CN207014367U

CN207014367U - A kind of robot

Info

Publication number: CN207014367U
Application number: CN201720593669.5U
Authority: CN
Inventors: 刘照强; 张友生
Original assignee: Guangdong Bo Workers 365 Robot Information Technology Co Ltd
Current assignee: Guangdong Bo Workers 365 Robot Information Technology Co Ltd
Priority date: 2017-05-25
Filing date: 2017-05-25
Publication date: 2018-02-16
Anticipated expiration: 2027-05-25

Abstract

It the utility model is related to robotic technology field, refer in particular to a kind of robot, including manipulator, mechanical arm, support frame, base and energising power, one end of support frame as described above is installed on the base, the other end of support frame as described above is connected with one end of the mechanical arm, the other end of the mechanical arm is connected with the manipulator, support frame as described above both sides are provided with the mechanical arm and the manipulator, and the energising power is arranged at support frame as described above both ends and is used for the manipulator and mechanical arm energy supply；Lower large arm of the present utility model can rotate 350 degree relative to upper-large-arm, lower forearm is relative to upper forearm 350 degree rotatable, and large arm can rotate 180 degree relative to shoulder; forearm can rotate 350 degree relative to large arm, and compared to traditional Bevel Gear Transmission, robot arm structure is simple, reasonable in design; lighter weight; production cost is low, and the robot arm free degree is high, can complete highly difficult action.

Description

A kind of robot

Technical field

Robotic technology field is the utility model is related to, refers in particular to a kind of robot.

Background technology

The development of economy and society makes people propose ever-increasing requirement to work and quality of life, it is desirable to obtains more More, more convenient, more comfortable service；Important component of the service robot as 21 century High-Tech Service Industry, it is these Problem provides good solution, and forms an emerging quick hair by leading the change of people life style The industry of exhibition, but current robot is largely gear drive, causes robot movement inconvenient, it appears it is heavy, and tie Structure is complicated.

The content of the invention

The utility model provides a kind of simple in construction, movement flexibly for problem of the prior art and manipulator is flexible Robot.

In order to solve the above-mentioned technical problem, the utility model adopts the following technical scheme that：

A kind of robot provided by the utility model, including manipulator, mechanical arm, support frame, base and energising power, institute The one end for stating support frame is installed on the base, and the other end of support frame as described above is connected with one end of the mechanical arm, described The other end of mechanical arm is connected with the manipulator, and support frame as described above both sides are provided with the mechanical arm and the manipulator, The energising power is arranged at support frame as described above both ends and is used for the manipulator and mechanical arm energy supply, the mechanical arm bag Large arm, forearm and shoulder are included, the large arm is rotationally connected by first rotating shaft with the shoulder, and the forearm passes through second turn Axle is rotationally connected with the large arm, and the large arm includes the first upper-large-arm, the second upper-large-arm and lower large arm, big on described first Arm and the second upper-large-arm clamping composition upper-large-arm, the upper-large-arm are rotatably connected with the lower large arm, the forearm bag Include forearm on first, forearm and lower forearm on second, the upper forearm of forearm clamping composition on forearm and described second on described first, The upper forearm and the lower forearm are rotatably connected, the lower forearm bottom be provided with for the connection projection that connects palm and Link slot, motor is mounted on inside the large arm and inside forearm.

Preferably, the manipulator includes palm and five fingers.

Preferably, the finger includes saving bone in section bone, finger second in finger metacarpal bone, finger first and finger far saves Bone, save in the finger metacarpal bone, the finger first in bone, the finger second and save bone and the finger far saves bone and connected successively Connect, the finger metacarpal bone connects with the palm.

Preferably, the finger interior is provided with nylon wire and shell fragment.

Preferably, the motor be provided with it is multiple.

Preferably, it is provided with window on the forearm.

Preferably, multiple power level sensors are provided with the manipulator and the mechanical arm.

Preferably, the floor installation is in guide upper.

The beneficial effects of the utility model：

A kind of robot provided by the utility model, including manipulator, mechanical arm, support frame, Base and energising power, one end of support frame as described above are installed on the base, the other end of support frame as described above and the machinery One end connection of arm, the other end of the mechanical arm are connected with the manipulator, and support frame as described above both sides are provided with the machine Tool arm and the manipulator, the energising power are arranged at support frame as described above both ends and are used for the manipulator and the mechanical arm Energy supply, the mechanical arm include large arm, forearm and shoulder, and the large arm is rotationally connected by first rotating shaft with the shoulder, The forearm is rotationally connected by the second rotating shaft with the large arm, the large arm include the first upper-large-arm, the second upper-large-arm and Lower large arm, first upper-large-arm and the second upper-large-arm clamping composition upper-large-arm, the upper-large-arm can with the lower large arm Rotatable connection, the forearm include forearm on first, forearm and lower forearm on second, on described first on forearm and described second The upper forearm of forearm clamping composition, the upper forearm and the lower forearm are rotatably connected, and the lower forearm bottom, which is provided with, to be used for The connection projection and link slot of palm are connected, motor is mounted on inside the large arm inside and forearm；The utility model Lower large arm can rotate 350 degree relative to upper-large-arm, lower forearm is relative to upper forearm 350 degree rotatable, and large arm can be relative to Shoulder rotates 180 degree, and forearm can rotate 350 degree relative to large arm, compared to traditional Bevel Gear Transmission, robot arm knot Structure is simple, reasonable in design, and lighter weight, production cost is low, and the robot arm free degree is high, can complete highly difficult move Make.

Brief description of the drawings

Fig. 1 is overall structure diagram of the present utility model.

Fig. 2 is another visual angle overall structure diagram of the present utility model.

Fig. 3 is another visual angle overall structure diagram of the present utility model.

Reference is respectively：

Manipulator -- 1, palm -- 11, finger -- 12, finger metacarpal bone -- 121, bone is saved in finger first -- 122, finger Bone is saved in two -- 123, finger far saves bone -- and 124, mechanical arm -- 2, large arm -- 21, the first upper-large-arm -- 211, the second upper-large-arm -- 212, lower large arm -- 213, upper-large-arm -- 214, forearm -- 22, forearm on first -- 221, forearm on second -- 222, lower forearm -- 223, upper forearm -- 224, window -- 225, projection -- 226, link slot -- 227, shoulder -- 23, first rotating shaft -- 24, second turn Axle -- 25, support frame -- 3, base -- 4, energising power -- 5, motor -- 6, guide rail -- 7, nylon wire -- 8, shell fragment -- 9, power Level sensor -- 10.

Embodiment

For the ease of the understanding of those skilled in the art, the utility model is made with reference to embodiment and accompanying drawing further Explanation, the content that embodiment refers to not to restriction of the present utility model.The utility model is carried out below in conjunction with accompanying drawing Detailed description.

As Figure 1-3, a kind of robot provided by the utility model, including manipulator 1, mechanical arm 2, support frame 3, bottom Seat 4 and energising power 5, one end of support frame as described above 3 are installed on the base 4, the other end of support frame as described above 3 and the machine One end connection of tool arm 2, the other end of the mechanical arm 2 are connected with the manipulator 1, and the both sides of support frame as described above 3 are provided with The mechanical arm 2 and the manipulator 1, the energising power 5 are arranged at the both ends of support frame as described above 3 and are used for the manipulator 1 Energized with the mechanical arm 2, the mechanical arm 2 includes large arm 21, forearm 22 and shoulder 23, and the large arm 21 passes through first rotating shaft 24 are rotationally connected with the shoulder 23, and the forearm 22 is rotationally connected by the second rotating shaft 25 with the large arm 21, described Large arm 21 includes the first upper-large-arm 211, the second upper-large-arm 212 and lower large arm 213, first upper-large-arm 211 and described second The clamping of upper-large-arm 212 forms upper-large-arm 214, and the upper-large-arm 214 is rotatably connected with the lower large arm 213, the forearm 22 Including forearm 222 and lower forearm 223 on forearm 221, second on first, forearm on forearm 221 and described second on described first The upper forearm 224 of 222 clampings composition, the upper forearm 224 and the lower forearm 223 are rotatably connected, the lower bottom of forearm 223 The connection projection 226 and link slot 227 for connecting palm 11 are provided with, is respectively mounted inside the inside of large arm 21 and forearm 22 There is motor 6；Lower large arm 213 of the present utility model can rotate 350 degree relative to upper-large-arm 214, and lower forearm 223 is relative to upper The 350 degree rotatable of forearm 224, and large arm 21 can rotate 180 degree relative to shoulder 23, forearm 22 can rotate relative to large arm 21 350 degree, compared to traditional Bevel Gear Transmission, robot arm structure is simple, reasonable in design, lighter weight, production cost It is low, and the robot arm free degree is high, can complete highly difficult action.

The motor 6 be provided with it is multiple, be respectively used to drive large arm 21 moved relative to shoulder 23, forearm 22 it is relative In large arm 21 is moved, lower large arm 213 rotates relative to upper-large-arm 214, manipulator 1 moves relative to forearm 22 and lower forearm 223 Rotated relative to upper forearm 224, height of the free degree of the present utility model compared to existing robot.

The manipulator 1 includes palm 11 and five fingers 12, and the palm 11 is imitation five finger 12 of human body and closes The palm 11 of distribution is saved, the finger 12, which includes saving in finger metacarpal bone 121, finger first, saves bone 123 in bone 122, finger second Bone 124 is far saved with finger, is saved in the finger metacarpal bone 121, the finger first and the and of bone 123 is saved in bone 122, the finger second The finger far saves bone 124 and is sequentially connected, and the finger metacarpal bone 121 and the palm 11 connect, manipulator 1 of the present utility model To imitate five fingers 12 of human body and joint distribution, man-to-man driving is carried out to finger 12, effectively improves the spirit of manipulator 1 Activity.

The finger 12 is internally provided with nylon wire 8 and shell fragment 9, and the motor 6 is connected with the nylon wire 8, drives Dynamic motor 6 realizes the driving in each 12 each joint of finger by exporting different pulling force, and shell fragment 9 can make finger 12 in driving electricity Machine 6 recovers rapidly reset condition when discharging pulling force, among the crawl of next round.

Window 225 is provided with the forearm 22, convenient observation is with safeguarding the motor 6 inside forearm 22.

Multiple power level sensors 10 are provided with the manipulator 1 and the mechanical arm 2, the power level sensor 10 is distinguished Be installed on large arm 21, forearm 22 and finger 12, monitor respectively large arm 21, the movement locus of forearm 22 and finger 12 and motion away from From.

The base 4 is installed on the top of guide rail 7, and robot can move on the top of guide rail 7, be moved easily object.

It is described above, only it is the utility model preferred embodiment, not the utility model is made any formal Limitation, although the utility model is disclosed as above with preferred embodiment, but is not limited to the utility model, any to be familiar with sheet Technical professional, do not departing from the range of technical solutions of the utility model, made when using the technology contents of the disclosure above A little change or the equivalent embodiment for being modified to equivalent variations, as long as being without departing from the content of the technical scheme of the utility model, foundation The utility model technology refers to any simple modification, equivalent change and modification made to above example, belongs to this practicality In the range of new technique scheme.

Claims

A kind of 1. robot, it is characterised in that：Including manipulator（1）, mechanical arm（2）, support frame（3）, base（4）With energy supply electricity Source（5）, support frame as described above（3）One end be installed on the base（4）On, support frame as described above（3）The other end and the machinery Arm（2）One end connection, the mechanical arm（2）The other end and the manipulator（1）Connection, support frame as described above（3）Both sides are equal It is provided with the mechanical arm（2）With the manipulator（1）, the energising power（5）It is arranged at support frame as described above（3）Both ends are used for To the manipulator（1）With the mechanical arm（2）Energy supply, the mechanical arm（2）Including large arm（21）, forearm（22）And shoulder （23）, the large arm（21）Pass through first rotating shaft（24）With the shoulder（23）Rotationally connect, the forearm（22）Pass through Two rotating shafts（25）With the large arm（21）Rotationally connect, the large arm（21）Including the first upper-large-arm（211）, the second upper-large-arm （212）With lower large arm（213）, first upper-large-arm（211）With second upper-large-arm（212）Clamping forms upper-large-arm （214）, the upper-large-arm（214）With the lower large arm（213）It is rotatably connected, the forearm（22）Including forearm on first （221）, forearm on second（222）With lower forearm（223）, forearm on described first（221）With forearm on described second（222）Card Connect the upper forearm of composition（224）, the upper forearm（224）With the lower forearm（223）It is rotatably connected, the lower forearm（223） Bottom is provided with for connecting palm（11）Connection projection（226）And link slot（227）, the large arm（21）Internal and forearm （22）Inside is mounted on motor（6）.
A kind of 2. robot according to claim 1, it is characterised in that：The manipulator（1）Including palm（11）With five Root finger（12）.
A kind of 3. robot according to claim 2, it is characterised in that：The finger（12）Including finger metacarpal bone（121）、 Bone is saved in finger first（122）, save bone in finger second（123）Bone is far saved with finger（124）, the finger metacarpal bone（121）, institute State in finger first and save bone（122）, save bone in the finger second（123）Bone is far saved with the finger（124）It is sequentially connected, institute State finger metacarpal bone（121）With the palm（11）Connection.
A kind of 4. robot according to claim 3, it is characterised in that：The finger（12）It is internally provided with nylon wire （8）And shell fragment（9）.
A kind of 5. robot according to claim 1, it is characterised in that：The motor（6）It is provided with multiple.
A kind of 6. robot according to claim 1, it is characterised in that：The forearm（22）On be provided with window（225）.
A kind of 7. robot according to claim 1, it is characterised in that：The manipulator（1）With the mechanical arm（2）On It is provided with multiple power level sensors（10）.
A kind of 8. robot according to claim 1, it is characterised in that：The base（4）It is installed on guide rail（7）Top.