CN204209686U - A kind of robot arm - Google Patents

A kind of robot arm Download PDF

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Publication number
CN204209686U
CN204209686U CN201420646895.1U CN201420646895U CN204209686U CN 204209686 U CN204209686 U CN 204209686U CN 201420646895 U CN201420646895 U CN 201420646895U CN 204209686 U CN204209686 U CN 204209686U
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CN
China
Prior art keywords
joint
shoulder
motor
lifts
hand
Prior art date
Application number
CN201420646895.1U
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Chinese (zh)
Inventor
蔡则苏
管青云
蔺绍勇
杨建军
于绍彤
马杰
Original Assignee
贵州亿丰升华科技机器人有限公司
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Priority to CN201420646895.1U priority Critical patent/CN204209686U/en
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Publication of CN204209686U publication Critical patent/CN204209686U/en

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Abstract

The utility model discloses a kind of robot arm, comprise shoulder cradle head (1), shoulder lifts joint (2), elbow cradle head (3), forearm lift joint (4), hand rotary joint (5) and hand opening and closing joint (6).Utility model achieves the integration of Multi-freedom-degreemanipulator manipulator arm, optimizes weight, volume, adds the flexibility of mechanical arm simultaneously; Can carry out sensor fusion and target identification, and the grasping body of exact position can be carried out, the flexibility ratio General Promotion of mechanical arm, and the weight of its mechanical arm significantly optimized, its control method is simple, be convenient to control.

Description

A kind of robot arm

Technical field

The utility model relates to a kind of mechanical arm of household service robot.

Background technology

First manipulator is developed from the U.S..Within 1958, American Association Heat & Control Pty Ltd. develops First manipulator.Its body is installed a revolution long-armed, the workpiece pick-and-place mechanism of electromagnetic block is equipped with at top, and control system is teaching shape.Its feature has carried out the job task of various expection, structure and performance has people and machine advantage separately concurrently, especially embodies the intelligent of people and adaptability.Manipulator is in mechanization, a kind of new device grown up in automated production process.In present-day procedure, manipulator is applied in automatic assembly line widely, the research and production of robot has become in high-tech neighborhood, one that develops rapidly emerging technology, it facilitates the development of manipulator more, makes the combination that manipulator can realize with mechanization and automation better.Although manipulator is flexible like that not as good as staff at present, it has energy constantly repeated work and work, does not know fatigue, be fearless of danger, the feature that the strength of snatch weight is larger than people hand-power, therefore, manipulator has been subject to the attention of many departments, and obtains application more and more widely.

Home services intelligent robot is a typical electro-mechanical system, it has merged numerous advanced technologies such as machinery, electronics, sensor, computer software hardware, pattern-recognition, artificial intelligence, industrial design, is the important focus that intelligent robot is studied at present.At present mainly concentrate on household service robot and some have the service robot of specific function at the home-services robot of world wide research and development, domestic robot not only needs the autonomous ability had nimbly and freely, also need the ability with process complex transaction, generally there is the double mechanical arms structure that can capture object.And there is the service robot of specific function, as sweeping robot, amusement robot, pet robot etc., different according to function, there is special structure, differ far away with the utility model, and arm structure design major part is fixing arm and 3DOF arm or without arm, be applied in restaurant service or non-loaded motion model more.

Chinese patent CN 103465272 A discloses a kind of Six-degree-of-freedohumanoid humanoid robot arm, there is shoulder joint rotation, shoulder joint swings, elbow joint rotates, elbow joint swings, wrist joint swings and wrist joint rotation six-freedom degree, add the folding of its finger, in fact there are 7 frees degree.And for common household service robot, not needing the so many free degree just can meet its functional requirement, too much free degree design can increase the burden of its control system.And its each drive motors needs additionally to arrange decelerator, make its volume become too fat to move, its controlling extent is more complicated, adds the burden of power supply.

Summary of the invention

The technical problems to be solved in the utility model: the problem not being suitable for housekeeping robot for existing mechanical arm design, providing one can freely look for fetch bit to put, perception is existed to pressure, flexible 6DOF mechanical arm, can substitute at the 3DOF mechanical arm of home-services robot and fixing arm, by mutual with people, can the carrying out of the object safety of optional position be captured accurately and be moved, complete service content.

Technical solutions of the utility model:

A kind of robot arm, comprise shoulder cradle head, shoulder lifts joint, elbow cradle head, forearm lifts joint, hand rotary joint and hand opening and closing joint, in shoulder cradle head, shoulder rotating motor is installed, the output shaft of shoulder rotating motor connects shoulder and lifts joint, shoulder lifts in joint to be installed shoulder and lifts motor, the output shaft that shoulder lifts motor connects elbow cradle head, elbow rotating motor is installed in elbow cradle head, the output shaft of elbow rotating motor connects forearm and lifts joint, forearm lifts hold-down arm in joint and lifts motor, the output shaft that arm lifts motor connects hand rotary joint, hand-screw motor is installed in hand rotary joint, the output shaft of hand-screw motor connects hand opening and closing joint, two steering wheels are installed in hand opening and closing joint, steering wheel installs finger.

Joint is provided with pressure sensor in hand opening and closing.

Described shoulder rotating motor, shoulder lifts motor, elbow rotating motor, arm lifts motor and hand-screw motor is heavy steering wheel.

Shoulder rotating motor is fixed by screws on shoulder cradle head fixed mount, connects by shaft coupling the rotating shaft that shoulder lifts joint.

Shoulder is lifted motor shaft two ends and is connected with two jibs of elbow cradle head upper end by spring catch.

The output shaft of elbow rotating motor is connected with rotating shaft, and the rotating shaft other end connects forearm and lifts joint, rotating shaft has screw thread, is locked at forearm lifts joint by plane bearing, anti-return nut and floor clip.

Arm is lifted motor shaft two ends and is connected with two supports of hand rotary joint upper end by spring catch.

The output shaft of hand-screw motor is connected with rotating shaft, and the rotating shaft other end connects hand opening and closing joint, rotating shaft has screw thread, is locked on hand opening and closing joint by plane bearing, anti-return nut and floor clip.

The utility model beneficial effect:

1. the utility model achieves the integration of Multi-freedom-degreemanipulator manipulator arm, optimizes weight, volume, adds the flexibility of mechanical arm simultaneously; Can carry out sensor fusion and target identification, and the grasping body of exact position can be carried out, the flexibility ratio General Promotion of mechanical arm, and the weight of its mechanical arm significantly optimized, its control method is simple, be convenient to control.

2. pressure sensing feedback is equipped with the utility model finger, the dynamics capturing object is judged, can be fed back by the degree of the holding capacity capturing object, timely adjustment hand captures the dynamics of object, prevent object from being grabbed bad, thus reach the security capturing object, thus carrying out operation that can be safer uses.

The features such as 3 the utility model have made simplified design to overall structure, adopt steering wheel to replace motor and decelerator, not high to power requirement, low-tension supply can be adopted to power, directly directly can power by 12V power supply, have efficiency high, energy-conservation.

accompanying drawing illustrates:

Fig. 1 is the utility model structural representation.

Fig. 2 is the side view of Fig. 1.

detailed description of the invention:

As figure, mechanical arm comprises that shoulder cradle head 1, shoulder lift joint 2, elbow cradle head 3, forearm lift joint 4, hand rotary joint 5 and hand opening and closing joint 6.

The fixed mount of shoulder cradle head 1 central authorities is screwed shoulder rotating motor 11, bearing block and bearing has been provided with on the right side of shoulder cradle head 1, installation shaft in bearing, the output shaft of shoulder rotating motor 11 is by shaft coupling 12 connecting axle, axle and shoulder lift joint 2 and are fixed together, controlled by the signal of control system to shoulder rotating motor 11, thus control the rotational angle of shoulder.

Shoulder lifts level installation shoulder on joint 2 and lifts motor 21, and shoulder lifts motor 21 output shaft two ends connect both sides, elbow cradle head 3 upper end two jibs 32 with spring catch, and jib 32 one end studs with copper sheathing with through hole, one end, and copper sheathing can carry out activity and remove; By control system to shoulder lift motor 21 signal control, thus control shoulder lift angle.

Vertically elbow rotating motor 31 is installed in elbow cradle head 3, the output shaft of elbow rotating motor 31 is connected with rotating shaft 33, rotating shaft 33 other end connects forearm and lifts joint 4, rotating shaft 33 has screw thread, is locked at forearm lifts joint 4 by plane bearing, anti-return nut and floor clip.By control system, the signal of elbow rotating motor 31 is controlled, thus control the rotational angle that forearm lifts joint 4.

Forearm lifts horizontal hold-down arm in joint 4 and lifts motor 41, and its output shaft two ends are connected with two supports 54 of hand rotary joint 5 upper end by spring catch, and support 54 one end studs with copper sheathing with through hole, one end, and copper sheathing can carry out activity and remove.By control system, the signal that arm lifts motor 41 is controlled, thus control hand rotary joint 5 lift angle.

Install hand-screw motor 51 in hand rotary joint 5, its output shaft is connected with rotating shaft 33, and rotating shaft 33 other end connects hand opening and closing joint 6, rotating shaft 33 has screw thread, is locked on hand opening and closing joint 6 by plane bearing, anti-return nut and floor clip.By control system, the signal of hand-screw motor 51 is controlled, thus control the anglec of rotation in hand opening and closing joint 6.

Hand opening and closing joint 6 is made up of original papers such as two steering wheels 61, support body, fingers 62, two steering wheels 61 are screwed in frame upper body, the output of steering wheel 61 installs finger 62, by control system, the signal of steering wheel 61 is controlled, reach the function of opening and closing finger 62, hand opening and closing joint 6 is provided with pressure sensor, can be used for perception hand captures the dynamics of object, by signal feedback in control system, thus the force of adjustment steering wheel 61 is carried out safety and is captured object.

Shoulder rotating motor 11(25NM), shoulder lifts motor 21(15NM), elbow rotating motor 31(10NM), arm lifts motor 41(10NM) and hand-screw motor 51(5NM) be heavy steering wheel, bracket is interior is its peak torque.So just can save decelerator, simplify structure.

Claims (8)

1. a robot arm, comprise shoulder cradle head (1), shoulder lifts joint (2), elbow cradle head (3), forearm lifts joint (4), hand rotary joint (5) and hand opening and closing joint (6), it is characterized in that: in shoulder cradle head (1), shoulder rotating motor (11) is installed, the output shaft of shoulder rotating motor (11) connects shoulder and lifts joint (2), shoulder lifts installation shoulder in joint (2) and lifts motor (21), the output shaft that shoulder lifts motor (21) connects elbow cradle head (3), in elbow cradle head (3), elbow rotating motor (31) is installed, the output shaft of elbow rotating motor (31) connects forearm and lifts joint (4), forearm lifts hold-down arm in joint (4) and lifts motor (41), the output shaft that arm lifts motor (41) connects hand rotary joint (5), in hand rotary joint (5), hand-screw motor (51) is installed, the output shaft of hand-screw motor (51) connects hand opening and closing joint (6), upper installation two steering wheels (61) in hand opening and closing joint (6), steering wheel (61) is installed finger (62).
2. robot arm according to claim 1, is characterized in that: hand hand opening and closing joint (6) is provided with pressure sensor.
3. robot arm according to claim 1, is characterized in that: described shoulder rotating motor (11), shoulder lifts motor (21), elbow rotating motor (31), arm lifts motor (41) and hand-screw motor (51) is heavy steering wheel.
4. robot arm according to claim 1, is characterized in that: shoulder rotating motor (11) is fixed by screws on shoulder cradle head (1) fixed mount, connects by shaft coupling (12) rotating shaft that shoulder lifts joint (2).
5. robot arm according to claim 1, is characterized in that: shoulder is lifted motor (21) axle two ends and is connected with two jibs (32) of elbow cradle head (3) upper end by spring catch.
6. robot arm according to claim 1, it is characterized in that: the output shaft of elbow rotating motor (31) is connected with rotating shaft (33), rotating shaft (33) other end connects forearm and lifts joint (4), (33) have screw thread in rotating shaft, be locked at forearm lift joint (4) by plane bearing, anti-return nut and floor clip.
7. robot arm according to claim 1, is characterized in that: arm is lifted motor (41) axle two ends and is connected with two supports (54) of hand rotary joint (5) upper end by spring catch.
8. robot arm according to claim 1, it is characterized in that: the output shaft of hand-screw motor (51) is connected with rotating shaft (33), rotating shaft (33) other end connects hand opening and closing joint (6), (33) have screw thread in rotating shaft, are locked on hand opening and closing joint (6) by plane bearing, anti-return nut and floor clip.
CN201420646895.1U 2014-11-03 2014-11-03 A kind of robot arm CN204209686U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420646895.1U CN204209686U (en) 2014-11-03 2014-11-03 A kind of robot arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420646895.1U CN204209686U (en) 2014-11-03 2014-11-03 A kind of robot arm

Publications (1)

Publication Number Publication Date
CN204209686U true CN204209686U (en) 2015-03-18

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Application Number Title Priority Date Filing Date
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104440873A (en) * 2014-11-03 2015-03-25 贵州亿丰升华科技机器人有限公司 Robot arm with six degrees of freedom
CN105011642A (en) * 2015-08-14 2015-11-04 哈尔滨工大服务机器人有限公司 Sixteen-freedom-degree clothes model robot
CN105014671A (en) * 2015-08-14 2015-11-04 哈尔滨工大服务机器人有限公司 Multi-degree-of-freedom shoulder joint driving device of clothes model robot
CN106041995A (en) * 2016-08-05 2016-10-26 北京工业大学 Human-simulated mechanical hand

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104440873A (en) * 2014-11-03 2015-03-25 贵州亿丰升华科技机器人有限公司 Robot arm with six degrees of freedom
CN105011642A (en) * 2015-08-14 2015-11-04 哈尔滨工大服务机器人有限公司 Sixteen-freedom-degree clothes model robot
CN105014671A (en) * 2015-08-14 2015-11-04 哈尔滨工大服务机器人有限公司 Multi-degree-of-freedom shoulder joint driving device of clothes model robot
CN105011642B (en) * 2015-08-14 2018-08-21 哈尔滨工大服务机器人有限公司 A kind of ten six degree of freedom clothes Robot models
CN106041995A (en) * 2016-08-05 2016-10-26 北京工业大学 Human-simulated mechanical hand
CN106041995B (en) * 2016-08-05 2018-10-30 北京工业大学 A kind of Apery manipulator

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C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150318

Termination date: 20151103

EXPY Termination of patent right or utility model