CN204295698U - Anthropomorphic robot shoulder joint kinesitherapy control device - Google Patents
Anthropomorphic robot shoulder joint kinesitherapy control device Download PDFInfo
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- CN204295698U CN204295698U CN201420734686.2U CN201420734686U CN204295698U CN 204295698 U CN204295698 U CN 204295698U CN 201420734686 U CN201420734686 U CN 201420734686U CN 204295698 U CN204295698 U CN 204295698U
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Abstract
The utility model relates to robot field, in particular to a kind of anthropomorphic robot shoulder joint kinesitherapy control device.It comprises the first motor, the second motor, the first transmission device, the second transmission device, swing portion, swing portion and pedestal; First motor, the second motor, the first transmission device and the second transmission device are all arranged on the same side of pedestal; Swing portion and the portion of swinging all are arranged on the opposite side of pedestal; First motor connects the side of the first transmission device; The opposite side swing portion of the first transmission device connects; Second motor connects the side of the second transmission device; The opposite side of the second transmission device connects the portion that swings; Swing portion and the portion of swinging are rotationally connected.The utility model decreases the part in shoulder joint, and makes upper arm inner without part, thus makes whole controlling organization more simple, and assembly and disassembly is convenient, and maintenance only need take chest and shoulder apart, decreases workload, saves human cost.
Description
Technical field
The utility model relates to robot field, in particular to a kind of anthropomorphic robot shoulder joint kinesitherapy control device.
Background technology
Anthropomorphic robot, also known as anthropomorphic robot, is tool robot anthropomorphous.Appearance is named as " An Deluoding " (android) as the machine of people by Sade rel Adam in 1886 in his novel " following Eve ", is exactly a kind of anthropomorphic robot.Describe according to rel Asia, anthropomorphic robot is made up of four parts: life system (balance, walking, sounding, body swing, sensation, expression, adjustment movement etc.); Moulding solution matter (the free-moving metal nappe of closing energy-saving, a kind of armor); Muscle (having the various forms of the healths such as the human body, vein, sex on the above-mentioned armor); Artificial skin (containing the colour of skin, profile, hair, vision, tooth, paw etc.).
The multi-door subjects such as anthropomorphic robot integrates mechanical, electrical, material, computer, sensor, control technology are the important symbols of a national high-tech strength and development level, therefore, World Developed Countries all do not stint drop into huge fund develop research.A large amount of work has all been done in development humanoid robot by Ying Deng state of Japan and the United States, and the progress of making a breakthrough property.
Japanese honda company is proposed humanoid robot P3 in October, 1997, Massachusetts Institute Technology have developed humanoid robot section dagger-axe (COG), Germany and Australia have developed jointly is equipped with 52 cylinders, the heavy-duty machines people of height 2 meters, body weight 150 kilograms.The novel robot " ASIMO " of Honda Company's recent development, height 120 centimetres, body weight 43 kilograms, its mode of walking is more close to people.
Massachusetts Institute Technology have developed a kind of novel robot having eyes as people, and it can exchange with the mankind, can give a response the environment of surrounding, and the mankind can be assisted to complete much work.China has also done a lot of work in this respect, and the National University of Defense technology, Harbin Institute of Technology have developed bipod walking robot, and BJ University of Aeronautics & Astronautics, University of Science & Technology, Beijing have developed multi-finger clever hand etc.
On June 16th, 2010 Tokyo Univ Japan and the computer MSR Information system of Osaka University composition to public display a simulated baby robot, it is exactly a up-to-date anthropomorphic robot.Baby doll's height 71 centimetres that this is named as " wild tail ", has 600 sensors below the simulation skin of softness, can make stretch out one's hand, the action such as rotary head.When being embraced, the oxeye that flashes look at the world curiously, very lovely.
But, existing robot will realize two free degree motions of shoulder joint, usually needs to arrange motor and transmission device in shoulder inside and upper arm inside, occupies space limited on arm, and cause arm weight to increase, cause the motion of arm will consume more energy.Further, the shoulder joint of existing robot adopts split joint control mechanism usually, and number of components is many, and assembly and disassembly is complicated, and structure distribution is in chest, shoulder, upper arm inside, and maintenance work usually needs to take three parts apart simultaneously and just can carry out.
Utility model content
The purpose of this utility model is to provide a kind of anthropomorphic robot shoulder joint kinesitherapy control device, to solve the above problems.
Embodiments provides a kind of anthropomorphic robot shoulder joint kinesitherapy control device of the present utility model, comprise the first motor, the second motor, the first transmission device, the second transmission device, swing portion, swing portion and pedestal;
First motor, the second motor, the first transmission device and the second transmission device are all arranged on the same side of pedestal;
Swing portion and the portion of swinging all are arranged on the opposite side of pedestal;
First motor connects the side of the first transmission device;
The opposite side swing portion of the first transmission device connects, and moves back and forth for driving swing portion;
Second motor connects the side of the second transmission device;
The opposite side of the second transmission device connects the portion that swings, and swings for driving the portion of swinging;
Swing portion and the portion of swinging are rotationally connected, can make the portion of swinging can only in swing portion away from or rotate near the direction of pedestal.
Further, the first transmission device comprises the first driving gear and the first driven gear;
The motor shaft of the first motor is coaxially fixedly connected with the first driving gear, and coaxially arranges;
First driving gear engages with the first driven gear;
First driven gear is fixedly connected with swing portion, and swing portion can be driven to rotate.
Further, the second transmission device comprises the second driving gear, the second driven gear, power transmission shaft, drive bevel gear and driven wheel of differential;
The motor shaft of the second motor is fixedly connected with the second driving gear, and coaxially arranges;
Second driving gear engages with the second driven gear;
Second driven gear is fixedly installed on one end of power transmission shaft;
Drive axis is arranged on pedestal;
The other end of power transmission shaft is fixedly connected with drive bevel gear through pedestal;
Second driving gear, power transmission shaft and drive bevel gear are coaxially arranged;
Drive bevel gear engages with driven wheel of differential;
Driven wheel of differential is fixedly installed in the portion of swinging, can drive the portion that swings to away from or rotate near the direction of pedestal.
Further, pedestal is provided with the first code-disc and the first optoelectronic switch;
First code-disc and the first driven gear are coaxially arranged;
First code-disc and the first driven gear are fixedly installed;
First code-disc and pedestal rotate and arrange;
First optoelectronic switch is fixedly installed on all sides of the first code-disc, for monitoring the rotary state of the first code-disc.
Further, swing portion is provided with the second code-disc and the second optoelectronic switch;
Second code-disc and driven wheel of differential are coaxially arranged;
Second code-disc and driven wheel of differential are fixedly installed;
Second code-disc and swing portion rotate and arrange;
Second optoelectronic switch is fixedly installed on all sides of the second code-disc, for monitoring the rotary state of the second code-disc.
Further, the wire of the second optoelectronic switch enters the opposite side of pedestal through the second transmission device, for being connected with the power supply of robot interior.
Further, swing portion comprises drive division and gear connection;
Drive division is billiard table shape;
The upper base radius of drive division is identical with radius of going to the bottom;
Gear connection is arranged on all sides of drive division;
Gear connection is the cylinder having step;
The axis of gear connection and the axes normal of drive division;
Gear connection is connected with the first transmission device through pedestal;
Drive division is arranged in the portion of swinging, and the portion that swings can be driven to rotate around the axis of gear connection.
Further, gear connection is provided with driving hole;
Driving hole and gear connection are coaxially arranged, and rotate through the rear drive portion of swinging for the second transmission device.
Further, the portion of swinging comprises spherical shell and connecting axle;
Swing portion is arranged in spherical shell;
Spherical shell being provided with open slot, for making swing portion be connected with the first transmission device by open slot, and spherical shell and swing portion can being made to rotate along the direction of open slot;
Connecting axle is arranged in spherical shell through swing portion;
The axis of connecting axle is vertical with the axis direction of open slot.
Further, swing in portion and be provided with arm connecting portion;
Arm connecting portion is arranged on the outside in the portion of swinging, for connecting robot arm.
The anthropomorphic robot shoulder joint kinesitherapy control device that the utility model provides, motor and transmission device are arranged on chest and the shoulder of robot, and the motion of two frees degree of arm is controlled respectively by two motors and two transmission devices, and then the part decreased in shoulder joint, and make upper arm inner without part, thus make whole controlling organization more simple, assembly and disassembly is convenient, maintenance only need take chest and shoulder apart, decreases workload, saves human cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model anthropomorphic robot shoulder joint kinesitherapy control device;
Fig. 2 is the structural representation not showing swing portion of the utility model anthropomorphic robot shoulder joint kinesitherapy control device;
Fig. 3 is the structural representation of the swing of the utility model anthropomorphic robot shoulder joint kinesitherapy control device;
Fig. 4 is the structural representation swung of the utility model anthropomorphic robot shoulder joint kinesitherapy control device;
Fig. 5 is the installation site schematic diagram of the first code-disc of the utility model anthropomorphic robot shoulder joint kinesitherapy control device;
Fig. 6 is the installation site schematic diagram of the second code-disc of the utility model anthropomorphic robot shoulder joint kinesitherapy control device;
Fig. 7 is the perspective view in the swing portion of the utility model anthropomorphic robot shoulder joint kinesitherapy control device;
Fig. 8 is the perspective view in the portion that swings of the utility model anthropomorphic robot shoulder joint kinesitherapy control device;
Fig. 9 is the front view in the portion that swings of the utility model anthropomorphic robot shoulder joint kinesitherapy control device.
Reference numeral:
1: the second motor 2: the first motor 3: the first transmission device
4: robot arm 5: swing portion 6: swing portion
7: the second transmission devices 8: pedestal 9: the first driven gear
10: the first driving gear 11: the second driving gear 12: the second driven gears
13: power transmission shaft 14: drive bevel gear 15: driven wheel of differential
16: the first code-disc 17: the first optoelectronic switch 18: the second code-discs
19: the second optoelectronic switches 20: gear connection 21: drive division
22: driving hole 23: spherical shell 24: connecting axle
25: arm connecting portion 26: open slot
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearly, carry out clear, complete description by the technical solution of the utility model below.Obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, other embodiments all that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belong to the scope that the utility model is protected.
As shown in Figures 1 to 9, the utility model provides anthropomorphic robot shoulder joint kinesitherapy control device, comprises the first motor 2, second motor 1, first transmission device 3, second transmission device 7, swing portion 6, swing portion 5 and pedestal 8;
First motor 2, second motor 1, first transmission device 3 and the second transmission device are all arranged on the same side of pedestal 8;
Swing portion 6 and the portion 5 that swings all are arranged on the opposite side of pedestal 8;
First motor 2 connects the side of the first transmission device 3;
The opposite side swing portion 6 of the first transmission device 3 connects, and moves back and forth for driving swing portion 6;
Second motor 1 connects the side of the second transmission device 7;
The opposite side of the second transmission device 7 connects the portion 5 that swings, and swings for driving the portion 5 that swings;
Swing portion 6 is rotationally connected with the portion 5 that swings, can make the portion of swinging 5 can only in swing portion 6 away from or rotate near the direction of pedestal 8.
The motor shaft of the first motor 2 rotates, and drives the first transmission device 3 to rotate, and then drives swing portion 6 to rotate, and drives robot arm 4 to rotate.First motor 2 is set to either-rotation motor, and then arm can be made to carry out swing, and its amplitude of fluctuation controls by the rotational angle of the first motor 2.
The motor shaft of the second motor 1 rotates, and drives the second transmission device 7 to rotate, and then drives the portion 5 that swings to rotate, and drives robot arm 4 to rotate.Second motor 1 is also set to either-rotation motor, and then robot arm 4 can be made to swing, and its amplitude of fluctuation controls by the rotational angle of the second motor 1.
When first motor 2 drives swing portion 6 to rotate, swing portion 6 can drive the portion of swinging 5 to rotate together, and left-right rotation portion can not drive swing portion 6 to rotate when rotating.
Be preferred embodiment that as shown in Figure 3, the first transmission device 3 comprises the first driving gear 10 and the first driven gear 9;
The motor shaft of the first motor 2 is coaxially fixedly connected with the first driving gear 10, and coaxially arranges;
First driving gear 10 engages with the first driven gear 9;
First driven gear 9 is fixedly connected with swing portion 6, and swing portion 6 can be driven to rotate.
First motor 2 is arranged on the thoracic cavity of robot, first driving gear 10 is coaxially fixedly connected with the motor shaft of the first motor 2, when the motor shaft of the first motor 2 rotates, drive the first driving gear 10 synchronous axial system together, because the first driving gear 10 engages with the first driven gear 9, and then driving the first driven gear 9 to rotate, the first driven gear 9 is fixedly connected with swing portion 6, can drive swing portion 6 with the central shaft of the first driven gear 9 for axis rotates.Be arranged on by robot arm 4 in swing portion 6, when swing portion 6 rotates, robot arm 4 rotates thereupon, and then realizes the swing of robot arm 4.
Be preferred embodiment that as shown in Figure 4, the second transmission device 7 comprises the second driving gear 11, second driven gear 12, power transmission shaft 13, drive bevel gear 14 and driven wheel of differential 15;
The motor shaft of the second motor 1 is fixedly connected with the second driving gear 11, and coaxially arranges;
Second driving gear 11 engages with the second driven gear 12;
Second driven gear 12 is fixedly installed on one end of power transmission shaft 13;
Power transmission shaft 13 rotates and is arranged on pedestal 8;
The other end of power transmission shaft 13 is fixedly connected with drive bevel gear 14 through pedestal 8;
Second driving gear 11, power transmission shaft 13 and drive bevel gear 14 are coaxially arranged;
Drive bevel gear 14 engages with driven wheel of differential 15;
Driven wheel of differential 15 is fixedly installed in the portion of swinging 5, can drive the portion that swings 5 to away from or rotate near the direction of pedestal 8.
Second motor 1 is also arranged on the thoracic cavity of robot, the motor shaft of the second motor 1 is coaxially fixedly connected with the second driving gear 11, after the second motor 1 starts, its motor shaft rotates, drive the second driving gear 11 synchronous axial system together, and then drive the second driven gear 12 engaged with the second driving gear 11 to rotate; Second driven gear 12 is fixedly installed on one end of power transmission shaft 13, and the other end of power transmission shaft 13 is fixedly installed drive bevel gear 14, second driven gear 12, power transmission shaft 13 and drive bevel gear 14 are coaxial, so the second driven gear 12 can drive drive bevel gear 14 rotating in same direction, and then drives the driven wheel of differential 15 engaged with drive bevel gear 14 to rotate; The rotation of driven wheel of differential 15, the connected portion 5 that swings can be driven to rotate, arrange vertical with the gear shaft of driven wheel of differential 15 for drive bevel gear 14, and then the rotation direction realizing robot arm 4 is vertical with the motor shaft rotation direction of the second motor 1.
That is, after the motor shaft of the first motor 2 and the second motor 1 be arranged in parallel, just can realize swing portion 6 vertical with the swaying direction in the portion of swinging 5, and then achieve robot arm 4 and can above in any direction swing.
Be preferred embodiment as shown in Figure 5, pedestal 8 is provided with the first code-disc 16 and the first optoelectronic switch 17;
First code-disc 16 and the first driven gear 9 are coaxially arranged;
First code-disc 16 and the first driven gear 9 are fixedly installed;
First code-disc 16 rotates with pedestal 8 and arranges;
First optoelectronic switch 17 is fixedly installed on all sides of the first code-disc 16, for monitoring the rotary state of the first code-disc 16.
Pedestal 8 is provided with the first code-disc 16 and the first optoelectronic switch 17 (i.e. position sensor), first code-disc 16 can with the first driven gear 9 synchronous axial system, around the first code-disc 16, setting is as the mark such as groove, projection, the first optoelectronic switch 17 is facilitated to identify, and then can monitor and record the rotational angle of the first driven gear 9, furthermore achieved that the control of the amplitude of fluctuation to robot arm 4.
Be preferred embodiment as shown in Figure 6, swing portion 6 is provided with the second code-disc 18 and the second optoelectronic switch 19;
Second code-disc 18 is coaxially arranged with driven wheel of differential 15;
Second code-disc 18 is fixedly installed with driven wheel of differential 15;
Second code-disc 18 rotates with swing portion 6 and arranges;
Second optoelectronic switch 19 is fixedly installed on all sides of the second code-disc 18, for monitoring the rotary state of the second code-disc 18.
With above-mentioned principle, the second code-disc 18 and driven wheel of differential 15 synchronous axial system, the second optoelectronic switch 19 is monitored the second code-disc 18, achieves and controls the amplitude swung of robot arm 4.
Be preferred embodiment that the wire of the second optoelectronic switch 19 enters the opposite side of pedestal 8 through the second transmission device 7, for being connected with the power supply of robot interior.
Because the second optoelectronic switch 19 is arranged in the shoulder joint of robot, the wire be communicated with it is passed the thoracic cavity of pedestal 8 and then robot, itself and the first motor 2 and the second motor 1 are set together, and then power supply can be made simultaneously to power to the first motor 2, second motor 1 and the second optoelectronic switch 19.
It is to be noted, the wire of the first optoelectronic switch 17 also can be through the thoracic cavity that pedestal 8 enters into robot, make the circuit of whole robot more orderly, the convenient maintenance to circuit, and avoid wire outside exposed, also just decrease the damage of robot to wire in the process of motion, decrease the generation of accident.
Be preferred embodiment that as shown in Figure 7, swing portion 6 comprises drive division 21 and gear connection 20;
Drive division 21 is billiard table shape;
The upper base radius of drive division 21 is identical with radius of going to the bottom;
Gear connection 20 is arranged on all sides of drive division 21;
Gear connection 20 is for there being the cylinder of step;
The axis of gear connection 20 and the axes normal of drive division 21;
Gear connection 20 is connected with the first transmission device 3 through pedestal 8;
Drive division 21 is arranged in the portion of swinging 5, and the portion that swings 5 can be driven to rotate around the axis of gear connection 20.
Gear connection 20 is provided with step, also the cylinder that can be understood as two different-diameters is coaxially fixed together, larger-diameter cylinder and pedestal 8 are fitted, play positioning action, the cylinder of small diameter is connected with the first driven gear 9 through the connecting hole of pedestal 8, and then swing structure can be enable to rotate with the first driven gear 9.
Drive division 21 is set to billiard table shape, is arranged on by drive division 21 in the portion of swinging 5, and upper bottom surface and bottom surface and the portion 5 that swings of billiard table offset, and then can the portion 5 that swings be driven to rotate with drive division 21 together when drive division 21 rotates.
Be preferred embodiment gear connection 20 is provided with driving hole 22;
Driving hole 22 and gear connection 20 are coaxially arranged, and rotate through the rear drive portion 5 that swings for the second transmission device 7.
Gear connection 20 arranges driving hole 22, the second driven gear 12 of pedestal 8 side and the drive bevel gear 14 of pedestal 8 opposite side can be coupled together through driving hole 22 by the power transmission shaft 13 in the second transmission device 7, and then realize Synchronous Transmission.
Be preferred embodiment that as shown in Figure 8 and Figure 9, the portion 5 that swings comprises spherical shell 23 and connecting axle 24;
Swing portion 6 is arranged in spherical shell 23;
Spherical shell 23 being provided with open slot 26, for making swing portion 6 be connected with the first transmission device 3 by open slot 26, and spherical shell 23 and swing portion 6 can being made to rotate along the direction of open slot 26;
Connecting axle 24 is arranged in spherical shell 23 through swing portion 6;
The axis of connecting axle 24 is vertical with the axis direction of open slot 26.
The length of open slot 26 determines the amplitude of fluctuation in the portion of swinging 5, and open slot 26 is longer, and the swingable amplitude in the portion 5 that swings is larger.
Spherical shell 23 is divided into two hemisphere, separate from the center of open slot 26, the axis of two hemisphere is arranged connecting axle 24, two hemisphere connect through swing portion 6 by connecting axle 24, and be connected by keyway between connecting axle 24 with spherical shell 23, connecting axle 24 central axis around connecting axle 24 together with spherical shell 23 can be made.
Be fixedly installed on by driven wheel of differential 15 on connecting axle 24, the rotating band of driven wheel of differential 15 is dynamically connected axle 24 and then drive the portion 5 that swings to rotate together, achieves swinging of robot arm 4.
Be preferred embodiment as shown in Figure 8 and Figure 9, the portion 5 that swings is provided with arm connecting portion 25;
Arm connecting portion 25 is arranged on the outside in the portion of swinging, for connecting robot arm 4.
Below the spherical shell 23 arm connecting portion 25 being arranged on the portion of swinging 5, robot arm 4 is fixedly connected on arm connecting portion 25, arm is swung with arm connecting portion 25.
It is to be noted, arm connecting portion 25 has a lot with the connected mode of robot arm 4, it can be clamping, it can be welding, also can be threaded, pinned connection etc., as long as arm connecting portion 25 and robot arm 4 can be linked together, robot arm 4 with arm connecting portion 25 front and back and can be swung.
The anthropomorphic robot shoulder joint kinesitherapy control device that the utility model provides, motor and transmission device are arranged on chest and the shoulder of robot, and the motion of two frees degree of arm is controlled respectively by two motors and two transmission devices, and then the part decreased in shoulder joint, and make upper arm inner without part, thus make whole controlling organization more simple, assembly and disassembly is convenient, maintenance only need take chest and shoulder apart, decreases workload, saves human cost.
Last it is noted that above each embodiment is only in order to illustrate the technical solution of the utility model, be not intended to limit; Although be described in detail the utility model with reference to foregoing embodiments, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of each embodiment technical scheme of the utility model.
Claims (10)
1. an anthropomorphic robot shoulder joint kinesitherapy control device, is characterized in that, comprises the first motor, the second motor, the first transmission device, the second transmission device, swing portion, swing portion and pedestal;
Described first motor, described second motor, described first transmission device and described second transmission device are all arranged on the same side of described pedestal;
Described swing portion and the described portion of swinging all are arranged on the opposite side of described pedestal;
Described first motor connects the side of described first transmission device;
Swing portion described in the opposite side of described first transmission device connects, and moves back and forth for driving described swing portion;
Described second motor connects the side of described second transmission device;
Swing described in the opposite side of described second transmission device connects portion, swings for the portion of swinging described in driving;
Described swing portion and the described portion of swinging are rotationally connected, the portion of swinging described in making can only in described swing portion away from or rotate near the direction of described pedestal.
2. anthropomorphic robot shoulder joint kinesitherapy control device according to claim 1, is characterized in that, described first transmission device comprises the first driving gear and the first driven gear;
The motor shaft of described first motor is coaxially fixedly connected with described first driving gear, and coaxially arranges;
Described first driving gear engages with described first driven gear;
Described first driven gear is fixedly connected with described swing portion, and described swing portion can be driven to rotate.
3. anthropomorphic robot shoulder joint kinesitherapy control device according to claim 1, is characterized in that, described second transmission device comprises the second driving gear, the second driven gear, power transmission shaft, drive bevel gear and driven wheel of differential;
The motor shaft of described second motor is fixedly connected with described second driving gear, and coaxially arranges;
Described second driving gear engages with described second driven gear;
Described second driven gear is fixedly installed on one end of described power transmission shaft;
Described drive axis is arranged on described pedestal;
The other end of described power transmission shaft is fixedly connected with described drive bevel gear through described pedestal;
Described second driving gear, described power transmission shaft and described drive bevel gear are coaxially arranged;
Described drive bevel gear engages with described driven wheel of differential;
Swing described in described driven wheel of differential is fixedly installed in portion, swing described in driving portion to away from or rotate near the direction of described pedestal.
4. anthropomorphic robot shoulder joint kinesitherapy control device according to claim 2, is characterized in that, described pedestal is provided with the first code-disc and the first optoelectronic switch;
Described first code-disc and described first driven gear are coaxially arranged;
Described first code-disc and described first driven gear are fixedly installed;
Described first code-disc and described pedestal rotate and arrange;
Described first optoelectronic switch is fixedly installed on all sides of described first code-disc, for monitoring the rotary state of described first code-disc.
5. anthropomorphic robot shoulder joint kinesitherapy control device according to claim 3, is characterized in that, described swing portion is provided with the second code-disc and the second optoelectronic switch;
Described second code-disc and described driven wheel of differential are coaxially arranged;
Described second code-disc and described driven wheel of differential are fixedly installed;
Described second code-disc and described swing portion rotate and arrange;
Described second optoelectronic switch is fixedly installed on all sides of described second code-disc, for monitoring the rotary state of described second code-disc.
6. anthropomorphic robot shoulder joint kinesitherapy control device according to claim 5, is characterized in that, the wire of described second optoelectronic switch enters the opposite side of described pedestal through described second transmission device, for being connected with the power supply of robot interior.
7. anthropomorphic robot shoulder joint kinesitherapy control device according to claim 1, is characterized in that, described swing portion comprises drive division and gear connection;
Described drive division is billiard table shape;
The upper base radius of described drive division is identical with radius of going to the bottom;
Described gear connection is arranged on all sides of described drive division;
Described gear connection is the cylinder having step;
The axis of described gear connection and the axes normal of described drive division;
Described gear connection is connected with described first transmission device through described pedestal;
Swing described in described drive division is arranged in portion, the portion that swings described in driving rotates around the axis of described gear connection.
8. anthropomorphic robot shoulder joint kinesitherapy control device according to claim 7, is characterized in that, described gear connection is provided with driving hole;
Described driving hole and described gear connection are coaxially arranged, and rotate through the portion of swinging described in rear drive for described second transmission device.
9. anthropomorphic robot shoulder joint kinesitherapy control device according to claim 1, is characterized in that, described in the portion of swinging comprise spherical shell and connecting axle;
Described swing portion is arranged in described spherical shell;
Described spherical shell being provided with open slot, for making described swing portion be connected with described first transmission device by described open slot, and spherical shell and described swing portion can being made to rotate along the direction of described open slot;
Described connecting axle is arranged in described spherical shell through described swing portion;
The axis of described connecting axle is vertical with the axis direction of described open slot.
10. the anthropomorphic robot shoulder joint kinesitherapy control device according to any one of claim 1-9, is characterized in that, described in swing in portion and be provided with arm connecting portion;
Swing described in described arm connecting portion is arranged on the outside in portion, for connecting robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420734686.2U CN204295698U (en) | 2014-11-27 | 2014-11-27 | Anthropomorphic robot shoulder joint kinesitherapy control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420734686.2U CN204295698U (en) | 2014-11-27 | 2014-11-27 | Anthropomorphic robot shoulder joint kinesitherapy control device |
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| CN204295698U true CN204295698U (en) | 2015-04-29 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105014662A (en) * | 2015-08-14 | 2015-11-04 | 哈尔滨工大服务机器人有限公司 | Two-degree-of-freedom shoulder joint driving device of clothes model robot |
| CN106181970A (en) * | 2016-08-23 | 2016-12-07 | 哈尔滨工大服务机器人有限公司 | A kind of Robot model |
| CN106737635A (en) * | 2017-02-28 | 2017-05-31 | 上海未来伙伴机器人有限公司 | A kind of modular structure and robot for robot |
| CN106737589A (en) * | 2016-12-30 | 2017-05-31 | 深圳市优必选科技有限公司 | Robot and its robot shoulder arm rotational structure |
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2014
- 2014-11-27 CN CN201420734686.2U patent/CN204295698U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105014662A (en) * | 2015-08-14 | 2015-11-04 | 哈尔滨工大服务机器人有限公司 | Two-degree-of-freedom shoulder joint driving device of clothes model robot |
| CN106181970A (en) * | 2016-08-23 | 2016-12-07 | 哈尔滨工大服务机器人有限公司 | A kind of Robot model |
| CN106737589A (en) * | 2016-12-30 | 2017-05-31 | 深圳市优必选科技有限公司 | Robot and its robot shoulder arm rotational structure |
| CN106737589B (en) * | 2016-12-30 | 2024-04-19 | 深圳市优必选科技有限公司 | Robot and robot shoulder arm rotating structure thereof |
| CN106737635A (en) * | 2017-02-28 | 2017-05-31 | 上海未来伙伴机器人有限公司 | A kind of modular structure and robot for robot |
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