CN206170125U - Shoulder joint assembly of simulate intelligent robot - Google Patents
Shoulder joint assembly of simulate intelligent robot Download PDFInfo
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- CN206170125U CN206170125U CN201621127392.9U CN201621127392U CN206170125U CN 206170125 U CN206170125 U CN 206170125U CN 201621127392 U CN201621127392 U CN 201621127392U CN 206170125 U CN206170125 U CN 206170125U
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- motor
- pendulum
- shoulder
- arm
- joint assembly
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Abstract
The utility model relates to a shoulder joint assembly of simulate intelligent robot. The whole shoulder joint assembly of its characterized in that including shoulder backplate, location both sides about the shoulder is in the backplate put around motor layer board, location put motor, two arms around two of the left and right sides in the shoulder backplate about the rotatory integral structure motor of pendulum, the rotatory integral structure motor of pendulum is stuck through the both ends output shaft location back swing arm in the front of controlling the pendulum motor about two arms to the swing arm fork is on the output shaft of motor is put around two of the left and right sides in the location in the shoulder backplate respectively around through, the rotatory integral structure motor of pendulum about the arm, its as an organic wholeization of shell structure, the rotatory motor output shaft of pendulum motor output shaft and arm each other is perpendicular about the arm, the middle part of shoulder on the backplate is opened jaggedly, and motor layer board location is put on the vertebra of the top of spinal joint assembly to whole shoulder joint assembly around on it. The utility model has the characteristics of compact structure is simple, and the fidelity is high, light in weight.
Description
Technical field
The present invention relates to robot field, is related specifically to a kind of shoulder joint assembly of artificial intelligence robot.
Background technology
It is in the robot field of prior art, many about the structure of shoulder joint.But great majority are all closed using steering wheel
Section, people have two shoulder joint each shoulder joint to have three degree of freedom, must thus have six steering wheels, existing steering wheel phase
It is mutually independent, three steering wheels to be made to constitute a shoulder joint each other, between steering wheel and steering wheel, must just pass through middle transition part
It is connected with each other.This allows for each facet joint complex volume greatly cannot be corresponding with true man joint size, and weight weight.Even if external
The leading country of some roboticses, the shoulder joint of its robot are also relatively large, and structure is also complicated.This allows for doing
To corresponding with the size of true man's shoulder joint, let alone human simulation shoulder joint.How to overcome and exist not with prior art
Foot, makes structure-integrated, two shoulder joint of the three degree of freedom motor of two shoulder joint each shoulder joint of a people
Mutually cobasis body, makes the size of shoulder joint corresponding with the size of true man's shoulder joint.Meanwhile, allow two shoulder joint to constitute an entirety
Structure so that two shouldejoint matrixes are mutually borrowed, to reduce volume, makes the size of whole shoulder joint be close to true man,
A kind of shoulder joint assembly of artificial intelligence robot is provided, this is just into the Main Topics of the present invention.
The content of the invention
Present invention aim to overcoming, existing robot shoulder joint volume is relatively large, structure is also complicated, fidelity
Low deficiency, there is provided what a kind of two shoulder joint of a people were integrally formed, what two shoulder joint matrixes were mutually borrowed, small volume,
A kind of shoulder joint assembly of the high artificial intelligence robot of fidelity.
To realize the above object, the present invention is achieved through the following technical solutions.A kind of artificial intelligence robot
Shoulder joint assembly, it is characterised in that whole shoulder joint assembly includes shoulder backboard, is positioned in shoulder backboard before and after the right and left
Pendulum motor supporting plate, be positioned at two of the left and right sides in shoulder backboard in front and back pendulum motor, two arms or so pendulum rotating integratedization tie
Before structure motor, described two arms or so pendulum rotating integratedization structural electromotor is positioned at by the two ends output shaft of left and right pendulum motor
On rear-swing arm fork, and the output shaft of two of the left and right sides in shoulder backboard pendulum motors in front and back is respectively positioned at by front and back swing arm fork
On, described arm or so pendulum rotating integratedization structural electromotor, its shell is integrated, arm or so pendulum motor output shaft and
Arm electric rotating machine output shaft is vertical each other, and the middle part on the shoulder backboard is provided with breach, in order to the peace of cervical vertebra joint assembly
Dress, whole shoulder joint assembly are positioned on the top vertebra of joint of vertebral column assembly by pendulum motor supporting plate in front and back thereon.
Further, it is with built-in volume in order to increase output torque and for the ease of controlling above-described three kinds of motors
Code device with big retarding than decelerator permanent-magnet alternating current servo motor, wherein left and right pendulum motor be two ends center output shaft.
Further, in order to realize big retarding than above-described decelerator can be multi-stage planetary gear speed reducer or
Cycloidal gear speed reducer.
Further, in order to mitigate the above-described shoulder backboard of weight, swing arm fork, motor supporting plate, each motor casing are equal in front and back
Using aluminium alloy or magnalium or carbonic acid fibrous material.
Further, above-described left and right motor supporting plate can be split left and right formula structure, or one piece of entirety.
Knowable in technical scheme more than, there is the present invention matrix between each degree of freedom mutually to borrow such as:Shoulder backboard
Share for overall two shoulder joint in left and right, arm or so pendulum rotating integratedization structural electromotor, its shell are integrated,
Intermediate connector is reduced, mutual matrix has fully mutually been borrowed and have compressed space, so that in integrally-built size
Also it is in the same size with true man, the silica gel profile of emulation is added, its main material adopts aluminium alloy or magnalium or carbonic acid fiber
Material etc..So that the present invention has compact conformation letter, fidelity is high, lightweight, fine and smooth feature true to nature.
In order to the present invention is better described, it is further described with reference to specific embodiment and its accompanying drawing.
Description of the drawings
Fig. 1 is the front view of one embodiment of the invention.
Fig. 2 is the A direction views of Fig. 1.
Fig. 3 is the A-A sectional views of Fig. 1.
Fig. 4 is the B-B sectional views of Fig. 1.
Fig. 5 is the C-C sectional views of Fig. 4.
Fig. 6 is the A partial enlarged drawings of Fig. 5.
In figure：1- or so pendulum motors；Swing arm fork before and after 2-；3- shoulder backboards；4- fairleads；5- human simulation silica gel profiles；6-
Arm electric rotating machine；7- electric rotating machine sheaths；8- arm bars；9- or so pendulum motor output shafts；Pendulum motor before and after 10-；Before 11-
Pendulum motor supporting plate afterwards；12- arm electric rotating machine output shafts；13- arm rod sleeves；14- cervical vertebras joint assembly；15- spinal joints
Total top vertebra.
Specific embodiment
Clearly can be seen that from each figure of specific embodiment, the present invention includes shoulder backboard 3, is positioned in shoulder backboard 3
Pendulum motor supporting plate 11 before and after the right and left, it is positioned at two of the left and right sides in shoulder backboard 3 10, two arms of pendulum motor in front and back
Left and right pendulum rotating integratedization structural electromotor, described two arms or so pendulum rotating integratedization structural electromotor passes through left and right pendulum motor 1
Two ends output shaft 9 be positioned on before and after's swing arm fork 2, and the left and right sides in shoulder backboard 32 is respectively positioned at by the fork of swing arm in front and back
Two in front and back on the output shaft of pendulum motor 10, the center of left and right pendulum motor output shaft 9 is provided with fairlead 4, arm or so pendulum rotation
The control line for turning integral structure motor is entered by fairlead 4, described arm or so pendulum rotating integratedization structural electromotor, outside which
Shell is integrated（Referring to Fig. 1 and Fig. 2）, arm or so pendulum motor output shaft 9 and arm electric rotating machine output shaft 12 are each other
Vertically, the middle part on the shoulder backboard 3 is provided with breach, and in order to the installation of cervical vertebra joint assembly 14, whole shoulder joint assembly leads to
The pendulum motor supporting plate 11 in front and back crossed thereon is positioned on the top vertebra 15 of joint of vertebral column assembly.In order to increase output torque and in order to just
In control above-described left and right pendulum motor 1, arm electric rotating machine 6, in front and back 10 3 kinds of motors of pendulum motor be with built-in coding
Device with big retarding than decelerator permanent-magnet alternating current servo motor, wherein left and right pendulum motor 1 be two ends center output shaft, remaining hands
Arm electric rotating machine 6, in front and back pendulum motor 10 are one end center output shaft.In order to realize that big retarding is many than above-described decelerator
Level planetary reducer.In order to mitigate the above-described shoulder backboard 3 of weight, the fork 2, motor supporting plate 11 of swing arm in front and back, each motor
Shell adopts carbonic acid fibrous material.Above-described left and right motor supporting plate 11 is split left and right formula structure.
Knowable in above specific embodiment, the present invention has compact conformation simple, and fidelity is high, lightweight, and one
The characteristics of body degree is high.
Specific embodiment enumerated above is only one kind of numerous embodiments, it is impossible to enumerated.It is all according to the present invention
Protection domain made improvement modification and modification belong to the present invention protection.
Claims (5)
1. a kind of shoulder joint assembly of artificial intelligence robot, it is characterised in that whole shoulder joint assembly includes shoulder backboard, positioning
Before and after the right and left in shoulder backboard pendulum motor supporting plate, be positioned at two of the left and right sides in shoulder backboard in front and back pendulum motor, two
Individual arm or so puts rotating integratedization structural electromotor, described two arms or so pendulum rotating integratedization structural electromotor by left and right pendulum
The two ends output shaft of motor is positioned on before and after's swing arm fork, and is respectively positioned at the left and right sides in shoulder backboard by the fork of swing arm in front and back
Two in front and back on the output shaft of pendulum motor, described arm or so pendulum rotating integratedization structural electromotor, the integrated knot of its shell
Structure, arm or so pendulum motor output shaft and arm electric rotating machine output shaft are vertical each other, and the middle part on the shoulder backboard is provided with scarce
Mouthful, whole shoulder joint assembly is positioned on the top vertebra of joint of vertebral column assembly by pendulum motor supporting plate in front and back thereon.
2. the shoulder joint assembly of a kind of artificial intelligence robot according to claim 1, it is characterised in that above-described
In front and back pendulum motor, arm or so pendulum motor, arm electric rotating machine be with built-in encoder with big retarding than decelerator permanent magnetism
AC servo motor, wherein arm or so pendulum motor are two ends center output shaft, and pendulum motor, arm electric rotating machine are one end in front and back
Center output shaft.
3. the shoulder joint assembly of a kind of artificial intelligence robot according to claim 1, it is characterised in that above-described
Shoulder backboard, in front and back swing arm fork, motor supporting plate, each motor casing adopt aluminium alloy or magnalium or carbonic acid fibrous material.
4. the shoulder joint assembly of a kind of artificial intelligence robot according to claim 1, it is characterised in that above-described
Left and right motor supporting plate can be split left and right formula structure, or one piece of entirety.
5. the shoulder joint assembly of a kind of artificial intelligence robot according to claim 2, it is characterised in that above-described
Decelerator can be multi-stage planetary gear speed reducer or cycloidal gear speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621127392.9U CN206170125U (en) | 2016-10-16 | 2016-10-16 | Shoulder joint assembly of simulate intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621127392.9U CN206170125U (en) | 2016-10-16 | 2016-10-16 | Shoulder joint assembly of simulate intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206170125U true CN206170125U (en) | 2017-05-17 |
Family
ID=58678683
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621127392.9U Expired - Fee Related CN206170125U (en) | 2016-10-16 | 2016-10-16 | Shoulder joint assembly of simulate intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206170125U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313101A (en) * | 2016-10-16 | 2017-01-11 | 福州幻科机电科技有限公司 | Shoulder joint assembly of simulation intelligent robot |
| CN114275068A (en) * | 2021-12-15 | 2022-04-05 | 武汉工程大学 | Climbing robot |
-
2016
- 2016-10-16 CN CN201621127392.9U patent/CN206170125U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313101A (en) * | 2016-10-16 | 2017-01-11 | 福州幻科机电科技有限公司 | Shoulder joint assembly of simulation intelligent robot |
| CN114275068A (en) * | 2021-12-15 | 2022-04-05 | 武汉工程大学 | Climbing robot |
| CN114275068B (en) * | 2021-12-15 | 2024-05-14 | 武汉工程大学 | Climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170517 Termination date: 20181016 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |