CN206883666U - A kind of robot arm - Google Patents
A kind of robot arm Download PDFInfo
- Publication number
- CN206883666U CN206883666U CN201720687883.7U CN201720687883U CN206883666U CN 206883666 U CN206883666 U CN 206883666U CN 201720687883 U CN201720687883 U CN 201720687883U CN 206883666 U CN206883666 U CN 206883666U
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- China
- Prior art keywords
- handgrip
- joint
- forearm
- rotatably connected
- fuselage
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Abstract
The utility model discloses a kind of robot arm, including base and fuselage, the upper end of the fuselage is rotatably connected to waist joint, the upper end of the waist joint is fixedly connected with chassis, the upper end both sides on the chassis are provided with symmetrical shoulder joint, principal arm is rotatably connected between two shoulder joint, the one end of the principal arm away from shoulder joint is rotatably connected to forearm, one end of the forearm is provided with wrist joint, the one end of the wrist joint away from forearm is rotatably connected to linking arm, one end of the linking arm is provided with end effector, the bottom of the end effector is provided with expansion plate, the upper and lower side of the end effector side is respectively equipped with two symmetrical manipulators and grabbed, each first handgrip is rotatablely connected with end effector, one end of each first handgrip is rotatably connected to the second handgrip.The utility model close structure, it is easy to operate, can multi-faceted extraction weight, it is and easy to use ingenious, be suitably widely popularized.
Description
Technical field
It the utility model is related to robotic technology field, more particularly to a kind of robot arm.
Background technology
The component of robot is mainly rigid link and kinematic pair, also as manipulator or operator, in manipulator
End, a fixed clipping paw, referred to as end effector, end effector can be welding gun, paint sprayer, brill
Head, nut spinner etc., it can be changed at any time by need of work.For such a revolute robot, it is by fuselage, arm
The part such as portion, wrist, hand forms, and functions are apish arms to describe definition.Its middle fuselage is equivalent to people
Body, play a supportive role, and for installing the parts such as drive device, equivalent to one frame, large arm of the arm equivalent to people
Forearm, it is main execution unit, it is for supporting wrist and ancon that it, which is acted on, and drives them together in spatial movement, so as to
Hand is driven to be moved by certain track, wrist is the part of arm portions and hand equivalent to the wrist of people, and it is to adjust that it, which is acted on,
With change hand in the orientation in space, hand is the end execution unit of operator, its effect is to hold equivalent to the hand of people
Required object or object.And existing some problems of mechanical arm generally existing, such as each joint be cantilever design, rigidity compared with
Low, under identical deadweight or volume compared with parallel robot, bearing capacity is low, it is impossible to captures weight, and deficient in stability.
Utility model content
In order to solve the problems, such as to be mentioned in above-mentioned background technology, the utility model provides a kind of robot arm.
To achieve these goals, the utility model employs following technical scheme：
A kind of robot arm, including base and fuselage, the fuselage are located at the upper end of base, and the upper end of the fuselage turns
Dynamic to be connected with waist joint, the upper end of the waist joint is fixedly connected with chassis, and the upper end both sides on the chassis are provided with symmetrical shoulder
Joint, principal arm is rotatably connected between two shoulder joint, the side of the principal arm is provided with first driving means, the principal arm
One end away from shoulder joint is rotatably connected to forearm, and the side of the forearm is provided with the second drive device, one end of the forearm
Provided with wrist joint, rotating shaft is connected between the forearm and wrist joint, and rotating shaft through forearm and stretches out, the rotating shaft
Elongated end is provided with the 5th drive device, and the one end of the wrist joint away from forearm is rotatably connected to linking arm, the linking arm and
Wrist joint junction is provided with the 3rd drive device, and one end of the linking arm is provided with end effector, the end effector
Bottom is provided with expansion plate, and one end of the expansion plate is provided with four-drive device, the upper and lower side point of the end effector side
Not She You two symmetrical manipulators grab, each manipulator, which is grabbed, is divided into the first handgrip and the second handgrip, each described the
One handgrip is rotatablely connected with end effector, and one end of each first handgrip is rotatably connected to the second handgrip, each described
The one end of second handgrip away from the first handgrip is rotatably connected to latch segment.
Preferably, the waist joint lower end is provided with motor, and motor is located at fuselage interior.
Preferably, the height of the expansion plate away from four-drive device one end is 3-5mm.
Preferably, the side of each first handgrip and the second handgrip is equipped with magnetic sheet, and the side of each magnetic sheet is set
There is rubber blanket.
Preferably, the madial wall of each latch segment is equipped with sawtooth, and sawtooth is rigid quality of rubber materials.
In the utility model, waist joint drives rotary shaft to realize that 360 ° omni-directional rotates by motor, waist joint
Upper end is fixed with chassis, and chassis upper end is two symmetrical shoulder joint, and is rotatably connected to principal arm between two shoulder joint, connection
One end of arm is provided with end effector, and the bottom of end effector is provided with expansion plate, and expansion plate is away from the 4th driving
The height of device one end is 3-5mm so that expansion plate can hold up weight from bottom, and the side of end effector is uniformly distributed
There are four manipulators to grab, and each manipulator is grabbed and is divided into the first handgrip and the second handgrip, and the first handgrip and the second handgrip rotate
Connection, and the side of the first handgrip and the second handgrip is provided with magnetic sheet, and the side of each magnetic sheet is provided with rubber blanket, magnetic sheet energy
Enough weights to metal material play certain sucking action, and rubber blanket adds skin-friction force so that crawl is more steady
Gu while latch segment is rotatably connected in one end of the second handgrip, and the madial wall of latch segment is provided with sawtooth, and sawtooth is hard
Property quality of rubber materials, jagged rigid rubber can increase skin-friction force so that more firm during mechanical arm crawl weight.
The utility model close structure, it is easy to operate, can multi-faceted extraction weight, it is and easy to use ingenious, be suitably widely popularized.
Brief description of the drawings
Fig. 1 be the utility model proposes a kind of robot arm dimensional structure diagram.
Fig. 2 be the utility model proposes a kind of robot arm carpal mounting structure schematic diagram；
Fig. 3 be the utility model proposes the manipulator of robot arm a kind of grab side view；
Fig. 4 be the utility model proposes the manipulator of robot arm a kind of grab top view.
In figure：1st, base；2nd, fuselage；3rd, waist joint；4th, chassis；5th, shoulder joint；6th, first driving means；7th, principal arm；8、
Forearm；9th, the second drive device；10th, wrist joint；11st, the 3rd drive device；12nd, linking arm；13rd, end effector；14th, stretch
Contracting plate；15th, four-drive device；16th, manipulator is grabbed；17th, the first handgrip；18th, the second handgrip；19th, latch segment；20th, magnetic sheet；
21st, rubber blanket；22nd, rotating shaft；23rd, the 5th drive device.
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.
Reference picture 1-4, a kind of robot arm, including base 1 and fuselage 2, fuselage 2 are located at the upper end of base 1, fuselage 2
Upper end be rotatably connected to waist joint 3, the upper end of waist joint 3 is fixedly connected with chassis 4, and the upper end both sides on chassis 4 are provided with symmetrical
Shoulder joint 5, be rotatably connected to principal arm 7 between two shoulder joint 5, the side of principal arm 7 is provided with first driving means 6, and principal arm 7 is remote
One end from shoulder joint 5 is rotatably connected to forearm 8, and the side of forearm 8 is provided with the second drive device 9, and one end of forearm 8 is provided with wrist
Joint 10, rotating shaft 22 is connected between forearm 8 and wrist joint 10, and rotating shaft 22 through forearm 8 and stretches out, rotating shaft 22 is prolonged
Stretch end and be provided with the 5th drive device 23, the one end of wrist joint 10 away from forearm 8 is rotatably connected to linking arm 12, linking arm 12 and wrist
The junction of joint 10 is provided with the 3rd drive device 11, and one end of linking arm 12 is provided with end effector 13, end effector 13
Bottom is provided with expansion plate 14, and one end of expansion plate 14 is provided with four-drive device 15, the upper and lower side point of the side of end effector 13
Not She You two symmetrical manipulators grab 16, each manipulator grabs 16 and is divided into the first handgrip 17 and the second handgrip 18, Mei Ge
One handgrip 17 is rotatablely connected with end effector 13, and one end of each first handgrip 17 is rotatably connected to the second handgrip 18, each
The one end of second handgrip 18 away from the first handgrip 17 is rotatably connected to latch segment 19.
Specifically, the lower end of waist joint 3 is provided with motor, and motor is located inside fuselage 2, and waist joint 3 passes through drive
Dynamic motor driven rotary shaft realizes that 360 ° omni-directional rotates.
Specifically, height of the expansion plate 14 away from the one end of four-drive device 15 is 3-5mm so that expansion plate 14 can be from
Bottom holds up weight.
Specifically, the side of each handgrip 18 of first handgrip 17 and second is equipped with magnetic sheet 20, and the one of each magnetic sheet 20
Side is provided with rubber blanket 21, and magnetic sheet 20 can play certain sucking action to the weight of metal material, and rubber blanket 21 adds
Skin-friction force so that crawl is more firm.
Specifically, the madial wall of each latch segment 19 is equipped with sawtooth, and sawtooth is rigid quality of rubber materials, jagged hard
Property rubber can increase skin-friction force so that mechanical arm crawl weight when it is more firm.
In the utility model, fuselage 2 is located at the upper end of base 1, and the upper end of fuselage 2 is rotatably connected to waist joint 3, due to waist
The lower end of joint 3 is provided with motor, and motor is located inside fuselage 2, and waist joint 3 drives rotary shaft by motor
Realize that 360 ° omni-directional rotates, the upper end of waist joint 3 is fixed with chassis 4, and the upper end of chassis 4 is two symmetrical shoulder joint, 5 and
Principal arm 7 is rotatably connected between two shoulder joint 5, the side of principal arm 7 is provided with one drive device 6, and the upper end of principal arm 7 turns
It is dynamic to be connected with forearm 8, and the side of forearm 8 is provided with the second drive device 9, one end of forearm 8 is connected with wrist by rotating shaft 22
Joint 10, one end of wrist joint 10 is rotatably connected to linking arm 12, and the side of linking arm 12 is provided with the 3rd drive device 11,
One end of linking arm 12 is provided with end effector 13, and the bottom of end effector 13 is provided with expansion plate 14, and expansion plate
14 height away from the one end of four-drive device 15 are 3-5mm so that expansion plate 14 can hold up weight, and end from bottom
The side of actuator 13 is evenly distributed with four manipulators and grabs 16, and it is the first handgrip 17 and second that each manipulator, which grabs 16 points,
Handgrip 18, and the first handgrip 17 and the second handgrip 18 are rotatablely connected, and the side of the first handgrip 17 and the second handgrip 18 is respectively provided with
There is magnetic sheet 20, and the side of each magnetic sheet 20 is provided with rubber blanket 21, magnetic sheet 20 can play certain to the weight of metal material
Sucking action, and rubber blanket 21 adds skin-friction force so that crawl is more firm, while turns in one end of the second handgrip 18
It is dynamic to be connected with latch segment 19, and the madial wall of latch segment 19 is provided with sawtooth, and sawtooth is rigid quality of rubber materials, it is jagged
Rigid rubber can increase skin-friction force so that more firm during mechanical arm crawl weight.
It is described above, the only preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, any one skilled in the art is in the technical scope that the utility model discloses, according to this practicality
New technical scheme and its utility model design are subject to equivalent substitution or change, should all cover in protection model of the present utility model
Within enclosing.
Claims (5)
1. a kind of robot arm, including base (1) and fuselage (2), the fuselage (2) are located at the upper end of base (1), its feature
It is：The upper end of the fuselage (2) is rotatably connected to waist joint (3), and the upper end of the waist joint (3) is fixedly connected with chassis
(4), the upper end both sides of the chassis (4) are provided with symmetrical shoulder joint (5), are rotatably connected between two shoulder joint (5)
Principal arm (7), the side of the principal arm (7) are provided with first driving means (6), and the one end of the principal arm (7) away from shoulder joint (5) turns
Dynamic to be connected with forearm (8), the side of the forearm (8) is provided with the second drive device (9), and one end of the forearm (8) is provided with wrist
Joint (10), is connected with rotating shaft (22) between the forearm (8) and wrist joint (10), and rotating shaft (22) through forearm (8) and to
Outer extension, the elongated end of the rotating shaft (22) are provided with the 5th drive device (23), the wrist joint (10) away from forearm (8) one
End is rotatably connected to linking arm (12), and the linking arm (12) and wrist joint (10) junction are provided with the 3rd drive device (11),
One end of the linking arm (12) is provided with end effector (13), and the bottom of the end effector (13) is provided with expansion plate
(14), one end of the expansion plate (14) is provided with four-drive device (15), the upper and lower side of end effector (13) side
It is respectively equipped with two symmetrical manipulators and grabs (16), each manipulator, which grabs (16) and is divided into the first handgrip (17) and second, grabs
Hand (18), each first handgrip (17) are rotatablely connected with end effector (13), and the one of each first handgrip (17)
End is rotatably connected to the second handgrip (18), and each one end of second handgrip (18) away from the first handgrip (17) is rotatably connected to
Latch segment (19).
A kind of 2. robot arm according to claim 1, it is characterised in that：Waist joint (3) lower end is provided with driving
Motor, and motor is located at fuselage (2) inside.
A kind of 3. robot arm according to claim 1, it is characterised in that：The expansion plate (14) is away from the 4th driving
The height of device (15) one end is 3-5mm.
A kind of 4. robot arm according to claim 1, it is characterised in that：Each first handgrip (17) and second
The side of handgrip (18) is equipped with magnetic sheet (20), and the side of each magnetic sheet (20) is provided with rubber blanket (21).
A kind of 5. robot arm according to claim 1, it is characterised in that：The madial wall of each latch segment (19)
Sawtooth is equipped with, and sawtooth is rigid quality of rubber materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720687883.7U CN206883666U (en) | 2017-06-14 | 2017-06-14 | A kind of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720687883.7U CN206883666U (en) | 2017-06-14 | 2017-06-14 | A kind of robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206883666U true CN206883666U (en) | 2018-01-16 |
Family
ID=61318530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720687883.7U Expired - Fee Related CN206883666U (en) | 2017-06-14 | 2017-06-14 | A kind of robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206883666U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115922768A (en) * | 2022-12-15 | 2023-04-07 | 浙江工业大学台州研究院 | Four-degree-of-freedom coordinate mechanical arm |
-
2017
- 2017-06-14 CN CN201720687883.7U patent/CN206883666U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115922768A (en) * | 2022-12-15 | 2023-04-07 | 浙江工业大学台州研究院 | Four-degree-of-freedom coordinate mechanical arm |
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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: 20180116 Termination date: 20180614 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |