CN206335574U - Biomimetic manipulator and robot - Google Patents
Biomimetic manipulator and robot Download PDFInfo
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- CN206335574U CN206335574U CN201621233122.6U CN201621233122U CN206335574U CN 206335574 U CN206335574 U CN 206335574U CN 201621233122 U CN201621233122 U CN 201621233122U CN 206335574 U CN206335574 U CN 206335574U
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- forearm
- large arm
- arm
- shoulder
- drive device
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Abstract
The utility model provides a kind of biomimetic manipulator, including：Housing assembly, shoulder components, big arm component and small arm component；The similar human hand forearm of the small arm component, thereafter provided with big arm component；The similar human hand large arm of the big arm component, thereafter provided with shoulder components, the similar people's shoulder structure of the shoulder components, on housing assembly；The housing assembly includes bearing and rolling bearing；The shoulder components includes shoulder pole, shoulder swing arm, shoulder drive device；The big arm component includes preceding large arm, rear large arm, large arm drive device, large arm rotating mechanism；The small arm component includes preceding forearm, rear forearm, forearm drive device, forearm rotating mechanism；The preceding forearm is provided with handgrip base, can connect different types of handgrip, completes various grasping movements.The biomimetic manipulator, has similar freedom of motion to human arm, and compact conformation, easy maintenance, relative load is big.The utility model, which is additionally provided, a kind of includes the robot of above-mentioned biomimetic manipulator.
Description
Technical field
The utility model is related to robotics, more particularly to a kind of biomimetic manipulator and robot.
Background technology
In recent years, robot is widely used to each field, wherein especially extensive in industry manufacture field.Industrial machine
The application of people greatly reduces the labor intensity of workman, improves industrial efficiency and safety coefficient.Current industrial machine
The mechanical arm that human body uses generally has multiple joints, and the rotation in each joint is by stepper motor or servomotor
Realize, because the volume of stepper motor or servomotor is generally larger, this be accomplished by each articular portion of mechanical arm have compared with
Big volume, in order to install stepper motor or servomotor, thus conventional industrial machinery arm has the following disadvantages：Structure
It is too fat to move, space-consuming is big, unitary function, and relative load is small etc..Due to these shortcomings so that general industry robot can not or
It is not suitable for robot volume and is loaded with the occasion of strict demand, such as engineering, teaching experiment, amusement and home services etc.
Industry.
Biomimetic manipulator is due to imitating human arm motion's action, and compact conformation occupies little space, applied widely.Mesh
Before, big using the bionic mechanical arm body quality of industrial machinery arm Model Design, structure is too fat to move, and control system is complicated；And use
The biomimetic manipulator relative load of rope driving and bionic muscle driving is small, and stability is poor.
Accordingly, it would be desirable to which a kind of body is lightweight, mechanism is simple, and relative load is big, the biomimetic manipulator of stable and reliable operation,
Meet the demand that robot is applied in each field.
The content of the invention
The purpose of this utility model is that design provides a kind of biomimetic manipulator, reaches that simple in construction, low cost, operation are steady
The big purpose of fixed, relative load.Another object of the present utility model, which is to provide, a kind of includes the robot of above-mentioned biomimetic manipulator.
The technical solution of the utility model is as follows：
A kind of biomimetic manipulator, including housing assembly, shoulder components, big arm component and small arm component；
The similar human hand forearm of the small arm component, thereafter provided with big arm component；The similar human hand large arm of the big arm component, its
Shoulder components is provided with afterwards, and the similar people's shoulder structure of the shoulder components is arranged on housing assembly；
The housing assembly includes bearing and rolling bearing；Whole bionic mechanical arm assembly can be fixedly mounted for the bearing
Onto robot, rolling bearing is which is provided with, the housing assembly is used to support the shoulder components；
The shoulder components includes shoulder pole, shoulder swing arm, shoulder drive device；
The shoulder pole is arranged on rolling bearing and through rolling bearing inner ring, and its one end is connected with big arm component,
Positioned at support outer, the other end is provided with shoulder swing arm, and described shoulder swing arm one end is fixedly connected with shoulder pole, and the other end drives with shoulder and filled
Put and be hinged, the shoulder drive device is arranged on the inside of the bearing, one end is connected with bearing, and the other end is hinged with shoulder swing arm, drive
Dynamic shoulder swing arm motion, the relative rotation of driving shoulder pole and bearing；
The big arm component includes preceding large arm, rear large arm, large arm drive device, large arm rotating mechanism；The rear large arm with
Shoulder pole is hinged, and the large arm drive device is arranged inside shoulder pole, and its one end is connected with shoulder pole, the other end and rear large arm
It is hinged, rotation of the large arm along shoulder pole axial direction after driving；The large arm rotating mechanism is arranged between preceding large arm and rear large arm, by
Large arm rotating support shaft is held, large arm electric rotating machine and large arm rotary speed shifting mechanism are constituted；The large arm rotating support shaft holds one end
It is connected with preceding large arm, the other end is connected with rear large arm, by the driving of the large arm electric rotating machine, large arm rotary speed shifting mechanism
Transmission, preceding large arm and rear large arm relative rotary motion；
The small arm component includes preceding forearm, rear forearm, forearm drive device, forearm rotating mechanism；The rear forearm with
Preceding large arm is hinged, and described forearm drive device one end is connected with preceding large arm, and the other end is hinged with rear forearm, and forearm is before after driving
The rotation of large arm axial direction；The forearm rotating mechanism is arranged between preceding forearm and rear forearm, is held by forearm rotating support shaft, small
Arm electric rotating machine and forearm rotary speed shifting mechanism composition；The forearm rotating support shaft is held one end and is connected with preceding forearm, the other end
It is connected with rear forearm, passes through the driving of the forearm electric rotating machine, the transmission of forearm rotary speed shifting mechanism, preceding forearm and rear forearm
Relative rotary motion；Handgrip base is provided with the preceding forearm, by handgrip base, different types of handgrip can be connected, it is complete
Into various grasping movements.
The shoulder pole is hollow structure, and the large arm drive device, which is hidden, to be arranged in shoulder pole hollow structure, is driven
Afterwards large arm along shoulder pole be axially moved while, together with the shoulder pole around the bearing relatively rotate.
The shoulder drive device, large arm drive device and forearm drive device are straight line performs device；Used straight line
Performs device can be hydraulic jack, cylinder, electric pushrod or Electrohydraulic push rod isoline motion actuators.
It is preferred that, the large arm rotating mechanism and the forearm rotating mechanism have identical structure, the rotation used
Spring bearing is that can bear the bearing of axial load and radial load simultaneously, the rotary drive motor used and rotation variable-speed motor
Structure is arranged inside arm configuration.
The shoulder pole is U-shape structure with rear large arm connection end, rear large arm end, preceding large arm end, rear forearm end, with
Front end and the connection of backend mechanism articulated manner.
The utility model also provides a kind of robot, including control system and biomimetic manipulator, the biomimetic manipulator tool
Body is the biomimetic manipulator described in above-mentioned any one.
The biomimetic manipulator that the utility model is provided, imitates human hand arm configuration, with multiple frees degree：Shoulder drive device is driven
Dynamic shoulder swing arm motion, drives shoulder pole to be rotated on rolling bearing；Large arm drive device drives pendulum of the large arm along shoulder pole axial direction
It is dynamic, while with shoulder pole relative seat rotary motion；The preceding large arm of large arm rotating mechanism driving is rotated against with rear large arm,
Make forearm that there is rotary motion；Forearm drive device drives swing of the forearm along large arm axial direction；It is small before the driving of forearm rotating mechanism
Arm is rotated against with rear forearm, the rotation of driving mechanical handgrip.
The biomimetic manipulator that the utility model is provided and the robot with the biomimetic manipulator, the motion side with human arm
Formula is similar, and drive mechanism is arranged in arm mechanism, compact conformation；Using straight line performs device actuating arm joint motions, bear relatively
Carry big, control is easy；The convenient combination of connected mode and maintenance being hinged between front and rear component；With having a wide range of application, energy consumption is low,
Easy to maintenance the features such as.
Brief description of the drawings
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the utility model embodiment
The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention,
For those of ordinary skill in the art, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings
Other accompanying drawings.
Fig. 1 is the structural representation of the specific embodiment of biomimetic manipulator of the present utility model.
Fig. 2 is the structure decomposition figure of the large arm rotating mechanism of the utility model specific embodiment.
Fig. 3 is the structure decomposition figure of the forearm rotating mechanism of the utility model specific embodiment.
In figure：1st, small arm component, 2, big arm component, 3, shoulder components, 4, housing assembly, 101, preceding forearm, 102, rear forearm,
103rd, forearm drive device, 104, forearm rotating mechanism, 105, forearm rotating support shaft hold, 106, forearm rotation master gear,
107th, forearm electric rotating machine, 108, forearm electric rotating machine base, 109, handgrip base, 201, preceding large arm, 202, rear large arm, 203,
Large arm drive device, 204, large arm rotating mechanism, 205, large arm rotating support shaft hold, 206, large arm rotation master gear, 207, big
Arm electric rotating machine, 208, large arm electric rotating machine base, 301, shoulder pole, 302, shoulder swing arm, 303, shoulder drive device, 401, branch
Seat, 402, rolling bearing.
Embodiment
Below in conjunction with the accompanying drawings and embodiment biomimetic manipulator of the present utility model and robot are made it is further in detail
Explanation.
Fig. 1 to Fig. 3 is refer to, Fig. 1 is a kind of embodiment of biomimetic manipulator provided by the utility model
Structural representation；Fig. 2 is a kind of structure of embodiment of biomimetic manipulator large arm provided by the utility model
Schematic diagram；Fig. 3 is a kind of structural representation of embodiment of biomimetic manipulator forearm provided by the utility model
Figure.
The biomimetic manipulator that the utility model embodiment is provided, including housing assembly 4, shoulder components 3, large arm group
Part 2 and small arm component 1；
The similar human hand forearm of the small arm component 1, thereafter provided with big arm component 2；The similar human hand of the big arm component 2 is big
Arm, thereafter provided with shoulder components 3, the similar people's shoulder structure of the shoulder components 3 is arranged on housing assembly 4；
The housing assembly 4 includes bearing 401 and rolling bearing 402；The bearing 401 can fill whole biomimetic manipulator
Put and be fixedly installed in robot, which is provided with rolling bearing 402, the housing assembly 4 is used to support the shoulder components 3；
The shoulder components 3 includes shoulder pole 301, shoulder swing arm 302, shoulder drive device 303；
The shoulder pole 301 is arranged on rolling bearing 402 and through the inner ring of rolling bearing 402, its one end and large arm
Component 2 is connected, and positioned at the outside of bearing 401, the other end is provided with shoulder swing arm 302；Described one end of shoulder swing arm 302 is consolidated with shoulder pole 301
Fixed connection, the other end is hinged with shoulder drive device 303；The shoulder drive device 303 is arranged at the inner side of bearing 401, one end and branch
Seat 401 is connected, and the other end is hinged with shoulder swing arm 302, and driving shoulder swing arm 302 is moved, driving shoulder pole 301 and the phase of bearing 401
To rotating；
The big arm component 2 includes preceding large arm 201, rear large arm 202, large arm drive device 203, large arm rotating mechanism 204；
The rear large arm 202 is hinged with shoulder pole 301, and the large arm drive device 203 is arranged inside shoulder pole 301, its one end with
Shoulder pole 301 is connected, and the other end is hinged with rear large arm 202, rotation of the large arm 202 along the axial direction of shoulder pole 301 after driving；
The large arm rotating mechanism 204 is arranged between preceding large arm 201 and rear large arm 202, is held by large arm rotating support shaft
205th, large arm rotation master gear 206, large arm electric rotating machine 207, large arm electric rotating machine fixed mount 208 are constituted；The large arm rotation
Spring bearing 205 is can bear the slewing bearing of axial load and radial load simultaneously, and its inner ring connects with rear large arm 202
Connect, outer ring is connected with preceding large arm 201, outer ring is provided with gear ring；The large arm electric rotating machine 207 is solid by large arm electric rotating machine
Determine frame 208 to be fixed in rear large arm 202, its output end rotates master gear 206 provided with large arm；Large arm rotates master gear 206 and big
The outer ring gear that arm rotating support shaft holds 205 collectively forms large arm rotary speed shifting mechanism, passes through the large arm electric rotating machine 207
Driving, preceding large arm 201 rotates against rotation with rear large arm 202；
The small arm component 1 includes preceding forearm 101, rear forearm 102, forearm drive device 103, forearm rotating mechanism 104；
The rear forearm 102 is hinged with preceding large arm 201, and described one end of forearm drive device 103 is connected with preceding large arm 201, the other end with
Forearm 102 is hinged afterwards, rotation of the forearm 102 along the preceding axial direction of large arm 201 after driving；Before the forearm rotating mechanism 104 is arranged at
Between forearm 101 and rear forearm 102,105, forearm rotation master gear 106, forearm electric rotating machine are held by forearm rotating support shaft
107 and forearm electric rotating machine fixed mount 108 constitute；The forearm rotating support shaft holds 105 can be while bear axial load and footpath
To the slewing bearing of load, its inner ring is connected with rear forearm 102, and outer ring is connected with preceding forearm 101, and outer ring is provided with gear
Circle；The forearm electric rotating machine 107 is fixed on rear forearm 102 by forearm electric rotating machine fixed mount 108, and its output end is provided with
Forearm rotates master gear 106；The outer ring gear that forearm rotates master gear 106 with forearm rotating support shaft holds 105 collectively forms small
Arm rotary speed shifting mechanism, by the driving of forearm electric rotating machine 107, preceding forearm 101 rotates against rotation with rear forearm 102；Institute
State and be provided with handgrip base 109 on preceding forearm 101, by handgrip base 109, different types of handgrip can be connected, completed various
Grasping movement.
The shoulder pole 301 is hollow structure, and the large arm drive device 203, which is hidden, is arranged at the hollow knot of shoulder pole 301
In structure, after driving large arm 202 along shoulder pole 301 be axially moved while, around the bearing 401 together with the shoulder pole 301
Relatively rotate.
The shoulder drive device 303, large arm drive device 203 and forearm drive device 103 are straight line performs device；Made
Straight line performs device can be hydraulic jack, cylinder, electric pushrod or Electrohydraulic push rod isoline motion actuators.
The shoulder pole 301 and the rear connection end of large arm 202, the end of rear large arm 202, the end of preceding large arm 201, rear forearm 102
End is U-shape structure, is connected with front end and backend mechanism articulated manner.
The biomimetic manipulator that present embodiment is provided, imitates human arm motion's mode：The driving shoulder pendulum of shoulder drive device 303
Arm 302 is moved, and drives shoulder pole 301 to be rotated on rolling bearing 402；Large arm drive device 203 drive after large arm 202 along shoulder branch
The swing of the axial direction of bar 301, while with the rotary motion of 301 relative seat of shoulder pole 401；Before large arm rotating mechanism 204 drives
Large arm 201 is rotated against with rear large arm 202, small arm component 1 is had rotary motion；Forearm drive device 103 is small after driving
Swing of the arm 102 along the preceding axial direction of large arm 201；Forearm rotating mechanism 104 drives rotating against for preceding forearm 101 and rear forearm 102,
The rotation of driving mechanical handgrip.
Except above-mentioned biomimetic manipulator, embodiment of the present utility model also provides a kind of including above-mentioned bionic mechanical
The robot of arm, the structure of other each several parts of robot refer to prior art, repeat no more herein.
The robot to biomimetic manipulator provided by the utility model and with the biomimetic manipulator has been carried out in detail above
It is thin to introduce.Specific case used herein is set forth to principle of the present utility model and embodiment, above embodiment party
The explanation of formula is only intended to help and understands core concept of the present utility model.It should be pointed out that for the common skill of the art
For art personnel, on the premise of the utility model principle is not departed from, some improvement can also be carried out to the utility model and are repaiied
Decorations, these are improved and modification is also fallen into the utility model scope of the claims.
Claims (7)
1. a kind of biomimetic manipulator, it is characterised in that including：Housing assembly, shoulder components, big arm component and small arm component；It is described
Housing assembly includes bearing and rolling bearing；Whole bionic mechanical arm assembly can be fixedly installed in robot by the bearing,
Rolling bearing is which is provided with, the housing assembly is used to support the shoulder components；
The shoulder components includes shoulder pole, shoulder swing arm and shoulder drive device；The shoulder pole is arranged on rolling bearing and run through
In rolling bearing inner ring, its one end is connected with big arm component, and the other end is provided with shoulder swing arm, and described shoulder swing arm one end is consolidated with shoulder pole
Fixed connection, the other end is hinged with shoulder drive device, and described shoulder drive device one end is connected with bearing, and the other end is cut with scissors with shoulder swing arm
Connect, drive shoulder swing arm motion, drive the relative rotation of shoulder pole and bearing；The big arm component includes preceding large arm, rear large arm, big
Arm drive device and large arm rotating mechanism；The rear large arm is hinged with shoulder pole, and the large arm drive device is arranged at shoulder pole
Inside, its one end is connected with shoulder pole, and the other end is hinged with rear large arm, rotation of the large arm along shoulder pole axial direction after driving；It is described
Large arm rotating mechanism is arranged between preceding large arm and rear large arm, is held by large arm rotating support shaft, large arm electric rotating machine and large arm revolve
Turn gear composition；The large arm rotating support shaft is held one end and is connected with preceding large arm, and the other end is connected with rear large arm, passes through institute
State the driving of large arm electric rotating machine, the transmission of large arm rotary speed shifting mechanism, preceding large arm and rear large arm relative rotary motion；It is described small
Arm component includes preceding forearm, rear forearm, forearm drive device and forearm rotating mechanism；The rear forearm is hinged with preceding large arm, institute
State forearm drive device one end to be connected with preceding large arm, the other end is hinged with rear forearm, forearm turning along preceding large arm axial direction after driving
It is dynamic；The forearm rotating mechanism is arranged between preceding forearm and rear forearm, held by forearm rotating support shaft, forearm electric rotating machine and
Forearm rotary speed shifting mechanism is constituted；The forearm rotating support shaft is held one end and is connected with preceding forearm, and the other end is connected with rear forearm,
Pass through the driving of the forearm electric rotating machine, the transmission of forearm rotary speed shifting mechanism, preceding forearm and rear forearm relative rotary motion；
The preceding forearm is provided with handgrip base, by handgrip base, can connect different types of handgrip, completes various grasping movements.
2. biomimetic manipulator according to claim 1, it is characterised in that the shoulder pole is hollow structure, the large arm
Drive device hide is arranged in shoulder pole hollow structure, after driving large arm along shoulder pole be axially moved while, with the shoulder
Pole rotates relative to the bearing together.
3. biomimetic manipulator according to claim 1, it is characterised in that the shoulder drive device, large arm drive device and
Forearm drive device is straight line performs device；Used straight line performs device includes hydraulic jack, cylinder, electric pushrod, electricity
Liquid push rod.
4. biomimetic manipulator according to claim 1, it is characterised in that large arm rotating mechanism and the forearm rotation
Rotating support shaft in mechanism is held as can be while bearing the bearing of axial load and radial load.
5. biomimetic manipulator according to claim 1, it is characterised in that large arm rotating mechanism and the forearm rotation
Rotating support shaft in mechanism is held, electric rotating machine and rotary speed shifting mechanism are hidden and be arranged in arm configuration.
6. biomimetic manipulator according to claim 1, it is characterised in that the shoulder pole and rear large arm connection end, rear big
Arm end, preceding large arm end, rear forearm end are U-shape structure, are connected with front end and backend mechanism articulated manner.
7. a kind of robot, including control system and biomimetic manipulator, it is characterised in that any one including such as claim 1 ~ 6
Biomimetic manipulator described in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621233122.6U CN206335574U (en) | 2016-11-17 | 2016-11-17 | Biomimetic manipulator and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621233122.6U CN206335574U (en) | 2016-11-17 | 2016-11-17 | Biomimetic manipulator and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206335574U true CN206335574U (en) | 2017-07-18 |
Family
ID=59306933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621233122.6U Expired - Fee Related CN206335574U (en) | 2016-11-17 | 2016-11-17 | Biomimetic manipulator and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206335574U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891514A (en) * | 2017-11-20 | 2018-04-10 | 包宇轩 | A kind of multiinjector glaze spraying robot |
| CN112587370A (en) * | 2020-12-14 | 2021-04-02 | 南京励智心理大数据产业研究院有限公司 | Wearable upper limb flexible rehabilitation robot |
-
2016
- 2016-11-17 CN CN201621233122.6U patent/CN206335574U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891514A (en) * | 2017-11-20 | 2018-04-10 | 包宇轩 | A kind of multiinjector glaze spraying robot |
| CN107891514B (en) * | 2017-11-20 | 2019-09-24 | 浙江湖州艾浦莱德智能科技有限公司 | A kind of multiinjector glaze spraying robot |
| CN112587370A (en) * | 2020-12-14 | 2021-04-02 | 南京励智心理大数据产业研究院有限公司 | Wearable upper limb flexible rehabilitation robot |
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| 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: 20170718 Termination date: 20201117 |
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| CF01 | Termination of patent right due to non-payment of annual fee |