CN206011129U - A kind of robot arm joint controlled by bracing wire method - Google Patents
A kind of robot arm joint controlled by bracing wire method Download PDFInfo
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- CN206011129U CN206011129U CN201620973048.5U CN201620973048U CN206011129U CN 206011129 U CN206011129 U CN 206011129U CN 201620973048 U CN201620973048 U CN 201620973048U CN 206011129 U CN206011129 U CN 206011129U
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- joint
- arm
- bracing wire
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- mobile jib
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Abstract
The utility model discloses a kind of robot arm joint controlled by bracing wire method, including：First joint arm, it is connected to the second joint arm of the first joint arm, the 3rd joint pedestal of second joint arm is connected to, the 3rd joint pedestal is connected to and is driven the first joint arm, second joint arm, the 3rd joint pedestal to carry out the drive control box of bracing wire campaign by positive and negative coiling.This utility model controls the motor control of robot by bracing wire so as to which range of movement is contracted to minimum, improves the measure of precision of robot work, and simple to operation, stable performance, saves human resourcess.
Description
Technical field
It is related to automatic field, particularly a kind of arm joint of robot.
Background technology
Robot is the installations for executing automatically work.It can both receive mankind commander, can run volume in advance again
The program of row, it is also possible to according to the principle guiding principle action that is formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work；Application to robot is more and more wider, also so that the requirement more and more higher of arm joint to robot, market
It is badly in need of a kind of moving range apart from little arm joint, prior art does not also solve such problem.
Utility model content
For solving the deficiencies in the prior art, the purpose of this utility model is to provide a kind of machine controlled by bracing wire method
Staff shoulder joint, this utility model control the motor control of robot by bracing wire so as to which range of movement is contracted to minimum, improve
The measure of precision of robot work.
In order to realize that above-mentioned target, this utility model are adopted the following technical scheme that：
A kind of robot arm joint controlled by bracing wire method, including：First joint arm, is connected to the first joint arm
Second joint arm, is connected to the 3rd joint pedestal of second joint arm, is connected to the 3rd joint pedestal and by positive and negative coiling belt
Dynamic first joint arm, second joint arm, the 3rd joint pedestal carry out the drive control box of bracing wire campaign.
A kind of aforesaid robot arm joint controlled by bracing wire method, the first joint arm composition are had：It is connected to bracing wire
Swivel, swing mobile jib for being drawstring through and being connected to the first joint between swivel and second joint forearm.
A kind of aforesaid robot arm joint controlled by bracing wire method, second joint arm composition are had：For being drawstring through
And be connected to the first joint and swing the second joint of mobile jib and swing mobile jib, it is connected to the U-shaped head of fixation that second joint swings mobile jib.
A kind of aforesaid robot arm joint controlled by bracing wire method, the 3rd joint pedestal composition are had：It is connected to solid
3rd joint of fixed U-shaped head swings mobile jib, is connected to the fixed seat of honour for swinging mobile jib.
A kind of aforesaid robot arm joint controlled by bracing wire method, drive control box composition are had：For control machine
The motor of each joint motions of device human arm, the driver being connected between motor and the fixed seat of honour.
Of the present utility model it is beneficial in that：This utility model provides a kind of robot arm controlled by bracing wire method
Joint, this utility model control the motor control of robot by bracing wire so as to which range of movement is contracted to minimum, improve robot
The measure of precision of work, and simple to operation, stable performance, save human resourcess.
Description of the drawings
Fig. 1 is a kind of structural representation of embodiment of the present utility model；
Fig. 2 is a kind of structural representation of embodiment of the first joint arm of this utility model；
Fig. 3 is a kind of structural representation of embodiment of this utility model second joint arm；
Fig. 4 is a kind of structural representation of embodiment of the 3rd joint pedestal of this utility model；
The implication of reference in figure：
1 first joint arm, 11 swivels, 12 first joints swing mobile jib, and 2 second joint arms, 21 second joints swing
Mobile jib, 22 fix U-shaped head, 3 the 3rd joint pedestals, and 31 the 3rd joints swing mobile jib, and 32 fix the seat of honour, 4 drive control box.
Specific embodiment
Make specific introduction to this utility model below in conjunction with the drawings and specific embodiments.
A kind of robot arm joint controlled by bracing wire method, including：First joint arm 1, is connected to the first joint arm 1
Second joint arm 2, be connected to the 3rd joint pedestal 3 of second joint arm 2, be connected to the 3rd joint pedestal 3 and by positive and negative
Coiling drives the first joint arm 1, second joint arm 2, the 3rd joint pedestal 3 to carry out the drive control box 4 of bracing wire campaign.Drive control
The composition of case processed 4 has：For controlling the motor of each joint motions of robot arm, motor and the drive that fixes between the seat of honour 32 is connected to
Dynamic device.
The composition of first joint arm 1 has：It is connected to the swivel 11 of bracing wire, for being drawstring through and being connected to swivel 11 and the
The first joint between two joint forearms swings mobile jib 12.Bracing wire is driven by the different positive and negative coilings of motor in drive control box 4
Motion, so that drive the rotation of 11 different directions of swivel and the activity of swing arm above-below direction.
The composition of second joint arm 2 has：For being drawstring through and being connected to the second joint swing that the first joint swings mobile jib 12
Mobile jib 21, is connected to the fixation U-shaped 22 that second joint swings mobile jib 21.Just rewound by motor difference in drive control box 4
Line drives bracing wire campaign, so as to drive second joint to swing the activity of 21 above-below direction of mobile jib.
The composition of 3rd joint pedestal 3 has：It is connected to the 3rd fixed U-shaped 22 joint and swings mobile jib 31, is connected to swing
The fixed seat of honour 32 of mobile jib.Bracing wire campaign is driven by the different positive and negative coilings of motor in drive control box 4, so as to drive in swing arm
Lower direction activity.
Utility model works principle：Pass through minimum 2 lines when robot is moved（Opposition principle）If cable is from Shang Guan
Section guiding to next joint, the motion in two joints will be unable to separate, in order to realize the independence of the two, it is necessary to by upper joint
Cable tension separate with the motion of hypozygal.When instruction is assigned to robot, control system control bracing wire is entered to robotic arm
The each attitude action movement of row.
This utility model provides a kind of robot arm joint controlled by bracing wire method, and this utility model passes through bracing wire control
The motor control of robot processed so as to which range of movement is contracted to minimum, improves the measure of precision of robot work, and simple to operate
Convenient, human resourcess are saved in stable performance.
Ultimate principle of the present utility model, principal character and advantage has been shown and described above.The technical staff of the industry
It should be appreciated that above-described embodiment does not limit this utility model in any form, all by the way of equivalent or equivalent transformation
The technical scheme for being obtained, all falls within protection domain of the present utility model.
Claims (5)
1. a kind of robot arm joint controlled by bracing wire method, it is characterised in that include：First joint arm, is connected to
The second joint arm of the first joint arm is stated, the 3rd joint pedestal of above-mentioned second joint arm is connected to, is connected to above-mentioned SAN GUAN
Section pedestal simultaneously drives above-mentioned first joint arm, second joint arm, the 3rd joint pedestal to carry out bracing wire campaign by positive and negative coiling
Drive control box.
2. a kind of robot arm joint controlled by bracing wire method according to claim 1, it is characterised in that above-mentioned
One joint arm composition has：The swivel of bracing wire is connected to, for being drawstring through and being connected to above-mentioned swivel and second joint forearm
Between the first joint swing mobile jib.
3. a kind of robot arm joint controlled by bracing wire method according to claim 2, it is characterised in that above-mentioned
Two joint arms composition has：For being drawstring through and being connected to the second joint swing mobile jib that above-mentioned first joint swings mobile jib, connection
In the U-shaped head of fixation that above-mentioned second joint swings mobile jib.
4. a kind of robot arm joint controlled by bracing wire method according to claim 3, it is characterised in that above-mentioned
Three joint pedestal compositions have：The 3rd joint for being connected to the U-shaped head of above-mentioned fixation swings mobile jib, is connected to consolidating for above-mentioned swing mobile jib
Determine the seat of honour.
5. a kind of robot arm joint controlled by bracing wire method according to claim 4, it is characterised in that above-mentioned drive
Dynamic control chamber composition has：For controlling the motor of each joint motions of robot arm, be connected to above-mentioned motor and the fixed seat of honour it
Between driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620973048.5U CN206011129U (en) | 2016-08-30 | 2016-08-30 | A kind of robot arm joint controlled by bracing wire method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620973048.5U CN206011129U (en) | 2016-08-30 | 2016-08-30 | A kind of robot arm joint controlled by bracing wire method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206011129U true CN206011129U (en) | 2017-03-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620973048.5U Active CN206011129U (en) | 2016-08-30 | 2016-08-30 | A kind of robot arm joint controlled by bracing wire method |
Country Status (1)
| Country | Link |
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| CN (1) | CN206011129U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426262A (en) * | 2016-08-30 | 2017-02-22 | 昆山塔米机器人有限公司 | Robot arm joint controlled through wire pulling method |
-
2016
- 2016-08-30 CN CN201620973048.5U patent/CN206011129U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426262A (en) * | 2016-08-30 | 2017-02-22 | 昆山塔米机器人有限公司 | Robot arm joint controlled through wire pulling method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215347 12th floor, complex building, No. 1699, Zuchongzhi South Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Suzhou Tami robot Co.,Ltd. Address before: 215347 12th floor, complex building, No. 1699, Zuchongzhi South Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee before: KUNSHAN TAMI ROBOT Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |