CN201631460U - Humanoid manipulator upper arm - Google Patents
Humanoid manipulator upper arm Download PDFInfo
- Publication number
- CN201631460U CN201631460U CN2010201136364U CN201020113636U CN201631460U CN 201631460 U CN201631460 U CN 201631460U CN 2010201136364 U CN2010201136364 U CN 2010201136364U CN 201020113636 U CN201020113636 U CN 201020113636U CN 201631460 U CN201631460 U CN 201631460U
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- Prior art keywords
- big arm
- shoulder
- connection block
- joint
- forearm
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- Expired - Fee Related
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Abstract
The utility model discloses a humanoid manipulator upper arm, which is characterized by comprising a shoulder joint, a mechanical upper arm and an elbow joint. The shoulder joint has two freedom degrees that the upper arm rotates around a shoulder and the upper arm swings around the shoulder, the upper arm rotates around the shoulder via a direct current servo motor, the upper arm swings around the shoulder via a direct current motor, the elbow joint is driven via a linear motor so as to realize action that an elbow swings around the upper arm, and the swing direction is perpendicular to that of the upper arm swinging around the shoulder. The humanoid manipulator upper arm has three freedom degrees, respectively adopts the linear motor and the direct current servo motor to drive, and has compact structure, light weight, low manufacturing cost and easy product promotion. In addition, the humanoid manipulator upper arm can be used as arms of a humanoid robot, and is easy to control and flexible in operation.
Description
Technical field
This utility model relates to the bio-robot field, especially a kind of arm of apery shape mechanical hand.
Background technology
At present, apery shape artifucial limb existing procucts on market are sold, but take a broad view of these domestic and international products, and for people's upper limb, they all have only forearm and hand to form, and mostly adopt electromyographic signal control, and user also need still can use substantially through after the special training.In addition, especially these artifucial limb prices are very expensive, and the non-common people can relate to.
The utility model content
The purpose of this utility model is the upper arm of a kind of apery shape mechanical hand of design, this upper arm is by shoulder joint, elbow joint and big arm three part organic assembling, realize the action of three degree of freedom, can finish of rotation and the swing of big arm respectively, and ancon is around the wobbling action of big arm around shoulder.
For achieving the above object, the technical solution that this utility model is taked is:
A kind of upper arm of apery shape mechanical hand, it comprises shoulder joint, the big arm of machinery and ancon joint; Described shoulder joint have big arm around shoulder rotate and big arm around two degree of freedom of shoulder swing, realize that by DC servo motor big arm rotates around shoulder, realize that by direct current generator big arm swings around shoulder; Described ancon joint adopts linear electric motors to drive, and realizes the wobbling action of ancon around big arm, and swaying direction is perpendicular around the direction of shoulder swing with big arm all the time.
For realizing above-mentioned three degree of freedom, following structure can be adopted in described shoulder joint, the big arm of machinery and ancon joint, wherein:
Described shoulder joint comprises a shoulder spare, shoulder flange, DC servo motor seat and bearing block, and the outside of described shoulder flange is provided with upper process support and lower process support; Described bearing block inboard is fixed on the frame of artifucial limb, and bearing is installed in the bearing block; Described DC servo motor seat is installed in the endoporus of bearing, on the DC servo motor seat DC servo motor is installed, and connects output flange on the DC servo motor axle, and output flange is connected with the shoulder flange; Described shoulder spare is hinged on the upper process support of shoulder flange, drives the big arm of machinery when DC servo motor rotates and finishes gyration; The linear electric motors that drive big arm swing are installed in the inner chamber of the big arm of described machinery, but the nut seat that straight line moves is housed on the leading screw of linear electric motors, be hinged with fork on the nut seat, lower process support on the fork other end and the shoulder flange is connected with axle, drive when linear electric motors rotate machinery greatly arm finish oscillating motion.
The big arm of described machinery is cylindrical, and the big arm of machinery upper end is connected with shoulder spare on the shoulder joint, and bottom and elbow joint Connection Block are installed together; In the inner chamber of the big arm of machinery upper and lower two bearings are installed, are used for fixing the linear electric motors of shoulder joint and the leading screw of linear electric motors respectively;
Described ancon joint, it is connected between forearm and the big arm, and it is made up of forearm Connection Block, big arm Connection Block and linear electric motors; The forearm Connection Block is provided with the interface that is connected with forearm, and big arm Connection Block is connected with the lower end of big arm, is provided with motor cabinet in the big arm Connection Block, and the both sides of motor cabinet are connected with big arm Connection Block by rotating shaft; Linear electric motors are installed on the motor cabinet, and joint of the terminal connection of the leading screw of linear electric motors is provided with upper bracket and lower carriage in the forearm Connection Block, and joint is movably connected on the upper bracket of forearm Connection Block; Big arm Connection Block is connected by the lower carriage of rotating shaft with the forearm Connection Block; Above-mentioned rotating shaft two ends are fixed in two ear handle holes of stretching out of big arm Connection Block, and are connected by the lower carriage of bearing with the forearm Connection Block; Joint promotes the motion of forearm Connection Block while rotating under the driving of motor leading screw, the forearm Connection Block drives the Qu Yundong that stretches that forearm is finished forearm.
For effectively reducing the power of DC servo motor, the bottom of the big arm of machinery also is provided with the pole spring, and the upper end of pole spring is installed on the spring support that is positioned at armpit, and the lower end is installed on the bearing that is positioned at big arm lower end.
The beneficial effects of the utility model are: this arm has three degree of freedom, and adopts linear electric motors and DC servo motor to drive respectively, and its compact conformation is in light weight, and low cost of manufacture is easy to commercialization and promotes.In addition, it also can be used as the arm of humanoid robot, and is easy to control, goes slick.
Description of drawings
Fig. 1 is the overall structure principle front view of a kind of embodiment of this utility model.
Fig. 2 be the A of Fig. 1 to the partial structurtes principle schematic, mainly show the ancon joint component.
Fig. 3 for the B of Fig. 1 to dissecing the partial structurtes principle schematic, mainly show the shoulder joint part.
Fig. 4 for the D of Fig. 1 to dissecing the partial structurtes principle schematic, mainly show the swinging joint drive part.
Fig. 5 for the E of Fig. 2 to dissecing the partial structurtes principle schematic, mainly show ancon joint drive part.
Among the figure: 1-bearing, 2-bearing gland, 3-bearing, 4-undersetting, the pneumatic pole spring of 5-, 6-fork, 7-nut seat, the big arm of 8-machinery, the 9-upper bracket, 10-linear electric motors, 11-ring flange, 12-bearing block, the 13-frame, 14-bearing gland, 15-bearing, 16-DC servo motor, 17-servomotor seat, 18-spring support, 19-forearm Connection Block, 20-upper bracket, the 21-joint, 22-linear electric motors, the big arm Connection Block of 23-, 24-lower carriage, the 25-axle, 26-shoulder flange, 27-axle sleeve, the 28-bearing, 29-shoulder spare, 30-axle, the 31-potentiometer, 32-gland, 33-rotating shaft, the 34-axle, 35-motor cabinet, 36-rotating shaft, the 37-potentiometer, 38-potentiometer seat, 39-rotating shaft, the 40-bearing, 41-axle sleeve, 42-gland.
The specific embodiment
As Fig. 1, Fig. 2, Fig. 3, Fig. 4 and shown in Figure 5, the upper arm of apery shape mechanical hand of the present utility model, it comprises: the big arm of shoulder joint, elbow joint and machinery, wherein:
Described shoulder joint comprises the shoulder spare 29, shoulder flange 26, DC servo motor seat 17 and the bearing block 12 that are cattle horn shape; The outside of described shoulder flange 26 is provided with upper process support and lower process support, and described bearing block 12 inboards are fixed on the frame 13 of artifucial limb; Bearing 15 and bearing gland 14 are installed in the bearing block 12; Described DC servo motor seat 17 is installed in the endoporus of bearing 15, and DC servo motor 16 is installed on the DC servo motor seat 17, and 16 of DC servo motors are gone up mounting flange 11, and ring flange 11 is connected with shoulder flange 26; Described shoulder spare 29 usefulness axle 30 is hinged on the upper process support of shoulder flange 26, and DC servo motor 16 drives big arm 8 swings of machinery when rotating.The linear electric motors 10 that drive big arm 8 swings are installed in the inner chamber of the big arm 8 of described machinery, but the nut seat 17 that straight line moves is housed on the leading screw of linear electric motors 10, install nut seat 17 lower ends can rotate around it fork 6, lower process support on fork 6 other ends and the shoulder flange 26 is connected with axle 25, and linear electric motors 10 drive machinery arm abduction exercise greatly when rotating.In the end of axle 30 potentiometer 31 is installed, to detect the position that the big arm 8 of machinery rotates. linear electric motors 10 are fixed on the upper bracket 9 in big arm 8 inner chambers of machinery, but the nut seat 7 that straight line moves is housed on the leading screw of linear electric motors 10, one end of fork 6 is connected with nut seat 7 by rotating shaft 33, and the lower process support on fork 6 other ends and the flange 26 is connected with axle 25.
The big arm of described machinery 8 is cylindrical, is the carrier of the actuating unit that rotates of swing arm and ancon; Big arm 8 upper ends of machinery are connected with shoulder spare 29, and bottom and elbow joint Connection Block 23 are installed together; The intracavity of the big arm 8 of machinery is equipped with upper bracket 9 and undersetting 4, is used for fixing linear electric motors 10 respectively, and the lower end of the leading screw of linear electric motors 10 links together with undersetting 4 by bearing 3, gland 2.
Described ancon joint, it is between forearm and the big arm 8 of machinery, it is made up of forearm Connection Block 19, big arm Connection Block 23 and linear electric motors 22, and forearm Connection Block 19 ends are provided with the exchange interface and are used for being connected with the forearm upper end, and big arm Connection Block 23 is used for being connected with the lower end of the big arm 8 of machinery; Linear electric motors 22 are installed on the motor cabinet 35, are connected with big arm Connection Block 23 by rotating shaft 36 in the both sides of motor cabinet 35; The end of linear electric motors 22 leading screws and one can link together around the joint 21 of fixed rotating shaft 34 swings; Joint 21 drives forearm Connection Block 19 and 39 rotates around the shaft under the driving of motor leading screw; In the end of rotating shaft 39 potentiometer 37 is installed, the potentiometer seat is connected on the lower carriage 24;
Above-mentioned turning cylinder 39 two ends are fixed in two ear handle holes of stretching out of big arm Connection Block 23, and are connected with lower carriage 24 on the forearm Connection Block 19 by bearing 40, axle sleeve 41, gland 42; Forearm Connection Block 19 is being with moving axis 39 swing that just can rotate of little arm portion like this, to finish cranking arm and the motion of semi-girder of forearm.
Also be connected with pneumatic pole spring 5 in the lower end of the big arm 8 of machinery, the upper end of pneumatic pole spring 5 is installed on the spring support 18 on the frame 13 that is positioned at armpit, and the lower end is connected with the bearing 1 that is positioned at big arm 8 lower ends of machinery.
This upper arm of humanoid mechanical hand has manually and receives EEG signals controls two kinds of patterns.Under manual control model, user can turn round with healthy hand operated Digiplex control DC servo motor and linear electric motors, adjusts the various attitudes of upper arm.Also can control by EEG signals; Promptly the EEG signals of the stronger consciousness of user is utilized form such as electrode cap to accept or extract, behind software system analysis, converted to the machine control signal, the running of controlling DC servo motor and linear electric motors drives arm action.
Claims (2)
1. a upper arm of humanoid mechanical hand is characterized in that, it comprises shoulder joint, the big arm of machinery and ancon
The joint; Wherein:
Described shoulder joint comprises a shoulder spare, shoulder flange, DC servo motor seat and bearing block, and the outside of described shoulder flange is provided with upper process support and lower process support; Described bearing block inboard is fixed on the frame of artifucial limb, and bearing is installed in the bearing block; Described DC servo motor seat is installed in the endoporus of bearing, on the DC servo motor seat DC servo motor is installed, and connects output flange on the DC servo motor axle, and output flange is connected with the shoulder flange; Described shoulder spare is hinged on the upper process support of shoulder flange, drives the big arm of machinery when DC servo motor rotates and finishes gyration; The linear electric motors that drive big arm swing are installed in the inner chamber of the big arm of described machinery, but the nut seat that straight line moves is housed on the leading screw of linear electric motors, be hinged with fork on the nut seat, lower process support on the fork other end and the shoulder flange is connected with axle, drive when linear electric motors rotate machinery greatly arm finish oscillating motion;
The big arm of described machinery is cylindrical, and the big arm of machinery upper end is connected with shoulder spare on the shoulder joint, and bottom and elbow joint Connection Block are installed together; In the inner chamber of the big arm of machinery upper and lower two bearings are installed, are used for fixing the linear electric motors of shoulder joint and the leading screw of linear electric motors respectively;
Described ancon joint, it is connected between forearm and the big arm, and it is made up of forearm Connection Block, big arm Connection Block and linear electric motors; The forearm Connection Block is provided with the interface that is connected with forearm, and big arm Connection Block is connected with the lower end of big arm, is provided with motor cabinet in the big arm Connection Block, and the both sides of motor cabinet are connected with big arm Connection Block by rotating shaft; Linear electric motors are installed on the motor cabinet, and joint of the terminal connection of the leading screw of linear electric motors is provided with upper bracket and lower carriage in the forearm Connection Block, and joint is movably connected on the upper bracket of forearm Connection Block; Big arm Connection Block is connected by the lower carriage of rotating shaft with the forearm Connection Block; Above-mentioned rotating shaft two ends are fixed in two ear handle holes of stretching out of big arm Connection Block, and are connected by the lower carriage of bearing with the forearm Connection Block; Joint promotes the motion of forearm Connection Block while rotating under the driving of motor leading screw, the forearm Connection Block drives the Qu Yundong that stretches that forearm is finished forearm.
2. upper arm of humanoid mechanical hand as claimed in claim 1 is characterized in that, the bottom of the big arm of machinery is provided with the pole spring, and the upper end of pole spring is installed on the spring support that is positioned at armpit, and the lower end is installed on the bearing that is positioned at big arm lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201136364U CN201631460U (en) | 2010-02-06 | 2010-02-06 | Humanoid manipulator upper arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201136364U CN201631460U (en) | 2010-02-06 | 2010-02-06 | Humanoid manipulator upper arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201631460U true CN201631460U (en) | 2010-11-17 |
Family
ID=43075931
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201136364U Expired - Fee Related CN201631460U (en) | 2010-02-06 | 2010-02-06 | Humanoid manipulator upper arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201631460U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103705321A (en) * | 2014-01-16 | 2014-04-09 | 哈尔滨工业大学 | Wearable upper limb exoskeleton shoulder joint |
| CN104287936A (en) * | 2014-10-22 | 2015-01-21 | 华中科技大学 | Coupled motion mechanism and shoulder joint rehabilitation training device with same |
| CN108015778A (en) * | 2017-12-04 | 2018-05-11 | 深圳市优必选科技有限公司 | Shoulder armor structure and robot |
-
2010
- 2010-02-06 CN CN2010201136364U patent/CN201631460U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103705321A (en) * | 2014-01-16 | 2014-04-09 | 哈尔滨工业大学 | Wearable upper limb exoskeleton shoulder joint |
| CN103705321B (en) * | 2014-01-16 | 2015-08-19 | 哈尔滨工业大学 | Wearable upper limb exoskeleton shoulder joint |
| CN104287936A (en) * | 2014-10-22 | 2015-01-21 | 华中科技大学 | Coupled motion mechanism and shoulder joint rehabilitation training device with same |
| CN104287936B (en) * | 2014-10-22 | 2015-10-28 | 华中科技大学 | A kind of coupled motions mechanism and comprise the device for healing and training shoulder joint of this mechanism |
| CN108015778A (en) * | 2017-12-04 | 2018-05-11 | 深圳市优必选科技有限公司 | Shoulder armor structure and robot |
| CN108015778B (en) * | 2017-12-04 | 2023-08-04 | 深圳市优必选科技有限公司 | Shoulder armor structure and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101117 Termination date: 20120206 |