CN109048959A - A kind of robot hand arm flexibly turned to - Google Patents
A kind of robot hand arm flexibly turned to Download PDFInfo
- Publication number
- CN109048959A CN109048959A CN201811050411.6A CN201811050411A CN109048959A CN 109048959 A CN109048959 A CN 109048959A CN 201811050411 A CN201811050411 A CN 201811050411A CN 109048959 A CN109048959 A CN 109048959A
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- CN
- China
- Prior art keywords
- arm
- robot hand
- screw
- fixed
- connecting rod
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the robot hand arms that one kind can flexibly turn to, including arm attachment device, the upper end outer surface of the arm attachment device is provided with sliding slot, the upper end of the sliding slot is provided with sliding shoe, the upper end of the sliding shoe is provided with movable axis, the upper end of the movable axis is provided with slideway block, the outer surface of upper of the slideway block is provided with fixed case, the upper end of the fixed case is provided with arm connecting box, the upper end of the arm connecting box is provided with No.1 fixed disk, the upper end of the No.1 fixed disk is provided with No.1 connecting rod, the upper end outer surface of the No.1 connecting rod is provided with rotating disc, the robot hand arm that one kind of the present invention can flexibly turn to is provided with rotating disc, it can enable manipulator flexible rotating and facilitate the handling of manipulator, and the sliding slot and sliding shoe of setting, mechanical arm can be made to carry out It significantly rotates, brings better prospect of the application.
Description
Technical field
The present invention relates to robot device field, in particular to a kind of robot hand arm that can be flexibly turned to.
Background technique
A kind of robot hand arm flexibly turned to is the key that a job and some movements with robot
Position, with the rapid development of society, the appearance of robot is more and more ordinary, and robot also greatly improves people in life
Various industries working efficiency, work efficiency is high for it, and longevity of service；Existing robot hand arm is when in use
There are certain drawbacks, and during the work time, the rotation amplitude of robot hand arm can not turn very big, and robot hand
Manipulator rotation on arm it is inflexible, and manipulator is inconvenient to be loaded and unloaded, and brings centainly to the use process of people
Adverse effect, for this purpose, it is proposed that a kind of robot hand arm that can be flexibly turned to.
Summary of the invention
The main purpose of the present invention is to provide the robot hand arms that one kind can flexibly turn to, and can effectively solve background
The problems in technology.
To achieve the above object, the technical scheme adopted by the invention is as follows:
The robot hand arm that one kind of the present invention can flexibly turn to, including arm attachment device, the arm attachment device
Upper end outer surface be provided with sliding slot, the upper end of the sliding slot is provided with sliding shoe, and the upper end of the sliding shoe is provided with activity
Axis, the upper end of the movable axis are provided with slideway block, and the outer surface of upper of the slideway block is provided with fixed case, the fixed case
Upper end be provided with arm connecting box, the upper end of the arm connecting box is provided with No.1 fixed disk, the No.1 fixed disk
Upper end is provided with No.1 connecting rod, and the upper end outer surface of the No.1 connecting rod is provided with rotating disc, the upper end of the rotating disc
No. two connecting rods are provided with, the upper end outer surface of No. two connecting rods is provided with No. two fixed disks, No. two fixed disks
Upper end outer surface is provided with robot base, and the side of the robot base is provided with No.1 hinge, the No.1 hinge
Side is provided with No.1 movable plate, and the other side of No. two fixed disks is provided with No. two hinges, the side of No. two hinges
It is provided with No. two movable plates.
Preferably, be provided with motion bar between the arm attachment device and sliding shoe, the arm attachment device it is upper
Two sides are flexibly connected by motion bar with the two sides of sliding shoe in holding, and the lower surface of the sliding shoe passes through motion bar and sliding slot
Upper surface is flexibly connected, and the shape of the sliding slot is semicircle, and the quantity of motion bar is two groups, and motion bar is in symmetry arrangement.
Preferably, the upper end of the slideway block is provided through connecting shaft, and the outer surface of upper of the slideway block passes through company
Spindle is fixedly connected with the lower inner surface of fixed case, and the top of the slideway block is flexibly connected by connecting shaft with movable axis,
The quantity of connecting shaft is several groups, and connecting shaft is arranged in battle array shape.
Preferably, screw, the upper end of the arm connecting box are provided between the arm connecting box and No.1 fixed disk
It is fixedly connected by screw with the outer lower face surface of No.1 fixed disk, the upper end of the No.1 fixed disk is connect by screw with No.1
The lower end outer surface of bar is fixedly connected, and the quantity of the No.1 connecting rod is four groups, and the No.1 connecting rod is arranged in battle array shape, spiral shell
The quantity of silk is four groups, and screw is arranged in battle array shape.
Preferably, the lower end of the robot base is fixedly connected by screw with the upper end outer surface of No. two fixed disks,
The lower end of No. two fixed disks is fixedly connected by screw with the upper end outer surface of No. two connecting rods, No. two connecting rods
Quantity is four groups, and No. two connecting rods are arranged in battle array shape, and the quantity of screw is four groups, and screw is arranged in battle array shape.
Preferably, the top and bottom of the rotating disc are provided with card slot, the lower end outer surface of No. two connecting rods
It is flexibly connected by card slot with the upper end of rotating disc, the upper end outer surface of the No.1 connecting rod passes through under card slot and rotating disc
End is flexibly connected, and the lower end outer surface of No. two connecting rods connects by the way that the upper end outer surface of rotating disc and No.1 connecting rod is fixed
It connects, the quantity of card slot is four groups, and card slot is arranged in battle array shape.
Preferably, the upper end of the movable axis is connected by the lower end inner surface of slideway block and fixed case, the slideway block
Top connect with the lower end of arm connecting box by fixed case, the outer surface of the fixed case and arm connecting box is provided with
Corrosion-inhibiting coating.
Compared with prior art, the invention has the following beneficial effects: this kind of robot hand arms to pass through the sliding slot of setting
And sliding shoe, rotation sliding shoe are able to drive the rotation of manipulator upper part, can carry out significantly in arm attachment device
Rotation, avoiding robot arm cannot significantly rotate, and by setting rotating disc and No.1 connecting rod and two
Number connecting rod enables to manipulator flexibly to be rotated, and is divided into two parts in the rotating disc energy being arranged, and can facilitate
It is easily loaded and unloaded, and is avoided manipulator and is rotated not flexible and handling inconveniences, robot hand arm configuration is simple, behaviour
Facilitate, the effect used is more preferable relative to traditional approach.
Detailed description of the invention
Fig. 1 is the overall structure diagram for the robot hand arm that one kind of the present invention can flexibly turn to.
Fig. 2 is the partial view for the robot hand arm that one kind of the present invention can flexibly turn to.
Fig. 3 is the enlarged drawing of A in the Fig. 2 for the robot hand arm that one kind of the present invention can flexibly turn to.
Fig. 4 is the enlarged drawing of B in the Fig. 2 for the robot hand arm that one kind of the present invention can flexibly turn to.
Fig. 5 is the front view for the robot hand arm that one kind of the present invention can flexibly turn to.
In figure: 1, arm attachment device；2, sliding slot；3, sliding shoe；4, movable axis；5, slideway block；6, fixed case；7, arm
Connecting box；8, No.1 fixed disk；9, No.1 connecting rod；10, rotating disc；11, No. two fixed disks；12, robot base；13, one
Number hinge；14, No.1 movable plate；15, No. two hinges；16, No. two movable plates；17, No. two connecting rods.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
As shown in Figs. 1-5, a kind of robot hand arm flexibly turned to, including arm attachment device 1, arm connection dress
The upper end outer surface for setting 1 is provided with sliding slot 2, and the upper end of sliding slot 2 is provided with sliding shoe 3, and the upper end of sliding shoe 3 is provided with movable axis
4, the upper end of movable axis 4 is provided with slideway block 5, and the outer surface of upper of slideway block 5 is provided with fixed case 6, and the upper end of fixed case 6 is set
It is equipped with arm connecting box 7, the upper end of arm connecting box 7 is provided with No.1 fixed disk 8, and the upper end of No.1 fixed disk 8 is provided with one
Number connecting rod 9, the upper end outer surface of No.1 connecting rod 9 are provided with rotating disc 10, and the upper end of rotating disc 10 is provided with No. two connections
Bar 17, the upper end outer surface of No. two connecting rods 17 are provided with No. two fixed disks 11, the upper end outer surface setting of No. two fixed disks 11
There is robot base 12, the side of robot base 12 is provided with No.1 hinge 13, and the side of No.1 hinge 13 is provided with No.1
Movable plate 14, the other side of No. two fixed disks 11 are provided with No. two hinges 15, and the side of No. two hinges 15 is provided with No. two activities
Plate 16.
Motion bar is provided between arm attachment device 1 and sliding shoe 3, two sides pass through in the upper end of arm attachment device 1
Motion bar is flexibly connected with the two sides of sliding shoe 3, and the lower surface of sliding shoe 3 is connected by the upper surface activity of motion bar and sliding slot 2
It connects, the shape of sliding slot 2 is semicircle, and the quantity of motion bar is two groups, and motion bar is in symmetry arrangement, can be in arm attachment device
It is significantly rotated on 1；The upper end of slideway block 5 is provided through connecting shaft, and the outer surface of upper of slideway block 5 passes through connection
Axis is fixedly connected with the lower inner surface of fixed case 6, and the top of the slideway block 5 is flexibly connected by connecting shaft with movable axis 4,
The quantity of connecting shaft is several groups, and connecting shaft is arranged in battle array shape；It is provided with screw between arm connecting box 7 and No.1 fixed disk 8,
The upper end of arm connecting box 7 is fixedly connected by screw with the outer lower face surface of No.1 fixed disk 8, and the upper end of No.1 fixed disk 8 is logical
It crosses screw to be fixedly connected with the lower end outer surface of No.1 connecting rod 9, the quantity of No.1 connecting rod 9 is four groups, and No.1 connecting rod 9 is in
Battle array shape arrangement, the quantity of screw are four groups, and screw is arranged in battle array shape；The lower end of robot base 12 passes through screw and No. two fixations
The upper end outer surface of disk 11 is fixedly connected, and the lower end of No. two fixed disks 11 passes through the upper end outer surface of screw and No. two connecting rods 17
It is fixedly connected, the quantity of No. two connecting rods 17 is four groups, and No. two connecting rods 17 are arranged in battle array shape, and the quantity of screw is four groups, spiral shell
Silk is arranged in battle array shape；The top and bottom of rotating disc 10 are provided with card slot, and the lower end outer surface of No. two connecting rods 17 passes through card
Slot is flexibly connected with the upper end of rotating disc 10, and the upper end outer surface of No.1 connecting rod 9 is living by the lower end of card slot and rotating disc 10
Dynamic connection, the lower end outer surface of No. two connecting rods 17 is fixed by rotating disc 10 and the upper end outer surface of No.1 connecting rod 9
Connection, the quantity of card slot are four groups, and card slot is arranged in battle array shape；The upper end of movable axis 4 passes through the lower end of slideway block 5 and fixed case 6
The top of inner surface connection, slideway block 5 is connect by fixed case 6 with the lower end of arm connecting box 7, and fixed case 6 is connected with arm
The outer surface of case 7 is provided with corrosion-inhibiting coating.
It should be noted that the present invention is that the robot hand arm that one kind can flexibly turn to passes through the sliding slot 2 of setting and slides
Motion block 3, rotation sliding shoe 3 enable movable axis 4 to be slided on the surface of slideway block 5, enable to the top of mechanical arm
Divide to be able to carry out and significantly rotate, and can turned by the rotating disc 10 of setting, No.1 fixed disk 8 and No. two fixed disks 11
It is flexibly rotated when dynamic manipulator, so that robot base 12 is rotated by rotating disc 10, and passes through the one of setting
The rotation of number hinge 13 and No. two hinges 15 is able to drive No.1 movable plate 14 and No. two movable plates 16 carry out closing the switch movement,
Have the function that manipulator can grab thing, it is more practical.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (7)
1. the robot hand arm that one kind can flexibly turn to, including arm attachment device (1), it is characterised in that: the arm connects
The upper end outer surface of connection device (1) is provided with sliding slot (2), and the upper end of the sliding slot (2) is provided with sliding shoe (3), the sliding
The upper end of block (3) is provided with movable axis (4), and the upper end of the movable axis (4) is provided with slideway block (5), the slideway block (5)
Outer surface of upper is provided with fixed case (6), and the upper end of the fixed case (6) is provided with arm connecting box (7), the arm connection
The upper end of case (7) is provided with No.1 fixed disk (8), and the upper end of the No.1 fixed disk (8) is provided with No.1 connecting rod (9), institute
The upper end outer surface for stating No.1 connecting rod (9) is provided with rotating disc (10), and the upper end of the rotating disc (10) is provided with No. two companies
Extension bar (17), the upper end outer surface of No. two connecting rods (17) are provided with No. two fixed disks (11), No. two fixed disks
(11) upper end outer surface is provided with robot base (12), and the side of the robot base (12) is provided with No.1 hinge
(13), the side of the No.1 hinge (13) is provided with No.1 movable plate (14), and the other side of No. two fixed disks (11) is set
No. two hinges (15) are equipped with, the side of No. two hinges (15) is provided with No. two movable plates (16).
2. the robot hand arm that one kind according to claim 1 can flexibly turn to, it is characterised in that: the arm connection
Motion bar is provided between device (1) and sliding shoe (3), two sides pass through motion bar in the upper end of the arm attachment device (1)
It is flexibly connected with the two sides of sliding shoe (3), the lower surface of the sliding shoe (3) is living by the upper surface of motion bar and sliding slot (2)
Dynamic connection, the shape of the sliding slot (2) are semicircle, and the quantity of motion bar is several groups, and motion bar is in symmetry arrangement.
3. the robot hand arm that one kind according to claim 1 can flexibly turn to, it is characterised in that: the slideway block
(5) upper end is provided through connecting shaft, and the outer surface of upper of the slideway block (5) passes through under connecting shaft and fixed case (6)
Portion's inner surface is fixedly connected, and the top of the slideway block (5) is flexibly connected by connecting shaft with movable axis (4), the number of connecting shaft
Amount is several groups, and connecting shaft is arranged in battle array shape.
4. the robot hand arm that one kind according to claim 3 can flexibly turn to, it is characterised in that: the arm connection
Screw is provided between case (7) and No.1 fixed disk (8), the upper end of the arm connecting box (7) is fixed by screw and No.1
The outer lower face surface of disk (8) is fixedly connected, and the upper end of the No.1 fixed disk (8) passes through the lower end of screw and No.1 connecting rod (9)
Outer surface is fixedly connected, and the quantity of the No.1 connecting rod (9) is four groups, and the No.1 connecting rod (9) is arranged in battle array shape, screw
Quantity be four groups, screw in battle array shape arrangement.
5. the robot hand arm that one kind according to claim 4 can flexibly turn to, it is characterised in that: the manipulator bottom
The lower end of plate (12) is fixedly connected by screw with the upper end outer surface of No. two fixed disks (11), No. two fixed disks (11)
Lower end is fixedly connected by screw with the upper end outer surface of No. two connecting rods (17), and the quantity of No. two connecting rods (17) is four
Group, No. two connecting rods (17) are arranged in battle array shape, and the quantity of screw is four groups, and screw is arranged in battle array shape.
6. the robot hand arm that one kind according to claim 1 can flexibly turn to, it is characterised in that: the rotating disc
(10) top and bottom are provided with card slot, and the lower end outer surface of No. two connecting rods (17) passes through card slot and rotating disc
(10) upper end is flexibly connected, and the upper end outer surface of the No.1 connecting rod (9) is living by the lower end of card slot and rotating disc (10)
Dynamic connection, the lower end outer surface of No. two connecting rods (17) pass through the upper end appearance of rotating disc (10) and No.1 connecting rod (9)
Face is fixedly connected, and the quantity of card slot is four groups, and card slot is arranged in battle array shape.
7. the robot hand arm that one kind according to claim 1 can flexibly turn to, it is characterised in that: the movable axis
(4) upper end is connect by slideway block (5) with the lower end inner surface of fixed case (6), and the top of the slideway block (5) passes through fixation
Case (6) is connect with the lower end of arm connecting box (7), and the outer surface of the fixed case (6) and arm connecting box (7) is provided with anti-
Rotten coating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811050411.6A CN109048959B (en) | 2018-09-10 | 2018-09-10 | Arm for robot capable of flexibly steering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811050411.6A CN109048959B (en) | 2018-09-10 | 2018-09-10 | Arm for robot capable of flexibly steering |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109048959A true CN109048959A (en) | 2018-12-21 |
| CN109048959B CN109048959B (en) | 2022-02-08 |
Family
ID=64761093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811050411.6A Active CN109048959B (en) | 2018-09-10 | 2018-09-10 | Arm for robot capable of flexibly steering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109048959B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60260720A (en) * | 1984-06-08 | 1985-12-23 | Nec Corp | Joint |
| CN101372096A (en) * | 2008-08-05 | 2009-02-25 | 东南大学 | Multiple-joint service robot arm capable of implementing translational decoupling at Z direction |
| CN201998169U (en) * | 2010-04-23 | 2011-10-05 | 北京航空航天大学 | Mechanical arm system for nuclear detecting and emergency processing robot |
| CN107322636A (en) * | 2017-09-01 | 2017-11-07 | 深圳龙海特机器人科技有限公司 | Flexible joint and revolution folding arm |
-
2018
- 2018-09-10 CN CN201811050411.6A patent/CN109048959B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60260720A (en) * | 1984-06-08 | 1985-12-23 | Nec Corp | Joint |
| CN101372096A (en) * | 2008-08-05 | 2009-02-25 | 东南大学 | Multiple-joint service robot arm capable of implementing translational decoupling at Z direction |
| CN201998169U (en) * | 2010-04-23 | 2011-10-05 | 北京航空航天大学 | Mechanical arm system for nuclear detecting and emergency processing robot |
| CN107322636A (en) * | 2017-09-01 | 2017-11-07 | 深圳龙海特机器人科技有限公司 | Flexible joint and revolution folding arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109048959B (en) | 2022-02-08 |
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