few teeth difference internal messing rotating mechanism,It is that the output of high power large torque provides the foundation in this way,In order to reduce friction,When velocity of rotation is relatively low,Pin gear sleeve is carried on gear pin axis 19-1,Its service life used is increased in this way.
Description
Technical field
The present invention relates to imitation robot field, specially a kind of bionic machine human arm steering structure.
Background technology
Robot is to automatically control being commonly called as machine (Robot), robot include all simulation human behaviors or thought with
The machinery of other biological is simulated, robot is generally by executing agency, driving device, detection device, control system and complicated machinery
Deng composition, with the growing and improvement of people's living standards of science and technology, modularization robot comes into being, modularization
Robot be specially developed by production firm using improve user design and creativity as the robot finished product of target, suit or
Loose mail, to excite user's learning interest, cultivates user's integration capability by assembling, building and running robot.
Existing imitation robot needs to connect multiple joints to form robot four limbs when building, due to existing
Joint designs are complicated, design is not enough emulated, and is rotatablely connected by shaft, and steering is more difficult, and the precision turned to is not
It easily adjusts, the when power that exports turned to is relatively low, cannot be used in more complicated place, versatility is smaller.
Invention content
The purpose of the present invention is to provide a kind of bionic machine human arm steering structures, to solve to carry in above-mentioned background technology
What is gone out emulates since existing joint designs are complicated, design is inadequate, and is rotatablely connected by shaft, and steering is more difficult, and
The precision of steering is not easy to adjust, and the when power that exports turned to is relatively low, cannot be used in more complicated place, versatility
Smaller problem.
To achieve the above object, the present invention provides the following technical solutions:A kind of bionic machine human arm steering structure, including
Drive case, one end of the drive case are fixed with the connection fixing block for being connect with imitation robot, the driving box
The body other end is fixedly connected with rotary body, and the rotary body end face is uniformly fixed with several connecting rods, the connecting rod
The other end be fixed with and be connected and fixed plate, described one end for being connected and fixed plate is fixed with rotation steering structure.
Preferably, the center of inside of the drive case is provided with driving motor, if the outer wall of the driving motor by
The inner wall of dry fixed link and drive case is fixed, and the main shaft of the driving motor is pierced by rotary body and is connect with rotation steering structure
Fixed, one end of the rotary body is put in inside drive case, and is fixedly connected with the spacing ring of its external margin, the limit
One section of face of ring contacts and is rotatably connected with the inner wall of drive case.
Preferably, the rotation steering structure includes rotating basis, pin wheel housing, output shaft, rotation cavity, fixed thread
Hole, pin gear sleeve, pin wheel housing cavity, the big axis of output, pin sleeve, axis pin, eccentric pivot hole, eccentric positive disk, eccentric cloudy disk, through-hole, ring
Shape ripple convex block, lower eccentric gear, upper eccentric gear, output shaft, deep groove ball bearing and gland.
Preferably, described one end for being connected and fixed plate is fixed with rotating basis, and the center of inside of the rotating basis is provided with
Rotate cavity, the outer edge of the rotation cavity is evenly provided with several fixing screwed holes, the rotating basis it is another
End is fixed with pin wheel housing, and the inside of the pin wheel housing is provided with pin wheel housing cavity, and the internal edge of the pin wheel housing cavity is uniform
Several pin gear sleeves are provided with, the gear pin axis that each the inside grafting of the pin gear sleeve matches with its size shape.
It is further preferred that the pin wheel housing cavity is internally provided with the big axis of output, the big axis of output is by center
Disk generator terminal axis and axis pin composition, end axis one end pass through rotation cavity mutually to be fixed with driving motor electric machine main shaft, the end
The axis other end is fixed with central disc, and the other end of the central disc is fixed with several axis pins, outside each axis pin
There are one rotating the pin sleeve of connection, the other end center of the central disc opens that there are one medium pores, described for table socket
One end of big axis is exported in connecting rod, the axis pin is in pin wheel housing inside cavity.
It is further preferred that the center of the pin wheel housing cavity is provided with eccentric positive disk, eccentric cloudy disk, the eccentric sun
Disk, eccentric cloudy disk in 180 ° of settings, the eccentric positive disk, eccentric cloudy disk outer edge be provided with annular corrugated convex block, the ring
Shape ripple convex block is connected with pin sleeve to be contacted, the eccentric positive disk, eccentric cloudy disk center be provided with through-hole, the eccentric positive disk
It is provided with lower eccentric gear in ground through-hole, eccentric gear is provided in the through-hole of the eccentric cloudy disk.
It is further preferred that the center rotatable connection of the lower eccentric gear, upper eccentric gear has output shaft, the output
Deep groove ball bearing is socketed on axis, the deep groove ball bearing is arranged at the top of upper eccentric gear, and the output shaft passes through gland
Fixed with rotating ring, the gland be pressed on pin wheel housing cavity and with and its be bolted.
It is further preferred that one end of the gland is fixed with connecting tube, the other end of the connecting tube and several sets
It connects block to fix, the center of several socket blocks is socketed with rotating ring, and the rotating ring is fixed with output shaft one end, described defeated
One end of shaft is fixed with the handgrip for crawl.
Compared with prior art, beneficial effects of the present invention are as follows:
1, when the present invention is rotated by electric motor starting, the spacing ring on rotary body is bonded rotation with the inner wall of drive case, plays
Position-limiting action, protects the axial movement of rotary body, and ensure that the normal operation of driving motor, and driving motor is used and watched
Taking motor makes the precision of control greatly improve.
2, the present invention by set dislocation 180 degree lower eccentric gear and upper eccentric gear dress there are two roller bearing,
Form H mechanisms, the centre bore of two eccentric positive disks and eccentric cloudy disk be lower eccentric gear and upper eccentric gear center upper turn
The raceway that arm axle is held, and gone in ring with one group in pin wheel housing cavity by the annular corrugated convex block of the outside of eccentric positive disk and eccentric cloudy disk
Gear pin axis in the upper pin gear set of arrangement mutually nibbles Kazakhstan, is the big torsion of high power in this way to form few teeth difference internal messing rotating mechanism
Square output provides the foundation, and in order to reduce friction, when velocity of rotation is relatively low, pin gear sleeve is carried on gear pin axis 19-1, in this way
Increase its service life used.
3, the present invention becomes the plane motion for having revolution and having rotation by the movement of eccentric positive disk and eccentric the moon disk,
When input shaft just circles, upper eccentric gear also rotates one week, and eccentric sun disk and eccentric cloudy disk turn over a tooth in opposite direction
Difference is transmitted to obtain powerful driving torque, then by W output mechanisms by the low speed autorotation of Cycloidal Wheel by axis pin
To output shaft, to obtain powerful circumferential steering.
4, the present invention drives rotating ring rotation by the output shaft of rotation, and is rotated on socket block, and is ultimately transferred to
Handgrip makes it circumferentially rotate, and the power of output is larger, in addition driving motor uses servo motor, the angle circumferentially turned to obtain
To accurately controlling, in the use more convenient quickly in later stage, the present apparatus is simple in structure, easy to operate, can be in big load
It is used in range, the range used is wider.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of bionic machine human arm steering structure of the present invention.
Fig. 2 is a kind of another structural schematic diagram of bionic machine human arm steering structure of the present invention.
Fig. 3 is lateral partial structurtes sectional view in a kind of Fig. 1 of bionic machine human arm steering structure of the present invention.
Fig. 4 is partial structurtes decomposition diagram in a kind of Fig. 1 of bionic machine human arm steering structure of the present invention.
Fig. 5 is another status diagram in a kind of Fig. 4 of bionic machine human arm steering structure of the present invention.
Fig. 6 is the partial structurtes enlarged drawing in a kind of Fig. 5 of bionic machine human arm steering structure of the present invention.
Fig. 7 is the design of part schematic diagram in a kind of Fig. 5 of bionic machine human arm steering structure of the present invention.
In figure:Drive case 1, connection fixing block 2, driving motor 3, fixed link 4, rotary body 5, spacing ring 6, connecting rod 7,
Drive shaft 8 is connected and fixed plate 9, rotating basis 1, pin wheel housing 11, connecting tube 12, output shaft 13, rotating ring 14, socket block 15, grabs
Hand 16, rotation cavity 17, fixing screwed hole 18, pin gear sleeve 19, gear pin axis 19-1, pin wheel housing cavity 2, the big axis 21 of output, in
Central aperture 21-1, pin sleeve 22, axis pin 23, eccentric pivot hole 24, eccentric positive disk 25, eccentric cloudy disk 26, through-hole 27, annular corrugated convex block
28, lower eccentric gear 29, upper eccentric gear 3, output shaft 31, deep groove ball bearing 32, gland 33.
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, 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.
Figure is please referred to, the present invention provides a kind of technical solution:A kind of bionic machine human arm steering structure, including driving box
Body 1, one end of the drive case 1 are fixed with the connection fixing block 2 for being connect with imitation robot), the drive case 1
The other end is fixedly connected with rotary body 5, and 5 end face of the rotary body is uniformly fixed with several connecting rods 7, the connecting rod
7 other end, which is fixed with, is connected and fixed plate 9, and described one end for being connected and fixed plate 9 is fixed with rotation steering structure.
The center of inside of the drive case 1 is provided with driving motor 3, and the outer wall of the driving motor 3 passes through several
Fixed link 4 and the inner wall of drive case 1 are fixed, and the main shaft of the driving motor 3 is pierced by rotary body 5 and is connect with rotation steering structure
Fixed, one end of the rotary body 5 is put in inside drive case 1, and is fixedly connected with the spacing ring of its external margin 6, described
One section of face of spacing ring 6 contacts and is rotatably connected with the inner wall of drive case 1.
The rotation steering structure includes rotating basis 1, pin wheel housing 11, output shaft 13, rotation cavity 17, fixing screwed hole
18, pin gear sleeve 19, pin wheel housing cavity 2, the big axis 21 of output, pin sleeve 22, axis pin 23, eccentric pivot hole 24, eccentric positive disk 25, bias
Cloudy disk 26, through-hole 27, annular corrugated convex block 28, lower eccentric gear 29, upper eccentric gear 3, output shaft 31,32 and of deep groove ball bearing
Gland 33.
Described one end for being connected and fixed plate 9 is fixed with rotating basis 1, and the center of inside of the rotating basis 1 is provided with rotation
The outer edge of cavity 17, the rotation cavity 17 is evenly provided with several fixing screwed holes 18, the rotating basis 1 it is another
One end is fixed with pin wheel housing 11, and the inside of the pin wheel housing 11 is provided with pin wheel housing cavity 2, the internal edges of the pin wheel housing cavity 2
Edge is evenly provided with several pin gear sleeves 19, the needle that each the inside grafting of the pin gear sleeve 19 matches with its size shape
Alligator axis 19-1.
The pin wheel housing cavity 2 is internally provided with the big axis 21 of output, and the big axis 21 that exports is by central disc generator terminal
Axis and axis pin 23 form, and end axis one end passes through rotation cavity 17 mutually to be fixed with 3 electric machine main shaft of driving motor, and the end axis is another
One end is fixed with central disc, and the other end of the central disc is fixed with several axis pins 23, outside each axis pin 23
There are one rotating the pin sleeve 22 of connection, the other end center of the central disc opens that there are one medium pore 21- for table socket
1, described one end for exporting big axis 21 is in connecting rod 7, and the axis pin 23 is inside pin wheel housing cavity 2.
The center of the pin wheel housing cavity 2 is provided with eccentric sun disk 25, eccentric cloudy disk 26, the eccentric positive disk 25, bias
Cloudy disk 26 in 18 ° of settings, the eccentric positive disk 25, eccentric cloudy disk 26 outer edge be provided with annular corrugated convex block 28, the ring
Shape ripple convex block 28 is connected with pin sleeve 22 to be contacted, the eccentric positive disk 25, eccentric cloudy disk 26 center be provided with through-hole 27, institute
It states and is provided with lower eccentric gear 29 in 25 ground through-hole 27 of eccentric positive disk, bias is provided in the through-hole 27 of the eccentric cloudy disk 26
Gear 3.
The center rotatable connection of the lower eccentric gear 29, upper eccentric gear 3 has output shaft 31, is covered on the output shaft 31
It is connected to deep groove ball bearing 32, the deep groove ball bearing 32 is arranged at the top of upper eccentric gear 3, and the output shaft 31 passes through gland
33 with rotating ring 14 fix, the gland 33 be pressed on pin wheel housing cavity 2 and with and its be bolted.
One end of the gland 33 is fixed with connecting tube 12, and the other end of the connecting tube 12 and several socket blocks 15 are solid
Fixed, the center of several socket blocks 15 is socketed with rotating ring 14, and the rotating ring 14 is fixed with 31 one end of output shaft, described
One end of output shaft 31 is fixed with the handgrip 16 for crawl.
The operation principle of the present embodiment:
This practicality is started by controlling driving motor 3, and driving motor 3 drives the input shaft rotation for exporting big axis 21 by drive shaft 8
Dynamic, in rotation, the spacing ring 6 on rotary body 5 is bonded rotation with the inner wall of drive case 1, plays position-limiting action, protects rotation
The axial movement of swivel 5, and ensure that the normal operation of driving motor 3, and also driving motor 3 makes control using servo motor
Precision greatly improves, and the big axis 21 of output of rotation drives pin sleeve 22 thereon to be rotated on axis pin 23,
There are one the lower eccentric gears 29 of dislocation 180 degree and upper eccentric gear 30 to fill there are two roller bearing for dress, forms H mechanisms,
The upper tumbler shaft in 30 center of the as lower eccentric gear 29 of centre bore and upper eccentric gear of two eccentric positive disks 25, eccentric cloudy disk 26
The raceway held, and by the annular corrugated convex block 28 of the outside of eccentric positive disk 25 and eccentric cloudy disk 26 and one group in pin wheel housing cavity 20
Gear pin axis 19-1 phases in the upper pin gear set 19 of annular array nibble Kazakhstan, to form few teeth difference internal messing rotating mechanism,(In order to subtract
Few friction carries pin gear sleeve when velocity of rotation is relatively low on gear pin axis 19-1)Its service life used is increased in this way.
When exporting big axis 21 and being rotated one week with eccentric positive disk 25, eccentric cloudy disk 26, due to eccentric positive disk 25, eccentric the moon
On disk 26 event, eccentric sun disk 25 and bias are limited the characteristics of tooth curve and its by 20 upper pin gear axis pin 19-1 of pin wheel housing cavity
The movement of cloudy disk 26, which becomes, has revolution to have the plane motion of rotation again, and when input shaft just circles, upper eccentric gear 30 is also
Rotation one week, eccentric sun disk 25 and eccentric cloudy disk 26 turn over a tooth difference in opposite direction and are turned round to obtain powerful rotation
Square, then output shaft 31 is passed to by the low speed autorotation of Cycloidal Wheel by axis pin by W output mechanisms, it is high-power to obtain
Circumferential turn to.
The output shaft 31 of rotation drives rotating ring 14 to rotate, and is rotated on socket block 15, and is ultimately transferred to handgrip 16
It is set to circumferentially rotate, the power of output is larger, in addition driving motor 3 uses servo motor, the angle circumferentially turned to obtain
It accurately controls, in the use more convenient quickly in later stage, the present apparatus is simple in structure, easy to operate, can be in the model of big load
Interior use is enclosed, the range used is wider.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It still can be with technical scheme described in the above embodiments is modified, or is carried out to which part technical characteristic etc.
With replacing, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection domain of invention.
Claims (8)
1. a kind of bionic machine human arm steering structure, including drive case(1), it is characterised in that:The drive case(1)'s
One end is fixed with the connection fixing block for being connect with imitation robot(2), the drive case(1)The other end is fixedly connected with
Rotary body(5), the rotary body(5)End face is uniformly fixed with several connecting rods(7), the connecting rod(7)It is another
End, which is fixed with, is connected and fixed plate(9), described to be connected and fixed plate(9)One end be fixed with rotation steering structure.
2. a kind of bionic machine human arm steering structure according to claim 1, it is characterised in that:The drive case
(1)Center of inside be provided with driving motor(3), the driving motor(3)Outer wall pass through several fixed links(4)With driving
Babinet(1)Inner wall fix, the driving motor(3)Main shaft be pierced by rotary body(5)It is connected and fixed with rotation steering structure, institute
State rotary body(5)One end put in drive case(1)Inside, and with the spacing ring of its external margin(6)It is fixedly connected, the limit
Position ring(6)One section of face and drive case(1)Inner wall contact and be rotatably connected.
3. a kind of bionic machine human arm steering structure according to claim 2, it is characterised in that:The rotation turns to knot
Structure includes rotating basis(1), pin wheel housing(11), output shaft(13), rotation cavity(17), fixing screwed hole(18), pin gear sleeve
(19), pin wheel housing cavity(2), the big axis of output(21), pin sleeve(22), axis pin(23), eccentric pivot hole(24), eccentric positive disk
(25), eccentric cloudy disk(26), through-hole(27), annular corrugated convex block(28), lower eccentric gear(29), upper eccentric gear(3), output
Axis(31), deep groove ball bearing(32)And gland(33).
4. a kind of bionic machine human arm steering structure according to claim 3, it is characterised in that:It is described to be connected and fixed plate
(9)One end be fixed with rotating basis(1), the rotating basis(1)Center of inside be provided with rotation cavity(17), the rotation
Cavity(17)Outer edge be evenly provided with several fixing screwed holes(18), the rotating basis(1)The other end fix
There is pin wheel housing(11), the pin wheel housing(11)Inside be provided with pin wheel housing cavity(2), the pin wheel housing cavity(2)Internal edges
Edge is evenly provided with several pin gear sleeves(19), each pin gear sleeve(19)Inside grafting match with its size shape
Gear pin axis(19-1).
5. a kind of bionic machine human arm steering structure according to claim 4, it is characterised in that:The pin wheel housing cavity
(2)Be internally provided with the big axis of output(21), the big axis of output(21)It is by central disc generator terminal axis and axis pin(23)Composition,
End axis one end passes through rotation cavity(17)With driving motor(3)Electric machine main shaft is mutually fixed, the end axis other end and center
Disk is fixed, and the other end of the central disc is fixed with several axis pins(23), each axis pin(23)Appearance socket
There are one the pin sleeves for rotating connection(22), the other end center of the central disc opens that there are one medium pores(21-1),
The big axis of output(21)One end in connecting rod(7)It is interior, the axis pin(23)In pin wheel housing cavity(2)It is internal.
6. a kind of bionic machine human arm steering structure according to claim 5, it is characterised in that:The pin wheel housing cavity
(2)Center be provided with eccentric positive disk(25), eccentric cloudy disk(26), the eccentric positive disk(25), eccentric cloudy disk(26)It is set in 18 °
It sets, the eccentric positive disk(25), eccentric cloudy disk(26)Outer edge be provided with annular corrugated convex block(28), described annular corrugated convex
Block(28)With pin sleeve(22)Be connected contact, the eccentric positive disk(25), eccentric cloudy disk(26)Center be provided with through-hole(27),
The eccentric positive disk(25)Ground through-hole(27)Inside it is provided with lower eccentric gear(29), the eccentric cloudy disk(26)Through-hole(27)It is interior
It is provided with eccentric gear(3).
7. a kind of bionic machine human arm steering structure according to claim 6, it is characterised in that:The lower eccentric gear
(29), upper eccentric gear(3)Center rotatable connection have output shaft(31), the output shaft(31)On be socketed with deep groove ball bearing
(32), the deep groove ball bearing(32)It is arranged in upper eccentric gear(3)Top, the output shaft(31)Across gland(33)With
Rotating ring(14)It is fixed, the gland(33)It is pressed in pin wheel housing cavity(2)It is upper and with and its be bolted.
8. a kind of bionic machine human arm steering structure according to claim 7, it is characterised in that:The gland(33)'s
One end is fixed with connecting tube(12), the connecting tube(12)The other end with several socket blocks(15)It is fixed, described in several
It is socketed block(15)Center be socketed with rotating ring(14), the rotating ring(14)With output shaft(31)One end is fixed, the output
Axis(31)One end be fixed with the handgrip for crawl(16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810752229.9A CN108687751A (en) | 2018-07-10 | 2018-07-10 | A kind of bionic machine human arm steering structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810752229.9A CN108687751A (en) | 2018-07-10 | 2018-07-10 | A kind of bionic machine human arm steering structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108687751A true CN108687751A (en) | 2018-10-23 |
Family
ID=63851390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810752229.9A Withdrawn CN108687751A (en) | 2018-07-10 | 2018-07-10 | A kind of bionic machine human arm steering structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108687751A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199272A (en) * | 2018-10-31 | 2019-01-15 | 旌德县安德力磨具有限公司 | A kind of steering structure of daily life clean robot |
-
2018
- 2018-07-10 CN CN201810752229.9A patent/CN108687751A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199272A (en) * | 2018-10-31 | 2019-01-15 | 旌德县安德力磨具有限公司 | A kind of steering structure of daily life clean robot |
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Application publication date: 20181023 |