CN109397328A - A kind of novel anthropomorphous machine's arm shoulder joint - Google Patents
A kind of novel anthropomorphous machine's arm shoulder joint Download PDFInfo
- Publication number
- CN109397328A CN109397328A CN201811522732.1A CN201811522732A CN109397328A CN 109397328 A CN109397328 A CN 109397328A CN 201811522732 A CN201811522732 A CN 201811522732A CN 109397328 A CN109397328 A CN 109397328A
- Authority
- CN
- China
- Prior art keywords
- motor
- connecting rod
- axis
- shoulder joint
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 22
- 230000008878 coupling Effects 0.000 claims description 15
- 238000010168 coupling process Methods 0.000 claims description 15
- 238000005859 coupling reaction Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical group C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 230000005611 electricity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention patent discloses a kind of novel anthropomorphous machine's arm shoulder joint, belong to anthropomorphous machine's arm research field, there is motor to drive retarder, retarder drives link transmission, the biggish power of mechanical arm and torque transmission are realized by link transmission, and three motors all design inside shoulder joint, and its advantages are compact-sized and improve mechanical arm working efficiency.
Description
Technical field
The present invention relates to mechanical arm fields, design more particularly to the shoulder joint of anthropomorphous machine's arm.
Background technique
For mechanical arm in field of industrial manufacturing using more and more extensive, feature is to complete various expected operations by programming to appoint
Business, has constructively taken into account the advantage of human arm and machine respectively, and anthropomorphous machine's arm is a weight of mechanical arm research field
Point content, and there are shoulder joint stress and the lesser limitations of torque for existing anthropomorphous machine's arm, and there is the range for avoiding obstacle
The problems such as smaller.
Summary of the invention
The present invention devises a kind of novel anthropomorphous machine's arm shoulder joint, solves some the asking of existing machinery arm shoulder joint
Topic, use following scheme: a kind of novel anthropomorphous machine's arm shoulder joint, including bottom base, the bottom base by bolt with
Motor cabinetIt is connected, the motor cabinetWith motorIt is connected, the motorWith bevel gearIt is connected.The bevel gearWith cone
GearEngagement, the bevel gearWith axisFixed, described axisWith spur gearIt is connected, the spur gearWith round tooth
Item engagement, the rack circle are connected with top base, and the top base passes through bolt and motor cabinetIt is connected, the electricity
BaseWith motorIt is connected, the motorWith retarderIt is connected, the retarderOutput shaft and spur gearIt is connected.
The spur gearIt is engaged with hollow gear, through spline housing on shaft coupling, the shaft coupling passes through the hollow gear
Bolt is fixed on hollow shaft, and the top base passes through bolt and motor cabinetIt is connected, the motor cabinetWith motor phase
Even, the motorWith retarderIt is connected, the retarderOutput shaft and connecting rodIt is connected.The connecting rodWith T-type axis
It is connected, the T-type axis passes through bearingIt is connected with bearing block, the bearing block is connected with gimbal coupling, the universal joint
Shaft coupling and connecting rodIt is connected, the connecting rodWith connecting rodIt is connected, the connecting rodIt is fixed on axis, the axisWith
Hollow shaft with hole location is connected, and the hollow shaft is connected with arm body.
In application, increase the power and torque of the born end of shoulder joint in such a way that motor drives link transmission, and
And bearing block is connected with gimbal coupling, this bearing block realizes shoulder joint freedom degree with bearing and T-type axis connection connecting rod
Two and three proper motion, and this design structure may be implemented to avoid obstacle since shoulder joint, avoid obstacle to overcome
The lesser problem of range.
Detailed description of the invention:
Fig. 1 is a kind of novel anthropomorphous machine's arm shoulder joint structural schematic diagram
Fig. 2 is one drive mechanism schematic diagram of shoulder joint freedom degree of the invention
Fig. 3 is two drive mechanism schematic diagram of shoulder joint freedom degree of the invention
Fig. 4 is three drive mechanism schematic diagram of shoulder joint freedom degree of the invention
Fig. 5 is T-type axis and bearing block cross-sectional view in shoulder joint freedom degree three of the invention
Fig. 6 is that shoulder joint freedom degree two, three of the invention combines drive mechanism schematic diagram
Fig. 7 is shoulder joint lower pedestal structure schematic diagram of the invention
Fig. 8 is shoulder joint top base structural schematic diagram of the invention
1 is bottom base in figure, and 2 be motor, 3 be motor cabinet, 4 be bevel gear, 5 be spur gear, 6 be bevel gear , 7 are
Axis, 8 be bearing, 9 be rack circle, and 10 be motor , 11 be retarder, 12 be straight-tooth , 13 be hollow gear, 14
It is bearing for shaft coupling, 15 , 16 be hollow shaft, and 17 be motor , 18 be retarder , 19 be connecting rod, 20 be T-type axis,
21 be bearing block, and 22 be gimbal coupling, and 23 be connecting rod , 24 be connecting rod , 25 be axis , 26 be arm body, and 27 are
Bearing , 28 be top base, and 29 be motor cabinet , 30 be motor cabinet 。
Specific embodiment:
Fig. 1 to Fig. 8 describes the embodiment of the present invention jointly, is the three-degree-of-freedom motion for realizing mechanical arm shoulder joint in this,
The motion mode of freedom degree one, motor(2) pass through motor cabinet(3) it is connected with bottom base (1), motor(2) and bevel gear(4)
It is connected, bevel gear(4) and bevel gear (6) it engages, bevel gear (6) and spur gear(5) it is fixed on same axis(7) on, directly
Gear(5) it is engaged with rack circle (9), rack circle (9) and bearing(8) it is placed on jointly on bottom base (1), rack circle
(9) fixed with top base (28), top base (28) rotation is driven as rack circle (9) rotate, two motion mode of freedom degree, on
Pedestal (28) passes through motor cabinet (30) and motor (10) it is connected, motor (10) pass through retarder(11) straight-tooth is driven
(12) it rotates, straight-tooth (12) hollow gear (13) rotation is driven, hollow gear (13) and shaft coupling (14) are fixed, shaft coupling
(14) fixed with hollow shaft (16), hollow shaft (16) and bearing (15) be placed in top base (28), hollow shaft (16) with
Straight-tooth (12) it rotates and rotates, three motion mode of freedom degree, top base (28) passes through motor cabinet (29) and motor
(17) it is connected, motor (17) retarder is connected (18) connecting rod is driven(19) it rotates, connecting rod(19) T-type axis (20) are driven
It is swung with bearing block (21), bearing block (21) drives gimbal coupling (22), connecting rod (23) and connecting rod (24) it swings,
Connecting rod (24) it is fixed on axis (25) on, axis (25) fixed arm body (26), to realize with motor (17) turn
Arm body (26) of starting is swung up and down, and during exercise with the rotation of freedom degree two, freedom degree three passes through gimbal coupling (22)
Cooperative motion is realized in swing and rotation with T-type axis (20).
Claims (1)
1. a kind of novel anthropomorphous machine's arm shoulder joint, including bottom base, it is characterized in that: the bottom base passes through bolt and motor
SeatIt is connected, the motor cabinetWith motorIt is connected, the motorWith bevel gearIt is connected, the bevel gearWith bevel gearEngagement, the bevel gearWith axisFixed, described axisWith spur gearIt is connected, the spur gearIt is nibbled with rack circle
It closes, the rack circle is connected with top base, and the top base passes through bolt and motor cabinetIt is connected, the motor cabinetWith motorIt is connected, the motorWith retarderIt is connected, the retarderOutput shaft and spur gearIt is connected, it is described
Spur gearIt is engaged with hollow gear, for the hollow gear through spline housing on shaft coupling, the shaft coupling passes through bolt
It is fixed on hollow shaft, the top base passes through bolt and motor cabinetIt is connected, the motor cabinetWith motorIt is connected, institute
The motor statedWith retarderIt is connected, the retarderOutput shaft and connecting rodIt is connected, the connecting rodIt is connected with T-type axis, institute
It states T-type axis and passes through bearingBe connected with bearing block, the bearing block is connected with gimbal coupling, the gimbal coupling with
Connecting rodIt is connected, the connecting rodWith connecting rodIt is connected, the connecting rodIt is fixed on axis, the axisWith with hole location
Hollow shaft is connected, and the hollow shaft is connected with arm body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811522732.1A CN109397328A (en) | 2018-12-13 | 2018-12-13 | A kind of novel anthropomorphous machine's arm shoulder joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811522732.1A CN109397328A (en) | 2018-12-13 | 2018-12-13 | A kind of novel anthropomorphous machine's arm shoulder joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109397328A true CN109397328A (en) | 2019-03-01 |
Family
ID=65458918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811522732.1A Pending CN109397328A (en) | 2018-12-13 | 2018-12-13 | A kind of novel anthropomorphous machine's arm shoulder joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109397328A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100095800A1 (en) * | 2008-10-17 | 2010-04-22 | Staubli Faverges | Articulated structure for a multi-axis robot, and a robot including such a structure |
| JP2011121163A (en) * | 2009-11-11 | 2011-06-23 | Yaskawa Electric Corp | Robot |
| CN104308843A (en) * | 2014-08-27 | 2015-01-28 | 王英超 | Fire-fighting robot manipulator lifting and rotating device |
| CN107471197A (en) * | 2017-08-11 | 2017-12-15 | 上海大学 | A kind of apery both arms multiple degrees of freedom industrial robot |
| CN108638037A (en) * | 2018-07-23 | 2018-10-12 | 长春工业大学 | A kind of Six-DOF industrial robot structure and control system |
| CN209240069U (en) * | 2018-12-13 | 2019-08-13 | 哈尔滨理工大学 | A kind of anthropomorphous machine's arm shoulder joint of Three Degree Of Freedom |
-
2018
- 2018-12-13 CN CN201811522732.1A patent/CN109397328A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100095800A1 (en) * | 2008-10-17 | 2010-04-22 | Staubli Faverges | Articulated structure for a multi-axis robot, and a robot including such a structure |
| JP2011121163A (en) * | 2009-11-11 | 2011-06-23 | Yaskawa Electric Corp | Robot |
| CN104308843A (en) * | 2014-08-27 | 2015-01-28 | 王英超 | Fire-fighting robot manipulator lifting and rotating device |
| CN107471197A (en) * | 2017-08-11 | 2017-12-15 | 上海大学 | A kind of apery both arms multiple degrees of freedom industrial robot |
| CN108638037A (en) * | 2018-07-23 | 2018-10-12 | 长春工业大学 | A kind of Six-DOF industrial robot structure and control system |
| CN209240069U (en) * | 2018-12-13 | 2019-08-13 | 哈尔滨理工大学 | A kind of anthropomorphous machine's arm shoulder joint of Three Degree Of Freedom |
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