CN1511680A - Multiple joint human-imitating robot arm - Google Patents
Multiple joint human-imitating robot arm Download PDFInfo
- Publication number
- CN1511680A CN1511680A CNA021588678A CN02158867A CN1511680A CN 1511680 A CN1511680 A CN 1511680A CN A021588678 A CNA021588678 A CN A021588678A CN 02158867 A CN02158867 A CN 02158867A CN 1511680 A CN1511680 A CN 1511680A
- Authority
- CN
- China
- Prior art keywords
- joint
- motor
- pair
- gear
- wrist
- 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
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The multiple joint human-imitating robot arm is a kind of arm installed onto robot. It consists of shoulder joint with one turning pair and one swinging pair, elbow joint with two turning pairs and one swinging pair, wrist joint with one turning pair and one swinging pair, upper arm connecting the shoulder joint and the elbow joint, lower arm connecting the elbow joint and the wrist joint and grasping hand connected to the wrist joint. The grasping hand consists of casing, worm inside the casing, one pair of worm gears and one pair of hand claws extending beyond the casing. Each of the turning pairs and swinging pairs in the joints and the worm gears in the hand is driven with a motor separately. The robot arm, like human arm, can perform various operations, including taking, laying, tightening, etc. for realizing certain job function.
Description
Technical field: the present invention relates to a kind of mechanical arm that is installed in the robot.
Background technology: the most volume of existing robots joint type arm is big, and weight is big, and action is owed flexibly, and scope of activities is little, and most AC servo motors that adopt can only not be suitable for the mobile model robot in the fixed-site operation.Great majority are single armed simultaneously, and are powerless for the occasion that needs the both arms coordinative operation.
Summary of the invention: the invention provides a kind of multi-joint human emulated robot arm, this arm can apish arm function carry out various operations, finish take, put, tighten, action such as switch, and realize certain operation function by the Cooperation And Coordination action of both hands arm.Multi-joint human emulated robot arm of the present invention is by having the secondary shoulder joint A of rotary pair and swing, have the secondary ancon joint C of two rotary pairs and swing, have the secondary wrist joint E of rotary pair and swing, be connected big arm B between shoulder joint A and the ancon joint C, be connected the forearm D between ancon joint C and the wrist joint E, the clamping hand F that is connected with the wrist joint E and form; Clamping hand F by housing F1, be installed in worm screw F2 in the housing F1, be arranged on worm screw F2 both sides and form with a pair of worm gear F3, a pair of paw F4 of fixedlying connected with a pair of worm gear F3 respectively of worm screw F2 engagement, paw F4 extends the outside of housing F1; The motion of the worm screw F2 of the rotary pair in each joint and swing pair and clamping hand F is respectively by a driven by servomotor.There are two frees degree in the shoulder joint of this multi-joint human emulated robot arm: motor is started the thorny arm longitudinal axis of arm (0-0 is as follows) revolution (330 ° of range of movement) by the gear pair driving-belt, and another motor drives big arm around the swing of I axle (range of movement-90 °~+ 100 °) by terminal pad; The ancon joint is divided two sections: go up ancon, following ancon, last ancon has 2 frees degree: motor drives the thorny arm longitudinal axis revolution of ancon (330 ° of range of movement) by the gear pair transmission, motor drives forearm around the swing of II axle (range of movement-90 °~+ 90 °) by terminal pad, following ancon has 1 free degree: motor drives the thorny arm longitudinal axis revolution of forearm (330 ° of range of movement) by the gear pair transmission, increase this free degree and can strengthen the barrier ability of keeping away, increase job area; There are 2 frees degree in the wrist joint: motor drives wrist by the cog belt transmission and passes through terminal pad around III axle swing (range of movement-30 °~+ 45 °), motor, drive clamping winding by hand arm longitudinal axis revolution (range of movement-60 °~+ 60 °), motor drives two paws and carries out on-off action by the worm and gear transmission in the clamping hand.Multi-joint human emulated robot arm of the present invention, but left-right symmetry be installed in the robot, the tunable action under computer control of its both arms, (see figure 1) cooperatively interacts.Arm adopts 7+1 (redundancy) degrees of freedom copy man structure, and length and people's arm are similar.This robot arm frame for movement simple and compact, volume are little, in light weight, and each joint connects reliable, convenient disassembly, and motor lines, pickup wire are built-in, and drive connection is simple and clear; Arm has the characteristics of the 7+1 free degree, and the arm motion scope is big, flexibly, and it is strong to keep away the barrier ability; High safety, accessibility are strong, the two hands coordination motion flexibly, applied range; Operation arm energy consumption is low, adopts direct current 24v power supply; Maximum weight capacity: the 1Kg of single job arm.
Description of drawings: Fig. 1 is that robot arm of the present invention is installed in the operating principle figure on one's body of robot, Fig. 2 is the structural representation of robot arm of the present invention, Fig. 3 is the vertical view of Fig. 2, Fig. 4 is the structural representation of shoulder joint A, Fig. 5 is the structural representation of ancon joint C, Fig. 6 is the structural representation of wrist joint E, and Fig. 7 is the structural representation of clamping hand F.
The specific embodiment: consult Fig. 2, Fig. 3, the robot arm of present embodiment is by having the secondary shoulder joint A of rotary pair and swing, have the secondary ancon joint C of two rotary pairs and swing, have the secondary wrist joint E of rotary pair and swing, be connected big arm B between shoulder joint A and the ancon joint C, be connected the forearm D between ancon joint C and the wrist joint E, the clamping hand F that is connected with the wrist joint E and form; Consult Fig. 4, shoulder joint A is made up of joint body A1, shoulder commentaries on classics joint body A2, the first motor A3, first gear A 4, the first gear ring A5, shoulder balance staff A6, the second motor A7; The first motor A3 is installed on the body A1 of joint, the first gear ring A5 is sleeved on the axle A8 of joint body A1, the first gear ring A5 changes joint body A2 with shoulder fixedlys connected, first gear A 4 is connected with the main shaft of the first motor A3, and first gear A 4 is meshed with the first gear ring A5 and forms the rotary pair of shoulder joint A; The shoulder balance staff A6 that is connected with the main shaft of the second motor A7 is fixed in the axle sleeve B1 of big arm B left end, on shoulder commentaries on classics joint body A2, also be fixed with terminal pad A9 and motor shroud A10, terminal pad A9 and motor shroud A10 are supported on the two ends of axle sleeve B1, and terminal pad A9 and motor shroud A10 and axle sleeve B1 form the swing pair that is rotatably assorted and forms shoulder joint A.Consult Fig. 5, the 3rd motor C1 in the big arm B, second gear C 2, the second gear ring C3, elbow change joint body C4, the 4th motor C5, elbow balance staff C6, elbow pendulum joint body C7, the 3rd gear C 8, the 3rd gear ring C9 to ancon joint C by being installed in, the 5th motor C10 that is installed in the forearm D forms; The second gear ring C3 is sleeved on the axle B2 in the big arm B, and the second gear ring C3 is fixedlyed connected with elbow commentaries on classics joint body C4, and second gear C 2 is connected with the main shaft of the 3rd motor C1, and second gear C 2 and the second gear ring C3 are meshing with each other and form the last rotary pair of ancon joint C; The elbow balance staff C6 that is connected with the main shaft of the 4th motor C5 is fixed in the axle sleeve C11 of elbow pendulum joint body C7, on elbow commentaries on classics joint body C4, be fixedly connected with terminal pad C12 and motor shroud C13, terminal pad C12 and motor shroud C13 are supported on the two ends of axle sleeve C11, and axle sleeve C11 and terminal pad C12 and motor shroud C13 form the swing pair that is rotatably assorted and forms ancon joint C; The 3rd gear ring C9 is sleeved on the interior axle D1 of forearm D, the 3rd gear ring C9 is fixedlyed connected with elbow pendulum joint body C7, the 3rd gear C 8 is fixedlyed connected with the main shaft of the 5th motor C10, and the 3rd gear ring C9 and the 3rd gear C 8 are meshing with each other and form the turning down pair of ancon joint C.Consult Fig. 6, the wrist joint E is made up of the 6th motor E1, the cog belt transmission mechanism E2, wrist axle E3, the 7th motor E4, the wrist joint body E5 that are installed in the forearm D; Cog belt transmission mechanism E2 connects main shaft and the wrist axle E3 of the 6th motor E1 respectively, and the two ends of wrist axle E3 and forearm D end form the swing pair that is rotatably assorted and promptly constitutes the wrist joint E; The 7th motor E4 is fixed on the wrist axle E3 by fixture E6, and wrist joint body E5 is fixedlyed connected the rotary pair that promptly constitutes the wrist joint E with the main shaft of the 7th motor E4, and wrist joint body E5 is fixedlyed connected with the housing F1 of clamping hand F.Consult Fig. 7, clamping hand F by housing F1, be installed in screw rod F2 in the housing F1, be arranged on worm screw F2 both sides and form with a pair of worm gear F3, a pair of paw F4 of fixedlying connected with a pair of worm gear F3 respectively of worm screw F2 engagement, paw F4 extends the outside of housing F1.More than each motor be servomotor.
Claims (4)
1, multi-joint human emulated robot arm, it is characterized in that it by have the secondary shoulder joint (A) of rotary pair and swing, have the secondary ancon joint (C) of two rotary pairs and swing, have the secondary wrist joint (E) of rotary pair and swing, be connected big arm (B) between shoulder joint (A) and ancon joint (C), be connected the forearm (D) between ancon joint (C) and wrist joint (E), the clamping hand (F) that is connected with wrist joint (E) is formed; Clamping hand (F) by housing (F1), be installed in worm screw (F2) in the housing (F1), be arranged on worm screw (F2) both sides and form with a pair of worm gear (F3) of worm screw (F2) engagement, a pair of paw (F4) of fixedlying connected with a pair of worm gear (F3) respectively, paw (F4) extends the outside of housing (F1); The motion of the worm screw (F2) of the rotary pair in each joint and swing pair and clamping hand (F) is respectively by a driven by servomotor.
2, multi-joint human emulated robot arm according to claim 1 is characterized in that shoulder joint (A) changes joint body (A2), first motor (A3), first gear (A4), first gear ring (A5), shoulder balance staff (A6), second motor (A7) by joint body (A1), shoulder and form; First motor (A3) is installed on the joint body (A1), first gear ring (A5) is sleeved on the axle (A8) of joint body (A1), first gear ring (A5) changes joint body (A2) with shoulder fixedlys connected, first gear (A4) is connected with the main shaft of first motor (A3), and first gear (A4) is meshed with first gear ring (A5) and forms the rotary pair of shoulder joint (A); The shoulder balance staff (A6) that is connected with the main shaft of second motor (A7) is fixed in the axle sleeve (B1) of big arm (B) left end, on shoulder commentaries on classics joint body (A2), also be fixed with terminal pad (A9) and motor shroud (A10), terminal pad (A9) and motor shroud (A10) are supported on the two ends of axle sleeve (B1), and terminal pad (A9) and motor shroud (A10) form the swing pair that is rotatably assorted and forms shoulder joint (A) with axle sleeve (B1).
3, multi-joint human emulated robot arm according to claim 1 is characterized in that the 3rd motor (C1), second gear (C2), second gear ring (C3), elbow in the big arm (B) changes joint body (C4), the 4th motor (C5), elbow balance staff (C6), elbow pendulum joint body (C7), the 3rd gear (C8), the 3rd gear ring (C9) to ancon joint C by being installed in, the 5th motor (C10) that is installed in the forearm (D) is formed; Second gear ring (C3) is sleeved on the interior axle (B2) of big arm (B), second gear ring (C3) changes joint body (C4) with elbow fixedlys connected, second gear (C2) is connected with the main shaft of the 3rd motor (C1), and second gear (C2) and second gear ring (C3) are meshing with each other and form the last rotary pair in ancon joint (C); The elbow balance staff (C6) that is connected with the main shaft of the 4th motor (C5) is fixed in the axle sleeve (C11) of elbow pendulum joint body (C7), on elbow commentaries on classics joint body (C4), be fixedly connected with terminal pad (C12) and motor shroud (C13), terminal pad (C12) and motor shroud (C13) are supported on the two ends of axle sleeve (C11), and axle sleeve (C11) forms the swing pair that is rotatably assorted and forms ancon joint (C) with terminal pad (C12) and motor shroud (C13); The 3rd gear ring (C9) is sleeved on the interior axle (D1) of big forearm (D), the 3rd gear ring (C9) is fixedlyed connected with elbow pendulum joint body (C7), the 3rd gear (C8) is fixedlyed connected with the main shaft of the 5th motor (C10), and the 3rd gear ring (C9) and the 3rd gear (C8) are meshing with each other and form the turning down pair in ancon joint (C).
4, multi-joint human emulated robot arm according to claim 1 is characterized in that wrist joint (E) is made up of the 6th motor (E1), cog belt transmission mechanism (E2), wrist axle (E3), the 7th motor (E4), the wrist joint body (E5) that are installed in the forearm (D); Cog belt transmission mechanism (E2) connects the main shaft and the wrist axle (E3) of the 6th motor (E1) respectively, and the two ends of wrist axle (E3) and forearm (D) end form to be rotatably assorted and promptly constitute the swing pair in wrist joint (E); The 7th motor (E4) is fixed on the wrist axle (E3) by fixture (E6), wrist joint body (E5) is fixedlyed connected the rotary pair that promptly constitutes wrist joint (E) with the main shaft of the 7th motor (E4), wrist joint body (E5) is fixedlyed connected with the housing (F1) of clamping hand (F).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB021588678A CN1317109C (en) | 2002-12-26 | 2002-12-26 | Multiple joint human-imitating robot arm |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB021588678A CN1317109C (en) | 2002-12-26 | 2002-12-26 | Multiple joint human-imitating robot arm |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1511680A true CN1511680A (en) | 2004-07-14 |
CN1317109C CN1317109C (en) | 2007-05-23 |
Family
ID=34237200
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNB021588678A Expired - Fee Related CN1317109C (en) | 2002-12-26 | 2002-12-26 | Multiple joint human-imitating robot arm |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN1317109C (en) |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101380739B (en) * | 2008-10-14 | 2010-06-02 | 哈尔滨工程大学 | Multi-foot robot bionic elastic driving joint module |
CN101380740B (en) * | 2008-10-14 | 2010-06-23 | 哈尔滨工程大学 | Multi-foot robot pressure-spring limitation type elastic driving joint module |
CN101972197A (en) * | 2010-11-28 | 2011-02-16 | 长春工业大学 | Multi-joint humanoid massage robot arm |
CN101272886B (en) * | 2005-09-27 | 2012-10-24 | 株式会社安川电机 | Multi-joint manipulator, robotic system and arms multi-joint manipulator |
CN103356312A (en) * | 2013-07-30 | 2013-10-23 | 华南理工大学 | Six degrees of freedom artificial limb arm driven by electromyographic signal |
CN104057441A (en) * | 2014-04-29 | 2014-09-24 | 中国科学院等离子体物理研究所 | Multi-joint mechanical arm for complex environment |
CN104108102A (en) * | 2014-07-07 | 2014-10-22 | 铜陵翔宇商贸有限公司 | Mechanical arm of bionic robot |
CN104913925A (en) * | 2015-06-25 | 2015-09-16 | 北京建筑大学 | Extravehicular spacesuit upper-limb joint service life testing device |
CN106181996A (en) * | 2016-07-29 | 2016-12-07 | 东北大学 | A kind of six degree of freedom mechanical hand of Dual-motors Driving |
CN106437105A (en) * | 2016-12-21 | 2017-02-22 | 哈尔滨理工大学 | Suspended multi-degree of freedom painting machine for high-rise building exterior walls |
CN107972063A (en) * | 2017-11-24 | 2018-05-01 | 嘉兴学院 | A kind of motor-driven human emulated robot |
CN109807927A (en) * | 2019-03-14 | 2019-05-28 | 长春工业大学 | A kind of V belt translation formula robot arm |
CN109833064A (en) * | 2017-11-28 | 2019-06-04 | 东北林业大学 | A kind of mechanical arm for animal wastes sampling |
CN110039521A (en) * | 2019-04-17 | 2019-07-23 | 华中科技大学 | A kind of underwater multi-functional cooperating double mechanical arms based on double RRRR configurations |
CN110422307A (en) * | 2019-07-12 | 2019-11-08 | 天津大学 | A kind of control method of the latent device of deep-sea multi-joint |
CN114714328A (en) * | 2022-03-27 | 2022-07-08 | 重庆大学 | Mechanical arm based on backlash adjustable enveloping worm drive |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101779991B (en) * | 2010-02-06 | 2012-03-21 | 山东科技大学 | Upper arm of humanoid mechanical hand |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1052445A (en) * | 1989-12-12 | 1991-06-26 | 杭州电子工业学院 | Three-sense manipulator |
JP3908366B2 (en) * | 1997-12-24 | 2007-04-25 | 本田技研工業株式会社 | Arm structure of humanoid work robot |
JP2002154076A (en) * | 2000-11-17 | 2002-05-28 | Honda Motor Co Ltd | Robot arm |
CN2595537Y (en) * | 2002-12-26 | 2003-12-31 | 哈尔滨工业大学 | Multiple joint human stimulation robot arm |
-
2002
- 2002-12-26 CN CNB021588678A patent/CN1317109C/en not_active Expired - Fee Related
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101272886B (en) * | 2005-09-27 | 2012-10-24 | 株式会社安川电机 | Multi-joint manipulator, robotic system and arms multi-joint manipulator |
CN101380740B (en) * | 2008-10-14 | 2010-06-23 | 哈尔滨工程大学 | Multi-foot robot pressure-spring limitation type elastic driving joint module |
CN101380739B (en) * | 2008-10-14 | 2010-06-02 | 哈尔滨工程大学 | Multi-foot robot bionic elastic driving joint module |
CN101972197A (en) * | 2010-11-28 | 2011-02-16 | 长春工业大学 | Multi-joint humanoid massage robot arm |
CN101972197B (en) * | 2010-11-28 | 2012-10-31 | 长春工业大学 | Multi-joint humanoid massage robot arm |
CN103356312B (en) * | 2013-07-30 | 2015-10-28 | 华南理工大学 | A kind of 6DOF artificial limb arm driven by electromyographic signal |
CN103356312A (en) * | 2013-07-30 | 2013-10-23 | 华南理工大学 | Six degrees of freedom artificial limb arm driven by electromyographic signal |
CN104057441B (en) * | 2014-04-29 | 2016-08-24 | 中国科学院等离子体物理研究所 | A kind of multi-joint mechanical arm for complex environment |
CN104057441A (en) * | 2014-04-29 | 2014-09-24 | 中国科学院等离子体物理研究所 | Multi-joint mechanical arm for complex environment |
CN104108102A (en) * | 2014-07-07 | 2014-10-22 | 铜陵翔宇商贸有限公司 | Mechanical arm of bionic robot |
CN104913925A (en) * | 2015-06-25 | 2015-09-16 | 北京建筑大学 | Extravehicular spacesuit upper-limb joint service life testing device |
CN106181996A (en) * | 2016-07-29 | 2016-12-07 | 东北大学 | A kind of six degree of freedom mechanical hand of Dual-motors Driving |
CN106181996B (en) * | 2016-07-29 | 2018-05-04 | 东北大学 | A kind of six degree of freedom manipulator of Dual-motors Driving |
CN106437105A (en) * | 2016-12-21 | 2017-02-22 | 哈尔滨理工大学 | Suspended multi-degree of freedom painting machine for high-rise building exterior walls |
CN107972063A (en) * | 2017-11-24 | 2018-05-01 | 嘉兴学院 | A kind of motor-driven human emulated robot |
CN109833064A (en) * | 2017-11-28 | 2019-06-04 | 东北林业大学 | A kind of mechanical arm for animal wastes sampling |
CN109807927A (en) * | 2019-03-14 | 2019-05-28 | 长春工业大学 | A kind of V belt translation formula robot arm |
CN110039521A (en) * | 2019-04-17 | 2019-07-23 | 华中科技大学 | A kind of underwater multi-functional cooperating double mechanical arms based on double RRRR configurations |
CN110422307A (en) * | 2019-07-12 | 2019-11-08 | 天津大学 | A kind of control method of the latent device of deep-sea multi-joint |
CN114714328A (en) * | 2022-03-27 | 2022-07-08 | 重庆大学 | Mechanical arm based on backlash adjustable enveloping worm drive |
Also Published As
Publication number | Publication date |
---|---|
CN1317109C (en) | 2007-05-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN1317109C (en) | Multiple joint human-imitating robot arm | |
CN101972197B (en) | Multi-joint humanoid massage robot arm | |
CN201881383U (en) | Arm of multi-joint humanoid massage robot | |
CN110202559B (en) | Bionic light mechanical arm for man-machine cooperation | |
WO2018157643A1 (en) | Anthropomorphic full-drive five-finger dexterous robotic hand | |
CN103158148B (en) | A kind of mechanical arm | |
CN203598078U (en) | Module type human-imitated artificial finger | |
CN102873690B (en) | Dexterous hand driven by shape memory alloy | |
CN208179590U (en) | A kind of both arms personification arm | |
CN107128397A (en) | Robot leg sole running gear | |
CN101116971A (en) | Movement decoupling spherical surface rotating paralleling mechanism can be used as the robot wrist joint | |
CN2595537Y (en) | Multiple joint human stimulation robot arm | |
CN203092563U (en) | Wrist transmission device of industrial robots | |
CN203109943U (en) | Mechanical arm | |
CN109204603A (en) | Four-leg bionic robot | |
CN202607676U (en) | Finger structure of fruit picking robot dexterous hand | |
CN206475201U (en) | A kind of ball-joint connecting rod driving multi-joint anthropomorphic manipulator and robot | |
CN203738813U (en) | Multi-joint humanoid piano-playing robot arm | |
CN101337354B (en) | Robot delicate finger-joint gear coupling drive mechanism | |
CN102862164A (en) | Double-degree-of-freedom robot hip joint steering engine | |
CN101633172A (en) | Finger device of duplex bevel gear coupling robot | |
CN201989148U (en) | Telecontrol rescue and fire-fighting robot arm | |
CN201900646U (en) | Wireless explosion-removal rescue robot | |
CN206885200U (en) | Robot leg sole running gear | |
CN209793754U (en) | Direct-drive human-simulated finger convenient to control |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
C19 | Lapse of patent right due to non-payment of the annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |