CN207172072U - A kind of robot arm - Google Patents
A kind of robot arm Download PDFInfo
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- CN207172072U CN207172072U CN201721216849.8U CN201721216849U CN207172072U CN 207172072 U CN207172072 U CN 207172072U CN 201721216849 U CN201721216849 U CN 201721216849U CN 207172072 U CN207172072 U CN 207172072U
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- postbrachium
- steering wheel
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Abstract
A kind of robot arm, it is arranged on robot body, robot body includes front/rear face and left/right two sides, the arm includes the first joint, shoulder, second joint, postbrachium, the 3rd joint, forearm, the 4th joint and the hand being sequentially connected, the forearm and postbrachium form arm axis, the shoulder is rotated based on the first joint relative to robot body, and rotational plane is parallel to robot body side；The postbrachium is swung based on second joint relative to shoulder, and swaying direction is included towards robot body and away from robot body's both direction；The forearm is rotated based on the 3rd joint relative to postbrachium, and rotation direction is to be rotated around the arm axis；The hand is based on the 4th joint relative to preceding arm swing, swinging axle vertical arm axis.The setting that the utility model passes through four joints so that robot can realize the attack of multiple directions, multiple angles during fistfight, and can be directed to closely fistfight and make a response rapidly, increase Consumer's Experience.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of robot arm.
Background technology
Robot（Robot）It is the automatic installations for performing work.It can both receive mankind commander, can run again
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.It is fast with robot industry
Exhibition is hailed, the robot for many substitution human works occur, such as in production industry, construction industry, or the row such as dangerous work
Industry.The enterprise that China is related to robot production at present still, is looked forward to more than 800 wherein family more than 200 is robot body manufacture
Industry, it is most of to assemble and for based on processing, in industrial chain low side, industrial concentration is low, total size is small.Various regions also occur
More than 40 to develop the industrial zone based on robot.
Small scale robot, humanoid robot of particularly grappling, it is robot type very popular at present, also there is a variety of be directed to
The match of different type Grapple Robots, the interest of research staff is excited, also open a new market.With science and technology
Development, increasing enterprise-like corporation enter Grapple Robots field, and all kinds of Grapple Robots product functions are weeded out the old and bring forth the new, very
It is abundant.And with the development of artificial intelligence technology and internet, more work(based on voice interface, recognition of face, App interconnections etc.
Energy robot progresses into everybody sight.
Because arm plays very important effect during robot fistfight, the flexibility of hand joint can be to machine
The victory or defeat of people's fistfight serves conclusive, and the design of arm can increase the elements such as armament equipment, laser equipment, enrich
The enjoyment of robot fistfight, also make robot fistfight type variation, therefore the design and flexibility ratio of robot arm are very heavy
Will.But existing robot toy can be only done simple motion on the market, various game function can not be realized.It is and existing
The defects such as some toy robot frees degree are few, coordination is poor, kinematic accuracy is low, it is unable to reach anthropomorphic state action, it is difficult to
Meet the current market demand.For robot arm, small scale robot is in the design aspect of arm at present, and arm activity is not enough
Flexibly, bent inconvenience is stretched in joint so that robot can not bring more preferable Consumer's Experience during fistfight.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of robot arm.
To achieve the above object, the present invention provides a kind of robot arm, is arranged on robot body, robot body
Including front/rear face and left/right two sides, the first joint that the arm includes being sequentially connected, shoulder, second joint, postbrachium, the
Three joints, forearm, the 4th joint and hand, the shoulder are connected by the first joint with robot body, and the postbrachium leads to
Cross second joint to be connected with shoulder, the forearm is connected by the 3rd joint with postbrachium, and the hand is by the 4th joint with before
Arm connects, and the forearm and postbrachium form arm axis,
The shoulder is rotated based on the first joint relative to robot body, and rotational plane is parallel to robot body side
Face；
The postbrachium is swung based on second joint relative to shoulder, and swaying direction is included towards robot body and away from machine
Device human agent's both direction；
The forearm is rotated based on the 3rd joint relative to postbrachium, and rotation direction is to be rotated around the arm axis；
The hand is based on the 4th joint relative to preceding arm swing, swinging axle vertical arm axis.
The robot body is the general name at other outer positions of robot arm, and the robot body can be according to different
Need to be designed, for humanoid robot of grappling, the camera of similar human eye can be set in robot head, pass through shooting
The image that head is passed on, the attack process of other side is observed, so as to analyze the coping style of itself, increase fistfight is interesting.The present invention
Robot arm is similar to human arm, including four parts, shoulder, postbrachium, forearm and hand, and each part passes through joint
Connection.Robot body includes front-back and two sides, similar to the two sides of the chest of human body, back and body, wherein
Arm is arranged on side, and in order to be better understood from the rotation direction of arm, it is a plane to define robot front-back, two sides
For another plane, two planes are mutually perpendicular to, and the forearm of robot arm and postbrachium connect into an axle in addition, form arm
Axially.
The one end in first joint is fixed with shoulder, and the other end is rotatablely connected with robot body so that shoulder can
Rotated based on the first joint relative to robot body, rotational plane is parallel to robot body side；And shoulder being capable of band
Postbrachium, forearm and the hand of dynamic shoulder lower end move together, similar human arm, realize the front and rear pendulum of the whole arm of robot
Dynamic, it is circular shaped motion scope of the center of circle arm length as radius to be formed using the first joint.
The second joint both ends are connected at the front-back symmetric position of shoulder so that postbrachium can be based on second joint
Swung relative to shoulder, before swaying direction is included towards robot body and away from robot body, while postbrachium can drive
Arm and hand move together, are formed using second joint as the center of circle, using postbrachium, forearm and hand length as a quarter of diameter
Circular shaped motion scope.
Described 3rd joint one end connects postbrachium, one end connection forearm so that the forearm be based on the 3rd joint relative to
Postbrachium rotates, and rotation direction is to be rotated around the arm axis, and hand can be driven to move together.Formed using the 3rd joint as
Center, circular shaped motion scope of the weapon as radius is held using hand.
The 4th joint both ends are arranged on the symmetrical position of forearm so that the hand can be put along before and after forearm
It is dynamic.Pass through the setting in four joints so that robot arm can the motion of multi-direction, multi-joint point, add robot arm
Flexibility ratio so that robot can realize the attack of multiple directions, multiple angles during fistfight.
The setting in four joints can realize the scope of activities of robot arm different directions, scope of activities is reached maximum
Change, and each joint cooperates, arm can the multi-faceted stretching, extension of multi-angle, add the flexibility ratio of arm.
Further, first joint include the first steering wheel in the robot body, located at robot body with
The first axle of shoulder junction and the clutch shaft bearing for supporting first axle, described first axle one end and the fixed connection of shoulder, separately
One end is connected with the first steering wheel rotating shaft, and the robot body engages provided with the first neck with clutch shaft bearing；
The second joint includes the second steering wheel inside postbrachium, second located at postbrachium and shoulder side junction
First steering wheel of axle, the second bearing for supporting the second axle and postbrachium and shoulder opposite side junction, described second axle one end with
Postbrachium is fixed, and the other end is rotatablely connected by second bearing and shoulder, and the first steering wheel side is fixed with shoulder, opposite side and
Second steering wheel rotating shaft connects；
3rd joint includes the 3rd steering wheel located at forearm inner upper end, the located at postbrachium and forearm junction the 3rd
Axle and the 3rd bearing for supporting the 3rd axle, described 3rd axle one end and the fixed connection of postbrachium, the other end and the 3rd steering wheel turn
Axis connection, the forearm engage provided with the second neck with 3rd bearing；
4th joint includes the 4th steering wheel located at forearm interior lower end, located at forearm and hand side junction
4th axle, the fourth bearing for supporting the 4th axle and forearm and the second steering wheel of hand opposite side junction, the 4th axle one
End is fixed with forearm, and the other end is rotatablely connected by fourth bearing and hand, and the second steering wheel side is fixed with hand, another
Side is connected with the 4th steering wheel rotating shaft.
Steering wheel is a kind of position（Angle）The driver of servo, angle is needed constantly to change and can keep suitable for those
Control system.It is more and more extensive with the continuous development of science and technology, the application of steering wheel.Not only in model airplane, in machine
Also it can be seen that its application in device people's model.Heretofore described four joints, each joint are provided with a miniature steering wheel,
Pass through the diarthrodial motion of steering wheel band.
First steering wheel is arranged on inside robot body close to the side position of robot body bilateral two, convenient and arm
Connection.Described first axle one end is welded and fixed with shoulder or is connected for integral type, and the other end is connected with the first steering wheel rotating shaft so that
When first steering wheel works, the first axle can drive and roll over.Due to the rotation of the first steering wheel, the fortune of whole arm can be driven
It is dynamic, therefore, in order that the operation of the first steering wheel is more stable, it is disposed inside robot body.The clutch shaft bearing is gold
Belong to ring, first axle is supported by clutch shaft bearing, prevents rocking in steering wheel motion.Robot body's shell is generally plastics
The component of material, shell synthesize an entirety by front and rear casing, body interior component are surrounded, played a protective role.Shell
Provided with the first neck, clutch shaft bearing is engaged by front and rear engaging.When the first steering wheel drives first axle to rotate, clutch shaft bearing
It is fixed.Because robot body is plastic material at the first neck, therefore the setting of clutch shaft bearing is to prevent
One axle rocks in rotation process caused by wheelbase is longer, and may be to robot body's slot in rotation process
Put and cause to wear, influence robot service life.Moving forward and backward for whole arm can be achieved in the design in the first joint, makes robot
Firing area covered the scope of tensible before and after arm length.
Because shoulder inner space is limited, and arm is moved up and down for convenience, and the second steering wheel of the second joint is set
Put inside postbrachium, the postbrachium both sides are connected by the second axle and the first steering wheel with shoulder, form T-shaped structure, by postbrachium
It is suspended on shoulder.Further, the postbrachium is made up of the component of left and right two panels plastic material, and steering wheel is wrapped in into inside,
Neck is installed provided with corresponding with the second axle in the postbrachium top.Likewise, in order to prevent the second axle abrasion postbrachium installation neck,
The present invention is provided with second bearing on the second axle, and second axle is rotatablely connected with shoulder.Axle due to connecting steering wheel rises main
Supporting role, therefore the axle needs the installation position of enough diameters and sufficient space, due to installing the limitation of bit space, this hair
It is bright that axle is changed to steering wheel replacement, save space.First steering wheel is designed to reduction installation volume, and can strengthen moment of torsion.
When the second steering wheel works, because the first steering wheel is fixed on, shoulder is immovable, and now the second steering wheel can drive postbrachium to move, from
And the second axle is and then rotated, final postbrachium drives forearm and hand opposite shoulder to be moved up and down.The design of second joint
The up and down motion of arm can be realized, with reference to the first joint, can realize that robot arm can cover after all around stretching
Maximum magnitude.
3rd articulation structure is similar to the first articulation structure, due to robot arm postbrachium inner space in the present invention
It is only sufficient to set a steering wheel, therefore the 3rd steering wheel is arranged on the upper end inside the forearm, the described 3rd is located in postbrachium
With forearm junction, described 3rd axle one end is welded and fixed with postbrachium, and the other end connects in the 3rd steering wheel rotating shaft so that the 3rd rudder
When machine works, the 3rd axle can drive forearm rotation.The 3rd bearing is becket, is arranged on the 3rd axle, after described
Arm is equally made up of front and rear two blocks of components that can be mutually combined, and the component is fixed by bolt arrangement.The present invention passes through
The second neck that front and rear two module components are formed fixes the 3rd bearing.When 3rd steering wheel works, the 3rd axle can be driven
Rotate, and 3rd bearing is due to being fixed on the second neck, therefore will not rotate, play a part of supporting the 3rd axle, prevent from rocking.
The setting of the 3rd bearing is to prevent the 3rd axle from being rocked in rotation process caused by wheelbase is longer, and is being turned
Robot body's groove position may be caused to wear during dynamic, influence robot service life.The design master in the 3rd joint
It is auxiliary by the 3rd joint particular for fistfight closely if being set by piecewise joint to increase the flexibility ratio of arm
Motion is helped, can be made a response rapidly.
Because robot hand can design the weapons such as peashooter, knife, sword, thus hand leave it is idle limited, and by
It is sufficient in the forearm inner space, therefore the steering wheel in the 4th joint is arranged on the forearm interior lower end.The steering wheel leads to
The front and rear component for crossing forearm is fastened on inside forearm, wherein the one side of the steering wheel be emerging in outside forearm and with the face fore-arm
In same plane, space-consuming is reduced.4th articulation structure is similar to second joint, and described 4th axle one end is welded with forearm
Fixed, the other end is rotatablely connected with hand so that hand can rotate around the 4th axle.Described second steering wheel one end connects with steering wheel rotating shaft
Connect, can be rotated around steering wheel, the other end is fixed on hand and the 4th axisymmetric position.When 4th steering wheel works, pass through drive
Second steering wheel rotates, so that hand can be axially moved perpendicular to arm axis.The setting in the 4th joint is primarily directed to hand
Portion be provided with weapon in the case of, by the booster action in the 4th joint, can quickly make attack, make action more flexibly from
Such as, the interest of fistfight is increased.
Further, one end that the first axle is connected with the first steering wheel is stepped；3rd axle is connected with the 3rd steering wheel
One end it is stepped.
Axle plays connection, supports a series of effects such as passing power by connecting two parts, at work, due to by
To flexure stress and shock loading, therefore the part should have enough rigidity, intensity and toughness.To adapt to the change of its working environment
Change.Because different link positions needs the diametric requirements to axle different, in the present invention, first axle one end and shoulder welding are solid
It is fixed, due to the first axle larger moment of torsion that needs are born when rotating, therefore it is required that axle has sufficiently large diameter, therefore designing
When, the diameter design of first axle and shoulder fixing end is sufficiently large, and the two is welded together.On the other hand, due to first axle
The other end is connected with the steering wheel inside robot body, and axis connection steering wheel rotary shaft, and due to the present invention, design is miniature rudder
Machine, therefore first axle is large enough to hold without enough spaces, therefore be designed as stepped.Equally, the 3rd axle is also configured as step
Shape, it can adapt to the demand that axle both ends connect different parts.So in the present invention, in first axle and the 3rd axle close to steering wheel one
End sets axle into a ladder, wherein in most thin central shaft insertion steering wheel, by the diameter for incrementally increasing first axle and the 3rd axle
To increase the moment of torsion that it can bear, the reliability and compactness of connection are added, also can at utmost prevent the skidding of axle, is increased
Add the stability of operation, extend service life.
Further, first steering wheel and the second steering wheel are step-like disk, and the step-like disk is at least by fixing
Formula bilayer disk and the cylinder axis composition for being fixed on double-deck disc centre.
Because the shoulder and postbrachium junction and forearm and hand junction locus of the robot arm are limited,
Stepped axle is set as the 3rd joint without the joint of the image of Buddha first, therefore the first rudder is set in second joint and the 4th joint
Disk and the second steering wheel, by increasing capacitance it is possible to increase driving torque in arm motion, while also can farthest save volume, can be
Steering wheel and arm are fixed in limited space, and further enhance Grapple Robots flexibility ratio.Further, due to
One steering wheel one end is fixed with shoulder, the other end and the movable fixation of the second steering wheel, due to fixing with shoulder and consolidating with the second steering wheel
Fixed requirement is different, therefore the steering wheel is made up of fixed double-deck disk with the cylinder axis for being fixed on double-deck disc centre.By
Inserted in cylinder axis in steering wheel, therefore cylinder shaft diameter is smaller, and the work of steering wheel mainly causes the motion of cylinder axis, therefore
The moment of torsion that cylinder axis is born is maximum, therefore, in order to prevent that sufficiently large moment of torsion can be born in the course of work of cylinder axis,
Realized during design by being stepped up cylinder shaft diameter, therefore devise double-deck disk, the double-deck disk diameter gradually increases
Greatly, the cylinder axis is fixed on disc centre.Being designed to of the steering wheel bilayer ring preferably drives arm motion, adds
The flexibility ratio of arm.
Further, the first limit space that size is more than clutch shaft bearing is provided between the first axle and shoulder, it is described
Clutch shaft bearing is arranged in the first limit space and fixed by the first neck；It is more than between 3rd axle and postbrachium provided with size
Second limit space of 3rd bearing, the 3rd bearing are arranged in the second limit space and fixed by the second neck.
The clutch shaft bearing and 3rd bearing are circular metal ring, and cyclization in first axle and the 3rd axle, is played respectively
Support the effect of first axle and the 3rd axle.Because first axle, the 3rd axle, clutch shaft bearing and 3rd bearing are all metal material,
,, may due to the difference of material when the neck of plastic material engages bearing in processing and robot shells are plastic material
Occur that deviation occurs in engaging, make the product quality of processing unqualified, therefore size is provided between the first axle and shoulder
More than the first limit space of clutch shaft bearing thickness, the clutch shaft bearing is arranged in the first limit space to be consolidated by the first neck
It is fixed；The second limit space that size is more than 3rd bearing thickness, the 3rd bearing peace are provided between 3rd axle and postbrachium
Fixed in the second limit space by the second neck.The setting of limit space can make more to facilitate during installation, and can
Prevent from the structure of unlike material from combining to occur engaging situation not in place, ensure that crudy.
Further, the postbrachium and forearm are respectively equipped with control line installation position, and the control line installation position is provided with control
Line entrance, the postbrachium control line entrance are located at postbrachium control line installation position lower end, and the forearm control line entrance is located at forearm
Control line installation position upper end.
Due to present invention is generally directed to Grapple Robots, therefore the self-service motion of robot is extremely important.By in machine
Control circuit mainboard is set inside human agent, has control circuit mainboard to separate a plurality of each steering wheel of control pair robot and is controlled
System.Further, the control circuit mainboard is arranged on robot body back, and circuit can be set in robot body's back side
Outlet, the control line are divided into two-way towards postbrachium and forearm from robot body back line outlet, along back
Control line installation position.Because arm steering wheel is in addition to the first steering wheel is arranged on inside robot body, the second steering wheel, the 3rd steering wheel
All it is distributed in inside postbrachium and forearm with the 4th steering wheel, therefore the first steering wheel can complete control by robot body's internal wiring
Control of the circuit board processed to the first steering wheel, then by being divided into the control line installation position of two-way, by control line from robot back portion
Postbrachium installation position and forearm installation position are not extended into, and connects its internal steering wheel, and the control line is divided into three strands, first strand
It is passed through postbrachium installation position and controls the second steering wheel, two strands enters from forearm installation position in addition, connect the 3rd steering wheel and the 4th steering wheel respectively.
Further, in order that the distribution of line is even closer, the postbrachium control line entrance is located at control line installation position lower end, before described
Arm control line entrance is located at control line installation position upper end so that closest, the intersection of the control line avoided of control line share split
And abrasion, and the length of control line has been shortened to the full extent, make whole device outward appearance more succinct, avoid circuit winding,
Also arm motion is made to get up more convenient.
Further, the control line installation position is respectively arranged on the back side of postbrachium and forearm, and the installation position is additionally provided with guarantor
Protective case.
In order to attractive in appearance and facilitate the setting of robot grappling device, by the control circuit mainboard located at robot body's
Back.For the length for the control line that practices every conceivable frugality, and the flexible motion of arm is can guarantee that, the control line installation position is respectively arranged on
The back side of postbrachium and forearm, facilitate the control line on control circuit mainboard can beeline be linked into forearm and postbrachium.Enter one
Step, it is thinner after being divided into several strands due to control line, cause to wear to protect control line not to be twisted or expose for a long time,
Therefore protecting box being set in installation position, the containment vessel protects the control line of share split, in order to more attractive in appearance, the containment vessel
It is designed to that special shape fastens with forearm and postbrachium, control line, the enough aesthetic appeals of and can either be protected.Further, it is described
Some weapon interfaces can be set on containment vessel, the weapon more fistfight property for taking robot hand.
Further, the shoulder is provided with U-shaped framework structure with postbrachium junction and forearm with hand junction.Enter one
Step, described U-shaped framework structure one end is supported by steering wheel, and the other end is supported by axle.
Described second axle one end is fixed with postbrachium, and the other end is rotatablely connected by second bearing and shoulder, first rudder
Disk one end is fixed with shoulder, and the other end and the second steering wheel are rotatablely connected；Shoulder has obstruction to make during in order to prevent that postbrachium from moving upwards
With, therefore the shoulder is arranged to inside dimpling by the present invention, forms inverted U-shaped structure, makes second joint overall more stable.Class
As, described 4th axle one end is fixed with forearm, and the other end is rotatablely connected by fourth bearing and hand, second steering wheel one
End is fixed with hand, and the other end and the 4th steering wheel are rotatablely connected.For the purposes of prevent hand around forearm move when hindered by forearm,
Therefore hand is designed to forearm connecting elements U-shaped so that hand can farthest be rotated and will not occurred with forearm
Friction, while U-shaped it is designed to make structure more stable.
Further, it is provided with peep hole between the bearing installation position and steering wheel installation position.Due to each part of robot
Installation is mainly fastened by bolts by two module components to be fastened, and is designed to make installation personnel installing by peep hole
During be able to observe that whether bearing is just fastened in neck, facilitate installation, prevent from engaging it is not in place caused by failure.
Beneficial effects of the present invention：Pass through the setting in four joints so that robot arm being capable of multi-direction, multi-joint point
Motion, add the flexibility ratio of robot arm so that robot can realize multiple directions, multiple angles during fistfight
Attack, and can be directed to closely fistfight make a response rapidly, add Consumer's Experience.
Brief description of the drawings
Fig. 1 is robot body's front view of the present invention.
Fig. 2 is floor map residing for robot body of the present invention.
Fig. 3 is robot arm front view of the present invention.
Fig. 4 is robot arm stereogram of the present invention.
Fig. 5 is robot arm top view of the present invention.
Fig. 6 is robot arm explosive view of the present invention.
Specific embodiment
As shown in figure 1, a kind of robot arm, is arranged on robot body 1, robot body 1 include above 11, after
Face 12, left surface 13 and right flank 14, as shown in Fig. 2 be floor map residing for robot body, including front and rear parallel surface
15 and left and right side parallel surface 16.As shown in Fig. 3 ~ 4, the arm includes the first joint 2, the pass of shoulder 3, second being sequentially connected
Section 4, postbrachium 5, the 3rd joint 6, forearm 7, the 4th joint 8 and hand 9, the shoulder 3 pass through the first joint 2 and robot master
Body 1 is connected, and the postbrachium 5 is connected by second joint 4 with shoulder 3, and the forearm 7 is connected by the 3rd joint 6 with postbrachium 5,
The hand 9 is connected by the 4th joint 8 with forearm 7, and the forearm 7 and postbrachium 5 form arm axis.The shoulder 3 is based on
First joint 2 rotates relative to robot body 1, and rotational plane is parallel to robot or so parallel surface 16；The postbrachium 5 is based on
Second joint 4 is swung relative to shoulder 3, and swaying direction is included towards robot body and away from robot body；The forearm 7
Rotated based on the 3rd joint 6 relative to postbrachium 5, rotation direction is to be rotated around the arm axis；The hand is based on the 4th and closed
Section 8 is swung relative to forearm 7, swinging axle vertical arm axis.
Further, as shown in figure 5, first joint 2 includes the first steering wheel 21 in the robot body 1, set
In the first axle 22 of robot body 1 Yu the junction of shoulder 3 and the clutch shaft bearing 23 of support first axle, the first axle 22 1
End and 3 fixed connection of shoulder, the other end are connected with the rotating shaft of the first steering wheel 21, and the robot body 1 is provided with the first neck 17
Engage with clutch shaft bearing 23；
As shown in fig. 6, the second joint 4 includes the second steering wheel 41 inside the postbrachium 5, located at postbrachium 5 and shoulder 3
The of second axle 42 of side junction, the second bearing 43 for supporting the second axle 42 and postbrachium 5 and the opposite side junction of shoulder 3
One steering wheel 44, described one end of second axle 42 are fixed with postbrachium 5, and the other end is rotatablely connected by second bearing 43 and shoulder 3, described
The side of first steering wheel 44 is fixed with shoulder 3, and opposite side is connected with the rotating shaft of the second steering wheel 41；The shoulder 3 include shoulder decoration 31,
Shoulder frame 32, shoulder side plate 33, the postbrachium includes postbrachium decorative frame 51, postbrachium decoration 52, postbrachium shell 53 and postbrachium lid 54, described
Second steering wheel 41 is installed on postbrachium shell 53 and postbrachium lid 54 is fastened in the cavity formed.
3rd joint 6 includes the 3rd steering wheel 61 located at the inner upper end of forearm 7, located at postbrachium 5 and the junction of forearm 7
The 3rd axle 62 and support the 3rd bearing 63 of the 3rd axle 62, described one end of 3rd axle 62 and 5 fixed connection of postbrachium are another
End is connected with the rotating shaft of the 3rd steering wheel 61, and the forearm 7 engages provided with the second neck 71 with 3rd bearing 63；The forearm 7 includes
Forearm decoration 72, forearm shell 73 and forearm lid 74, forearm shell 73 and forearm lid 74 upper end mutually fasten to form the second card
Groove 71, and cavity is internally formed, the 3rd steering wheel 61 and the 4th steering wheel 81 are installed.
4th joint 8 includes the 4th steering wheel 81 located at the interior lower end of forearm 7, connected located at forearm 7 and the side of hand 9
Connect the 4th axle 82, the fourth bearing 83 for supporting the 4th axle 82 and the forearm 7 and the second steering wheel of the opposite side junction of hand 9 at place
84, described one end of 4th axle 82 is fixed with forearm 7, and the other end is rotatablely connected by fourth bearing 83 and hand 9, second rudder
The side of disk 84 is fixed with hand 9, and opposite side is connected with the rotating shaft of the 4th steering wheel 81.
Further, one end that the first axle 22 is connected with the first steering wheel 21 is stepped；3rd axle 62 and the 3rd rudder
One end that machine 61 connects is stepped.
Further, the steering wheel 84 of the first steering wheel 44 and second is step-like disk, and the step-like disk is by fixing
Formula bilayer disk and the cylinder axis composition for being fixed on double-deck disc centre.
Further, the first limit space that size is more than clutch shaft bearing 23 is provided between the first axle 22 and shoulder 3,
The clutch shaft bearing 23 is arranged in the first limit space and fixed by the first neck 17；
Between 3rd axle 62 and postbrachium 5 be provided with size be more than 3rd bearing 63 the second limit space, the described 3rd
Bearing 63 is arranged in the second limit space and fixed by the second neck 71.
The postbrachium 5 and forearm 7 are respectively equipped with control line installation position, respectively postbrachium decoration 51 and forearm decoration 72
The cavity in besieged city.The control line installation position is provided with control line entrance, and the postbrachium control line entrance is pacified located at postbrachium control line
Position lower end is filled, the forearm control line entrance is located at forearm control line installation position upper end.
Further, the control line installation position is respectively arranged on the back side of postbrachium and forearm, and the installation position is additionally provided with guarantor
Protective case, the decoration are containment vessel.
Further, the shoulder is provided with U-shaped framework structure with postbrachium junction and forearm with hand junction.
Further, the U-shaped framework structure side is supported by steering wheel, and opposite side is supported by axle.
Further, the main body is provided with the first peep hole between clutch shaft bearing and the first steering wheel, and the forearm is
The second peep hole is provided between three bearings and the 3rd steering wheel.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of robot arm, is arranged on robot body, robot body includes front/rear face and left/right two sides, institute
State the first joint, shoulder, second joint, postbrachium, the 3rd joint, forearm, the 4th joint and hand that arm includes being sequentially connected
Portion, the shoulder are connected by the first joint with robot body, and the postbrachium is connected by second joint with shoulder, before described
Arm is connected by the 3rd joint with postbrachium, and the hand is connected by the 4th joint with forearm, and the forearm and postbrachium form hand
Arm axle line, it is characterised in that the shoulder is rotated based on the first joint relative to robot body, and rotational plane is parallel to machine
Human agent side；
The postbrachium is swung based on second joint relative to shoulder, and swaying direction is included towards robot body and away from robot
Main body both direction；
The forearm is rotated based on the 3rd joint relative to postbrachium, and rotation direction is to be rotated around the arm axis；
The hand is based on the 4th joint relative to preceding arm swing, swinging axle vertical arm axis.
2. robot arm according to claim 1, it is characterised in that
First joint includes the first steering wheel in the robot body, the located at robot body and shoulder junction
One axle and the clutch shaft bearing for supporting first axle, described first axle one end and the fixed connection of shoulder, the other end and the first steering wheel
Rotating shaft connects, and the robot body engages provided with the first neck with clutch shaft bearing；
The second joint include the second steering wheel inside the postbrachium, the second axle located at postbrachium Yu shoulder side junction,
Support the second bearing and postbrachium and the first steering wheel of shoulder opposite side junction, described second axle one end and postbrachium of the second axle
Fixed, the other end is rotatablely connected by second bearing and shoulder, and the first steering wheel side is fixed with shoulder, opposite side and second
Steering wheel rotating shaft connects；
3rd joint include located at forearm inner upper end the 3rd steering wheel, located at postbrachium and forearm junction the 3rd axle with
And the 3rd bearing of the 3rd axle of support, described 3rd axle one end and the fixed connection of postbrachium, the other end and the 3rd steering wheel rotating shaft connect
Connect, the forearm engages provided with the second neck with 3rd bearing；
4th joint includes the 4th steering wheel located at forearm interior lower end, the located at forearm and hand side junction the 4th
Second steering wheel of axle, the fourth bearing for supporting the 4th axle and forearm and hand opposite side junction, described 4th axle one end with
Forearm is fixed, and the other end is rotatablely connected by fourth bearing and hand, and the second steering wheel side is fixed with hand, opposite side and
4th steering wheel rotating shaft connects.
3. robot arm according to claim 2, it is characterised in that one end that the first axle is connected with the first steering wheel is in
It is stepped；One end that 3rd axle is connected with the 3rd steering wheel is stepped.
4. robot arm according to claim 2, it is characterised in that first steering wheel and the second steering wheel are step-like circle
Disk, the step-like disk are at least made up of fixed double-deck disk with the cylinder axis for being fixed on double-deck disc centre.
5. robot arm according to claim 2, it is characterised in that be more than between the first axle and shoulder provided with size
First limit space of clutch shaft bearing, the clutch shaft bearing are arranged in the first limit space and fixed by the first neck；
The second limit space that size is more than 3rd bearing is provided between 3rd axle and postbrachium, the 3rd bearing is arranged on
Fixed in second limit space by the second neck.
6. robot arm according to claim 1, it is characterised in that the postbrachium and forearm are respectively equipped with control line installation
Position, the control line installation position are provided with control line entrance, and the postbrachium control line entrance is located at postbrachium control line installation position lower end,
The forearm control line entrance is located at forearm control line installation position upper end.
7. robot arm according to claim 6, it is characterised in that the control line installation position is respectively arranged on postbrachium with before
The back side of arm, the installation position are additionally provided with containment vessel.
8. robot arm according to claim 2, it is characterised in that the shoulder and postbrachium junction and forearm and hand
Portion junction is provided with U-shaped framework structure.
9. robot arm according to claim 8, it is characterised in that the U-shaped framework structure side is supported by steering wheel,
Opposite side is supported by axle.
10. robot arm according to claim 2, it is characterised in that the main body clutch shaft bearing and the first steering wheel it
Between be provided with the first peep hole, the forearm is provided with the second peep hole between 3rd bearing and the 3rd steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721216849.8U CN207172072U (en) | 2017-09-21 | 2017-09-21 | A kind of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721216849.8U CN207172072U (en) | 2017-09-21 | 2017-09-21 | A kind of robot arm |
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| Publication Number | Publication Date |
|---|---|
| CN207172072U true CN207172072U (en) | 2018-04-03 |
Family
ID=61748042
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721216849.8U Active CN207172072U (en) | 2017-09-21 | 2017-09-21 | A kind of robot arm |
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| Country | Link |
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| CN (1) | CN207172072U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107650118A (en) * | 2017-09-21 | 2018-02-02 | 广州市华科尔科技股份有限公司 | A kind of robot arm |
| CN109091882A (en) * | 2018-09-08 | 2018-12-28 | 辽宁力德航空科技有限公司 | A kind of vertical transfer weapon Grapple Robots |
| CN110370311A (en) * | 2018-04-13 | 2019-10-25 | 江门市印星机器人有限公司 | Mechanical arm arm bindiny mechanism |
| CN111590634A (en) * | 2020-05-11 | 2020-08-28 | 机器时代(北京)科技有限公司 | Support for robot |
-
2017
- 2017-09-21 CN CN201721216849.8U patent/CN207172072U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107650118A (en) * | 2017-09-21 | 2018-02-02 | 广州市华科尔科技股份有限公司 | A kind of robot arm |
| CN107650118B (en) * | 2017-09-21 | 2024-04-30 | 广州市华科尔科技股份有限公司 | Robot arm |
| CN110370311A (en) * | 2018-04-13 | 2019-10-25 | 江门市印星机器人有限公司 | Mechanical arm arm bindiny mechanism |
| CN109091882A (en) * | 2018-09-08 | 2018-12-28 | 辽宁力德航空科技有限公司 | A kind of vertical transfer weapon Grapple Robots |
| CN111590634A (en) * | 2020-05-11 | 2020-08-28 | 机器时代(北京)科技有限公司 | Support for robot |
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