CN109048959B - Arm for robot capable of flexibly steering - Google Patents
Arm for robot capable of flexibly steering Download PDFInfo
- Publication number
- CN109048959B CN109048959B CN201811050411.6A CN201811050411A CN109048959B CN 109048959 B CN109048959 B CN 109048959B CN 201811050411 A CN201811050411 A CN 201811050411A CN 109048959 B CN109048959 B CN 109048959B
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- fixed
- arm
- lower extreme
- screw
- connecting rod
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- 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 a robot arm capable of flexibly steering, which comprises an arm connecting device, wherein the outer surface of the upper end of the arm connecting device is provided with a chute, the upper end of the chute is provided with a sliding block, the upper end of the sliding block is provided with a movable shaft, the upper end of the movable shaft is provided with a slide way block, the outer surface of the upper part of the slide way block is provided with a fixed box, the upper end of the fixed box is provided with an arm connecting box, the upper end of the arm connecting box is provided with a first fixed disc, the upper end of the first fixed disc is provided with a first connecting rod, and the outer surface of the upper end of the first connecting rod is provided with a rotating disc, bringing better use prospect.
Description
Technical Field
The invention relates to the field of robot devices, in particular to a robot arm capable of flexibly steering.
Background
An arm for a robot capable of flexibly steering is a key part of work and some actions on the robot body, along with the high-speed development of the society, the appearance of the robot is more and more common, the working efficiency of people in various industries is greatly improved in life of the robot, the working efficiency is high, and the working time is long; the existing arm for the robot has certain defects when in use, in the working process, the rotation amplitude of the arm for the robot cannot be rotated greatly, the rotation of the manipulator on the arm for the robot is not flexible enough, and the manipulator is inconvenient to assemble and disassemble, so that certain adverse effects are brought to the use process of people.
Disclosure of Invention
The invention mainly aims to provide a robot arm capable of flexibly steering, which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention relates to a robot arm capable of flexibly steering, which comprises an arm connecting device, wherein a chute is arranged on the outer surface of the upper end of the arm connecting device, a sliding block is arranged at the upper end of the chute, a movable shaft is arranged at the upper end of the sliding block, a slide way block is arranged at the upper end of the movable shaft, a fixed box is arranged on the outer surface of the upper part of the slide way block, an arm connecting box is arranged at the upper end of the fixed box, a first fixed disc is arranged at the upper end of the arm connecting box, a first connecting rod is arranged at the upper end of the first fixed disc, a rotating disc is arranged on the outer surface of the upper end of the first connecting rod, a second connecting rod is arranged at the upper end of the rotating disc, a second fixed disc is arranged on the outer surface of the upper end of the second connecting rod, a manipulator bottom plate is arranged on the outer surface of the upper end of the second fixed disc, and a first hinge is arranged on one side of the manipulator bottom plate, one side of a hinge is provided with a movable plate, the other side of a second fixed disk is provided with a second hinge, and one side of the second hinge is provided with a second movable plate.
Preferably, be provided with the movable rod between arm connecting device and the sliding block, the both sides swing joint of both sides through movable rod and sliding block in arm connecting device's the upper end, the lower surface of sliding block passes through the upper surface swing joint of movable rod and spout, the shape of spout is semi-circular, and the quantity of movable rod is two sets of, and the movable rod is the symmetry and arranges.
Preferably, the upper end of slide piece is run through and is provided with the connecting axle, the upper portion surface of slide piece passes through the connecting axle and is connected with the internal surface fixed connection in the lower part of fixed case, the lower part and the loose axle swing joint of slide piece, the quantity of connecting axle are a plurality of groups, and the connecting axle is battle array form and arranges.
Preferably, be provided with the screw between arm connecting box and the fixed disk No. one, the lower surface fixed connection of screw and fixed disk is passed through to the upper end of arm connecting box, the lower extreme surface fixed connection of screw and connecting rod is passed through to the upper end of fixed disk No. one, the quantity of connecting rod is four groups, a connecting rod is battle array form and arranges, and the quantity of screw is four groups, and the screw is battle array form and arranges.
Preferably, the lower extreme of manipulator bottom plate passes through the upper end fixed surface of screw and No. two fixed disks to be connected, the lower extreme of No. two fixed disks passes through the upper end fixed surface of screw and No. two connecting rods to be connected, the quantity of No. two connecting rods is four groups, No. two connecting rods are battle array form and arrange, and the quantity of screw is four groups, and the screw is battle array form and arranges.
Preferably, the upper end and the lower extreme of rolling disc all are provided with the draw-in groove, the upper end swing joint of draw-in groove and rolling disc is passed through to the lower extreme surface of No. two connecting rods, the lower extreme surface swing joint of draw-in groove and rolling disc is passed through to the upper end surface of a connecting rod, the upper end fixed surface that the lower extreme surface of No. two connecting rods passes through rolling disc and a connecting rod is connected, and the quantity of draw-in groove is four groups, and the draw-in groove is battle form and arranges.
Preferably, the upper end of loose axle passes through the lower extreme internal surface connection of slide piece and fixed case, the upper portion of slide piece is connected with the lower extreme of arm connecting box through fixed case, the surface of fixed case and arm connecting box all is provided with anticorrosive coating.
Compared with the prior art, the invention has the following beneficial effects: this arm for robot is through spout and the sliding block that sets up, it can drive manipulator upper end part and rotate to rotate the sliding block, can carry out rotation by a wide margin on arm connecting device, the rotation by a wide margin of robot arm has been avoided, and can make the manipulator carry out nimble rotation through the rolling disc that sets up and connecting rod and No. two connecting rods, and fall into two parts in the rolling disc that sets up can, and can make things convenient for its convenient loading and unloading, the manipulator has been avoided rotating the inconvenience of dumb and loading and unloading, arm simple structure for robot, high durability and convenient operation, the effect of using is better for traditional mode.
Drawings
Fig. 1 is a schematic view of an overall structure of an arm for a robot capable of flexibly steering according to the present invention.
Fig. 2 is a partial view of a flexibly steerable robot arm of the present invention.
Fig. 3 is an enlarged view of a in fig. 2 of an arm for a flexible steerable robot of the present invention.
Fig. 4 is an enlarged view of B in fig. 2 of an arm for a flexible steerable robot according to the present invention.
Fig. 5 is a front view of an arm for a steerable robot of the present invention.
In the figure: 1. an arm connecting device; 2. a chute; 3. a slider; 4. a movable shaft; 5. a slide way block; 6. a fixed box; 7. an arm connecting box; 8. a first fixed disc; 9. a first connecting rod; 10. rotating the disc; 11. a second fixed disc; 12. a manipulator base plate; 13. a first hinge; 14. a first movable plate; 15. a second hinge; 16. a second movable plate; 17. a second connecting rod.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-5, an arm for a robot capable of flexibly steering comprises an arm connecting device 1, a sliding groove 2 is arranged on the outer surface of the upper end of the arm connecting device 1, a sliding block 3 is arranged on the upper end of the sliding groove 2, a movable shaft 4 is arranged on the upper end of the sliding block 3, a slide block 5 is arranged on the upper end of the movable shaft 4, a fixed box 6 is arranged on the outer surface of the upper part of the slide block 5, an arm connecting box 7 is arranged on the upper end of the fixed box 6, a first fixed disk 8 is arranged on the upper end of the arm connecting box 7, a first connecting rod 9 is arranged on the upper end of the first fixed disk 8, a rotating disk 10 is arranged on the outer surface of the upper end of the first connecting rod 9, a second connecting rod 17 is arranged on the upper end of the rotating disk 10, a second fixed disk 11 is arranged on the outer surface of the upper end of the second connecting rod 17, a manipulator bottom plate 12 is arranged on the outer surface of the upper end of the second fixed disk 11, and a first hinge 13 is arranged on one side of the manipulator bottom plate 12, a first movable plate 14 is arranged on one side of the first hinge 13, a second hinge 15 is arranged on the other side of the second fixed disk 11, and a second movable plate 16 is arranged on one side of the second hinge 15.
A movable rod is arranged between the arm connecting device 1 and the sliding block 3, two sides in the upper end of the arm connecting device 1 are movably connected with two sides of the sliding block 3 through the movable rod, the lower surface of the sliding block 3 is movably connected with the upper surface of the sliding groove 2 through the movable rod, the sliding groove 2 is semicircular, the number of the movable rods is two, the movable rods are symmetrically arranged and can rotate on the arm connecting device 1 to a large extent; the upper end of the slide way block 5 is provided with a connecting shaft in a penetrating way, the outer surface of the upper part of the slide way block 5 is fixedly connected with the inner surface of the lower part of the fixed box 6 through the connecting shaft, the lower part of the slide way block 5 is movably connected with the movable shaft 4, the connecting shafts are arranged in groups, and the connecting shafts are arranged in an array shape; screws are arranged between the arm connecting box 7 and the first fixing disc 8, the upper end of the arm connecting box 7 is fixedly connected with the lower outer surface of the first fixing disc 8 through the screws, the upper end of the first fixing disc 8 is fixedly connected with the outer surface of the lower end of the first connecting rod 9 through the screws, the number of the first connecting rods 9 is four, the first connecting rods 9 are arranged in an array shape, the number of the screws is four, and the screws are arranged in an array shape; the lower end of the manipulator bottom plate 12 is fixedly connected with the outer surface of the upper end of the second fixed plate 11 through screws, the lower end of the second fixed plate 11 is fixedly connected with the outer surface of the upper end of the second connecting rod 17 through screws, the number of the second connecting rods 17 is four, the second connecting rods 17 are arranged in an array shape, the number of the screws is four, and the screws are arranged in an array shape; the upper end and the lower end of the rotating disc 10 are respectively provided with a clamping groove, the outer surface of the lower end of the second connecting rod 17 is movably connected with the upper end of the rotating disc 10 through the clamping groove, the outer surface of the upper end of the first connecting rod 9 is movably connected with the lower end of the rotating disc 10 through the clamping groove, the outer surface of the lower end of the second connecting rod 17 is fixedly connected with the outer surface of the upper end of the first connecting rod 9 through the rotating disc 10, the number of the clamping grooves is four, and the clamping grooves are arranged in an array shape; the upper end of the movable shaft 4 is connected with the inner surface of the lower end of the fixed box 6 through the slide block 5, the upper part of the slide block 5 is connected with the lower end of the arm connecting box 7 through the fixed box 6, and the outer surfaces of the fixed box 6 and the arm connecting box 7 are both provided with an anticorrosive coating.
The arm for the robot capable of flexibly steering is provided with the sliding groove 2 and the sliding block 3, the sliding block 3 is rotated to enable the movable shaft 4 to slide on the surface of the sliding rail block 5, the upper part of the mechanical arm can rotate greatly, the rotating disc 10, the first fixed disc 8 and the second fixed disc 11 are arranged to flexibly rotate when the mechanical arm is rotated, the mechanical arm bottom plate 12 is enabled to rotate through the rotating disc 10, the first movable plate 14 and the second movable plate 16 can be driven to open and close through rotation of the first hinge 13 and the second hinge 15, the effect that the mechanical arm can grab objects is achieved, and the arm is practical.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. An arm for a robot that can turn to in a flexible way, includes arm connecting device (1), its characterized in that: the outer surface of the upper end of the arm connecting device (1) is provided with a sliding groove (2), the upper end of the sliding groove (2) is provided with a sliding block (3), the upper end of the sliding block (3) is provided with a movable shaft (4), the upper end of the movable shaft (4) is provided with a slide block (5), the outer surface of the upper portion of the slide block (5) is provided with a fixed box (6), the upper end of the fixed box (6) is provided with an arm connecting box (7), the upper end of the arm connecting box (7) is provided with a first fixed disk (8), the upper end of the first fixed disk (8) is provided with a first connecting rod (9), the outer surface of the upper end of the first connecting rod (9) is provided with a rotating disk (10), the upper end of the rotating disk (10) is provided with a second connecting rod (17), the outer surface of the upper end of the second connecting rod (17) is provided with a second fixed disk (11), the upper end surface of No. two fixed disks (11) is provided with manipulator bottom plate (12), one side of manipulator bottom plate (12) is provided with hinge (13) No. one, one side of hinge (13) is provided with fly leaf (14) No. one, the opposite side of No. two fixed disks (11) is provided with hinge (15) No. two, one side of hinge (15) No. two is provided with fly leaf (16) No. two.
2. A flexibly steerable robot arm as recited in claim 1, wherein: be provided with the movable rod between arm connecting device (1) and sliding block (3), the both sides swing joint that the movable rod passes through in the upper end of arm connecting device (1) and sliding block (3), the upper surface swing joint that the lower surface of sliding block (3) passes through movable rod and spout (2), the shape of spout (2) is semi-circular, and the quantity of movable rod is a plurality of groups, and the movable rod is the symmetry and arranges.
3. A flexibly steerable robot arm as recited in claim 1, wherein: the upper end of slide piece (5) runs through and is provided with the connecting axle, the upper portion surface of slide piece (5) passes through the connecting axle and is connected with the lower part internal surface fixed connection of fixed case (6), the lower part and loose axle (4) swing joint of slide piece (5), the quantity of connecting axle is a plurality of groups, and the connecting axle is battle array form and arranges.
4. A flexibly steerable robot arm as recited in claim 3, wherein: be provided with the screw between arm connecting box (7) and fixed disk (8), the lower fixed surface fixed connection of screw and fixed disk (8) is passed through to the upper end of arm connecting box (7), the lower extreme fixed surface connection of screw and connecting rod (9) is passed through to the upper end of fixed disk (8), the quantity of connecting rod (9) is four groups, connecting rod (9) are battle form and arrange, and the quantity of screw is four groups, and the screw is battle form and arranges.
5. A flexibly steerable robot arm as recited in claim 4, wherein: the lower extreme of manipulator bottom plate (12) passes through the upper end fixed surface of screw and No. two fixed disks (11) to be connected, the lower extreme of No. two fixed disks (11) passes through the upper end fixed surface of screw and No. two connecting rods (17) to be connected, the quantity of No. two connecting rods (17) is four groups, No. two connecting rods (17) are battle array form and arrange, and the quantity of screw is four groups, and the screw is battle array form and arranges.
6. A flexibly steerable robot arm as recited in claim 1, wherein: the upper end and the lower extreme of rolling disc (10) all are provided with the draw-in groove, the upper end swing joint of draw-in groove and rolling disc (10) is passed through to the lower extreme surface of No. two connecting rods (17), the lower extreme surface of the upper end surface of a connecting rod (9) passes through the lower extreme swing joint of draw-in groove and rolling disc (10), the lower extreme surface of No. two connecting rods (17) passes through the upper end fixed surface connection of rolling disc (10) and connecting rod (9), and the quantity of draw-in groove is four groups, and the draw-in groove is battle form and arranges.
7. A flexibly steerable robot arm as recited in claim 1, wherein: the upper end of loose axle (4) is passed through the lower extreme internal surface connection of slide piece (5) and fixed case (6), the upper portion of slide piece (5) is connected with the lower extreme of arm connecting box (7) through fixed case (6), the surface of fixed case (6) and arm connecting box (7) all is provided with anticorrosive 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 CN109048959A (en) | 2018-12-21 |
| CN109048959B true CN109048959B (en) | 2022-02-08 |
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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 |
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| Publication number | Publication date |
|---|---|
| CN109048959A (en) | 2018-12-21 |
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