CN206812005U - A kind of arm structure of clothes robot - Google Patents
A kind of arm structure of clothes robot Download PDFInfo
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- CN206812005U CN206812005U CN201720676275.6U CN201720676275U CN206812005U CN 206812005 U CN206812005 U CN 206812005U CN 201720676275 U CN201720676275 U CN 201720676275U CN 206812005 U CN206812005 U CN 206812005U
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Abstract
The utility model discloses a kind of arm structure of clothes robot, and it is located at robot shoulder both sides, it is characterised in that and arm structure is designed using three-stage, respectively including big arm mechanism, small arm mechanism and holding mechanism, wherein：The big arm mechanism include be connected with robot shoulder the first branch, be connected the second branch with the first branch, shoulder joint link block is provided between first branch and robot shoulder, branch link block one is provided between first branch and the second branch；The small arm mechanism includes the 3rd branch being connected with big arm mechanism, the 4th branch being connected with the 3rd branch, elbow joint link block is provided between 3rd branch and the second branch, and branch link block two is provided between the 3rd branch and the 4th branch；The holding mechanism includes the machine pawl and the wrist joint link block that is connected with the 4th branch for gripping.
Description
Technical field
It the utility model is related to robot building field, and in particular to a kind of arm structure of clothes robot.
Background technology
Robot is the automatic installations for performing work.It can both receive mankind commander, can run advance volume again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is assistance or the substitution mankind
The work of work, such as production industry, construction industry, or dangerous work.Robot is typically by executing agency, drive device, inspection
Survey the composition such as device and control system and complicated machinery.The arm of robot typically uses space open chain linkage, therein
Kinematic pair (revolute pair or prismatic pair) is frequently referred to joint, and joint number is generally the number of degrees of freedom, of robot.Matched somebody with somebody according to joint
The difference of pattern and coordinates of motion form is put, robot actuating mechanism can be divided into Cartesian coordinate type, circular cylindrical coordinate formula, polar coordinates type
With the type such as joint coordinates formula.For the consideration to personalize, the relevant position of robot body is often referred to as pedestal, waist
Portion, arm, wrist, hand (clamper or end effector) and running part (for mobile robot) etc..
Chinese utility model patent CN201620407397.0 discloses a kind of clothes robot, including left walking sprocket wheel,
Right walking sprocket wheel, left regulation sprocket wheel, right regulation sprocket wheel, are flexibly connected between the left walking sprocket wheel and left regulation sprocket wheel, described
It is flexibly connected between right walking sprocket wheel and right regulation sprocket wheel；And it is connected with support between the left regulation sprocket wheel and right regulation sprocket wheel
Bar, the centre position of the support bar are provided with conical seat, are provided with supporter above the conical seat, in the supporter
Controller is placed with, and control panel is provided with the front end face of supporter, the upper end of the supporter is provided with head.This
The clothes robot architecture that utility model provides is reasonable in design, by being provided with left walking sprocket wheel, right walking sprocket wheel, left regulation chain
Wheel, right regulation sprocket wheel, walking is convenient, easy to remove, conveniently promotes the use of.
But existing robot arm is relatively simple for structure, can not be compared and accurately operate, especially for clothes
Machine people, it is necessary to ensure that the path of sewing clothing cabling is accurate during its work.
Utility model content
The purpose of this utility model is to provide a kind of arm structure of clothes robot, by optimizing clothes robot
Arm structure, it is ensured that the stability and accuracy of its work.
To achieve the above object, the utility model provides following technical scheme：A kind of arm structure of clothes robot, its
Positioned at robot shoulder both sides, it is characterised in that arm structure is designed using three-stage, respectively including big arm mechanism, forearm machine
Structure and holding mechanism, wherein：
The big arm mechanism include be connected with robot shoulder the first branch, be connected the second branch with the first branch, institute
State and shoulder joint link block is provided between the first branch and robot shoulder, set between first branch and the second branch
There is branch link block one；
The small arm mechanism includes the 3rd branch being connected with big arm mechanism, the 4th branch being connected with the 3rd branch, institute
State and elbow joint link block is provided between the 3rd branch and the second branch, and set between the 3rd branch and the 4th branch
There is branch link block two；
The holding mechanism includes the machine pawl and the wrist joint link block that is connected with the 4th branch for gripping.
Preferably, the shoulder joint link block includes being used to assist arm around robot shoulder in vertical 360 degree rotations
Rotary cylinder one, the rotary cylinder one pass through connector with for assist the first branch rotate 180 degree rotary cylinder two
It is connected.
Preferably, the branch link block one includes rotary cylinder three, and the second branch is realized by rotary cylinder three
Around the 360 degree of rotations of the first branch axis, the wrist joint link block includes rotary cylinder four, and holding mechanism passes through rotary pneumatic
Cylinder is realized around the 360 degree of rotations of the 4th branch axis.
Preferably, the elbow joint link block includes rotary cylinder five, and the 3rd branch is realized by rotary cylinder five
Rotated around the second branch 180 degree, and the branch link block two includes rotary cylinder six, and the 4th branch passes through rotation
Cylinder six is realized to be rotated around the 3rd branch 180 degree.
Preferably, the big arm mechanism, small arm mechanism outer wall are provided with housing.
Compared with prior art, the beneficial effects of the utility model are as follows：
1st, the arm structure of the clothes robot is designed using three-stage, corresponding with organization of human body, respectively including large arm
Mechanism, small arm mechanism and holding mechanism, this three-stage design, holding mechanism phase can be can be achieved by the connection between every section
For the large range of movement of robot trunk, the opereating specification of holding mechanism, simultaneously, holding mechanism and forearm are added
360 degree of rotations can be achieved between mechanism, and 180 degree rotation can be achieved between forearm and large arm so that holding mechanism more moves
It is more accurate；
2nd, big arm mechanism is further broken into the first branch and the second branch, forearm be also further broken into the 3rd branch with
4th branch, and type of attachment respectively different between each branch, to realize branch to 360 degree of rotations of axis and branch
Between 180 degree rotation so that the moveable scope of holding mechanism further expands, and shift position is more accurate.
Brief description of the drawings
Fig. 1 provides a kind of schematic diagram of the arm structure of clothes robot for the utility model；
Fig. 2 provides a kind of connection structure diagram of the arm structure of clothes robot for the utility model.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Referring to Fig. 1, the utility model provides a kind of technical scheme：
The arm structure of the clothes robot, it is located at robot shoulder both sides, it is characterised in that arm structure uses three
Segmentation designs, respectively including big arm mechanism 1, small arm mechanism 2 and holding mechanism 3.The arm structure of the clothes robot uses
Three-stage designs, corresponding with organization of human body, respectively including big arm mechanism 1, small arm mechanism 2 and holding mechanism 3, this three sections
Formula designs, and holding mechanism 3 can be achieved by the connection between every section relative to the large range of movement of robot trunk, increase
The opereating specification of holding mechanism 3.
Wherein：The first branch 11 that the big arm mechanism 1 includes being connected with robot shoulder, it is connected with the first branch 11 the
Two branchs 12, are provided with shoulder joint link block 13 between first branch 11 and robot shoulder, first branch with
Branch link block 1 is provided between second branch 12；The small arm mechanism 2 includes the 3rd to be connected with big arm mechanism 1
Dry 21, the 4th branch 22 being connected with the 3rd branch 21, elbow joint is provided between the 3rd branch 21 and the second branch 12
Link block 23, and it is provided with branch link block 2 24 between the 3rd branch 21 and the 4th branch 22；The gripping machine
Structure 3 includes the machine pawl 31 and the wrist joint link block 32 that is connected with the 4th branch 22 for gripping.Big arm mechanism 1 is further
The first branch 11 and the second branch 12 are split as, forearm is also further broken into the 3rd branch 21 and the 4th branch 22, and each
Respectively different type of attachment between branch, to realize branch to 108 between the 360 deg rotation of axis and branch
Ten degree of rotations so that 3 moveable scope of holding mechanism further expands, and shift position is more accurate.
And the shoulder joint link block 13 includes being used to assist arm to revolve in vertical 360 deg around robot shoulder
The rotary cylinder 1 turned, the rotary cylinder 1 is by connector 131 with rotating 108 for the first branch 11 of assistance
Ten degree of rotary cylinder 2 42 is connected.The branch link block 1 includes rotary cylinder 3 43, and the second branch 12 passes through
Rotary cylinder 3 43 is realized to be rotated around the axis 360 deg of the first branch 11, and the wrist joint link block 32 includes rotary pneumatic
Cylinder 4 44, and holding mechanism 3 is realized by rotary cylinder and rotated around the axis 360 deg of the 4th branch 22.The elbow joint connects
Connection module 23 includes rotary cylinder 5 45, and the 3rd branch 21 is realized around the second branch 12 1 hundred 80 by rotary cylinder 5 45
Degree rotation, and the branch link block 2 24 includes rotary cylinder 6 46, and the 4th branch 22 passes through rotary cylinder six
46 realize around the 21 1 hundred 80 degree of rotations of the 3rd branch.Simultaneously, 300 can be achieved between holding mechanism 3 and small arm mechanism 2
60 degree of rotations, and 180 degree of rotations can be achieved between forearm and large arm so that the more movement of holding mechanism 3 is more smart
It is accurate.
The big arm mechanism 1, the outer wall of small arm mechanism 2 are provided with housing 5, using housing 5 to big arm mechanism 1 and forearm machine
Each element and attachment structure inside structure 2 are protected, and avoid the influence of water and dust to arm.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of arm structure of clothes robot, it is located at robot shoulder both sides, it is characterised in that arm structure uses three
Segmentation designs, respectively including big arm mechanism, small arm mechanism and holding mechanism, wherein：
The first branch that the big arm mechanism includes being connected with robot shoulder, be connected the second branch with the first branch, and described the
Shoulder joint link block is provided between one branch and robot shoulder, branch is provided between first branch and the second branch
Involvement connection module one；
The small arm mechanism includes the 3rd branch, the 4th branch that is connected with the 3rd branch being connected with big arm mechanism, and described the
Elbow joint link block is provided between three branchs and the second branch, and branch is provided between the 3rd branch and the 4th branch
Involvement connection module two；
The holding mechanism includes the machine pawl and the wrist joint link block that is connected with the 4th branch for gripping.
2. the arm structure of a kind of clothes robot according to claim 1, it is characterised in that the shoulder joint connects mould
Block includes being used to assist arm around the rotary cylinder one that robot shoulder is in vertical 360 degree rotations, the rotary cylinder one to pass through
Connector is connected with for assisting the first branch to rotate the rotary cylinder two of 180 degree.
A kind of 3. arm structure of clothes robot according to claim 2, it is characterised in that the branch link block
One includes rotary cylinder three, and the second branch is realized by rotary cylinder three and closed around the 360 degree of rotations of the first branch axis, the wrist
Section link block includes rotary cylinder four, and holding mechanism is realized around the 360 degree of rotations of the 4th branch axis by rotary cylinder.
4. the arm structure of a kind of clothes robot according to claim 3, it is characterised in that the elbow joint connects mould
Block includes rotary cylinder five, and the 3rd branch is realized by rotary cylinder five and rotated around the second branch 180 degree, and the Zhi Ganlian
Connection module two includes rotary cylinder six, and the 4th branch is realized by rotary cylinder six and rotated around the 3rd branch 180 degree.
5. the arm structure of a kind of clothes robot according to any one of Claims 1-4, it is characterised in that described big
Arm mechanism, small arm mechanism outer wall are provided with housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720676275.6U CN206812005U (en) | 2017-06-12 | 2017-06-12 | A kind of arm structure of clothes robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720676275.6U CN206812005U (en) | 2017-06-12 | 2017-06-12 | A kind of arm structure of clothes robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206812005U true CN206812005U (en) | 2017-12-29 |
Family
ID=60758097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720676275.6U Expired - Fee Related CN206812005U (en) | 2017-06-12 | 2017-06-12 | A kind of arm structure of clothes robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206812005U (en) |
-
2017
- 2017-06-12 CN CN201720676275.6U patent/CN206812005U/en not_active Expired - Fee Related
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171229 Termination date: 20180612 |