CN207402782U - A kind of miniature steering engine robot arm - Google Patents

Abstract

The utility model provides a kind of miniature steering engine robot arm, by setting four joints in robot arm, and four joints set miniature steering engine, enable robot arm multi-direction, multi-joint point moves, add the flexibility ratio of robot arm, so that robot can realize multiple directions during fistfight, the attack of multiple angles, and closely fistfight can be directed to make a response rapidly, the utility model steering engine is interlocked by whole group gear, centralized arrangement, and the potentiometer shaft of the potentiometer is upward through the 3rd of change gear group the, 4th change gear, so that the utility model model steering engine is compact-sized, small volume, and then improve the sensitivity rotated and the relay degree that spreads out, task is turned to so as to more can effectively complete each joint of robot arm.

Description

A kind of miniature steering engine robot arm

Technical field

The invention belongs to robotic technology fields, and in particular to a kind of miniature steering engine robot arm.

Background technology

Small scale robot, humanoid robot of particularly grappling are robot types very popular at present, and also there are many be directed to The match of different type Grapple Robots excites the interest of research staff, also opens a new market.With science and technology Development, more and more enterprise-like corporations 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.

Control unit of the steering engine as the direction of motion, appears in model airplane field earliest.Afterwards, with science and technology It continues to develop, the application of steering engine is more and more extensive.Not only in model airplane, also it can be seen that it is answered in other models With：It is used for controlling tail vane on ship model, is used for turning in vehicle mould.It can be seen that every need to use when operating sexual act Steering engine is realized.

At present, in the industry cycle common model steering engine includes such as lower component substantially：It is small direct current motor, change gear group, anti- Present adjustable potentiometer and automatically controlled circuit board.Such element is fixedly arranged in a steering engine main body, each other and in some way into Row connection.Wherein, small direct current motor is to provide original power, and the original power is transferred to change gear group；Speed change Gear set transmits swing rod of the torsion to external model to adjust torque magnitude, and then passes through the swing rod implementation model Go to action；Adjustable potentiometer is fed back the rotating signal of model swing rod is fed back to automatically controlled circuit board；Automatically controlled circuit board one Aspect is for receiving external signal, so as to start small direct current motor movement, on the other hand for receiving feedback adjustable potentiometer Ground feedback signal, thus controls rotating and the rotation angle of small direct current motor, and then is accurately positioned entire steering engine.

However, above-mentioned traditional model steering engine is directly upper and lower by the swing rod for feeding back adjustable potentiometer and the external model It is fixedly arranged at change gear group one side so that the structure of the conventional model steering engine entirety is more open, and volume is larger, and then influences to turn Dynamic sensitivity.Robot arm plays the role of very important during robot fistfight, and the flexibility of hand joint can The victory or defeat of robot fistfight is served conclusive, and the design of arm can increase the elements such as armament equipment, laser equipment, The enjoyment of robot fistfight is enriched, also makes robot fistfight type variation, therefore the design and flexibility ratio of robot arm It is extremely important.And the movement of robot arm joint drives mainly by steering engine and completes, however existing robot toy on the market Simple movement is can be only done, can not realize various game function.And existing toy robot degree of freedom is few, action association The defects such as tonality is poor, kinematic accuracy is low are 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, arm activity underaction, and bent inconvenience is stretched in joint so that robot Better user experience can not be brought during fistfight.

Utility model content

It is an object of the invention to overcome the deficiencies of the prior art and provide the miniature rudders that a kind of small size, multi-joint rotate Machine 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 arm includes sequentially connected first joint, 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 It crosses 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 compared with robot body, and rotational plane is parallel to robot body side Face；

The postbrachium is swung based on second joint compared with 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 compared with postbrachium, and rotation direction is to be rotated around the arm axis；

The hand is based on the 4th joint compared with preceding arm swing, swinging axle vertical arm axis；

First joint, second joint, each built-in steering engine in the 3rd joint and the 4th joint, in the steering engine at least There is a kind of steering engine structure to include steering engine main body, which accommodates wiring board, and top accommodates change gear group, and middle part is received Hold motor and potentiometer, which is electrically connected at the wiring board one side, top surface connection motor drive shaft, which is electrically connected In the wiring board opposite side, top surface connection potentiometer shaft；

The steering engine lower body part one side accommodates cable linkage interface element, and the change gear group includes corresponding motor institute The three, the 4th change gears and be arranged in the both sides that motor gear, corresponding potentiometer side in one side arrangement are arranged Between first, second change gear, first, second, third and fourth change gear includes canine tooth and is consolidated in the big crest top land Small tooth, the motor gear is set up on the motor drive shaft；

First, second change gear is set up on a gear shaft, and the second stud gear is located at the first gear teeth The top of wheel；Three, the 4th change gear is set up on the potentiometer shaft, and the 4th change gear is located at the 3rd and becomes The top of fast gear；

The big tooth engagement of the motor gear and first stud gear；The small tooth and the 3rd speed change of the first stud gear The big tooth engagement of gear；The small tooth of 3rd change gear and the big tooth engagement of second stud gear；Second gear teeth The small tooth of wheel and the big tooth engagement of the 4th change gear.

The robot body is the general name at other outer positions of robot arm, and the robot body can be according to different It needs to be designed, for humanoid robot of grappling, the camera of similar human eye in robot head can be set, pass through camera shooting The image that head is conveyed observes the attack process of other side, and so as to analyze the coping style of itself, it is interesting to increase fistfight.The present invention Robot arm is similar to human arm, and including four parts, shoulder, postbrachium, forearm and hand, 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 mounted on side, in order to be better understood from the rotation direction of arm, defines robot front-back as a plane, two sides For another plane, two planes are mutually perpendicular to, and in addition the forearm of robot arm and postbrachium connect into an axis, form arm It is axial.

The one end in first joint is fixed with shoulder, and the other end is rotatablely connected with robot body so that shoulder can It is rotated based on the first joint compared with 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 entire 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 It is swung compared with 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 compared with 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 Circular shaped motion scope of the weapon as radius is held in center 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 movement 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, and scope of activities is made to reach maximum Change, and each joint cooperates, arm can the multi-faceted stretching, extension of multi-angle, add the flexibility ratio of arm.

Steering engine is a kind of driver of position (angle) servo, suitable for those angle is needed constantly to change and can keep Control system.With the continuous development of science and technology, the application of steering engine is more and more extensive.Not only in model airplane, in machine Also it can be seen that its application in device people's model.Four joints mainly drive the movement of arm by the rotation of steering engine, by tight Gather the setting of type steering engine so that robot arm can multi-direction, multi-joint point movement, add the flexible of robot arm Degree so that robot can realize the attack of multiple directions, multiple angles during fistfight.

Further, the steering engine main body includes lower cover, middle cover and upper cover from bottom to top, and three's locking closure is integrated, wherein The wiring board, motor and potentiometer are assembled in the space after lower cover and middle cover lid close；Sky after upper cover and middle cover lid are closed Between the middle assembling change gear group.

Further, the cable linkage interface element is a tooth case rubber head, is embedded at the lower cover one side.

Further, the motor gear is set up in the top of the motor drive shaft, and with the motor drive shaft synchronous rotary.

Further, the steering engine main body is protruded out on the small teeth directional of the 4th change gear.

Further, first joint include be arranged on robot body in the first steering engine, arranged on 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 engine shaft, and the robot body engages equipped with the first card slot with clutch shaft bearing；

The second joint includes being arranged on the second steering engine inside postbrachium, second arranged on postbrachium and shoulder one side junction First steering wheel of axis, the second bearing for supporting the second axis and postbrachium and shoulder opposite side junction, described second axis one end with Postbrachium is fixed, and the other end is rotatablely connected by second bearing and shoulder, and the first steering wheel one side is fixed with shoulder, opposite side and Second steering engine shaft connects；

3rd joint includes the 3rd steering engine arranged on forearm inner upper end, the arranged on postbrachium and forearm junction the 3rd Axis and the 3rd bearing for supporting the 3rd axis, described 3rd axis one end and the fixed connection of postbrachium, the other end and the 3rd steering engine turn Axis connection, the forearm engage equipped with the second card slot with 3rd bearing；

4th joint includes the 4th steering engine arranged on forearm interior lower end, arranged on forearm and hand one side junction 4th axis, the fourth bearing for supporting the 4th axis and forearm and the second steering wheel of hand opposite side junction, the 4th axis one End is fixed with forearm, and the other end is rotatablely connected by fourth bearing and hand, and the second steering wheel one side is fixed with hand, another Side is connected with the 4th steering engine shaft.

First steering engine is arranged on inside robot body close to two side position of robot body bilateral, 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 engine shaft so that When first steering engine works, the first axle can drive and roll over.Due to the rotation of the first steering engine, the fortune of entire arm can be driven It is dynamic, therefore, in order to which the operation of the first steering engine is made more to stablize, 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 engine movement.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, is played a protective role.Shell Equipped with the first card slot, clutch shaft bearing is engaged by front and rear engaging.When the first steering engine drives first axle to rotate, clutch shaft bearing It is fixed.Due to robot body at the first card slot for plastic material, the setting of clutch shaft bearing is in order to prevent the One axis rocks caused by wheelbase is longer in rotation process and may be to robot body's slot in rotation process It puts and causes to wear, influence robot service life.Moving forward and backward for entire 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.

Since shoulder inner space is limited, and arm moves up and down for convenience, and the second steering engine of the second joint is set It puts inside postbrachium, the postbrachium both sides are connected by the second axis and the first steering wheel with shoulder, T character form structures are formed, by postbrachium It is suspended on shoulder.Further, the postbrachium is made of the component of left and right two panels plastic material, and steering engine is wrapped in inside, The postbrachium top is equipped with installation card slot corresponding with the second axis.Likewise, the second axis abrasion postbrachium installs card slot in order to prevent, The present invention is equipped with second bearing on the second axis, and second axis is rotatablely connected with shoulder.Since the axis of connection steering engine rises mainly Supporting role, therefore the axis needs the installation position of enough diameters and sufficient space, due to installing the limitation of bit space, this hair It is bright that axis is changed to steering wheel replacement, save space.The design of first steering wheel can reduce installation volume, and can enhance torque. When the second steering engine works, since the first steering wheel is fixed on, shoulder is immovable, and the second steering engine can drive postbrachium to move at this time, from And the second axis is made and then to rotate, final postbrachium drives forearm and hand opposite shoulder to move up and down.The design of second joint It can realize the up and down motion of arm, with reference to the first joint, can realize that robot arm can cover after all around stretching Maximum magnitude.

3rd joint structure is similar to the first joint structure, due to robot arm postbrachium inner space in the present invention It is only sufficient to set a steering engine, therefore the 3rd steering engine is arranged on the upper end inside the forearm, the described 3rd is located in postbrachium With forearm junction, described 3rd axis one end is welded and fixed with postbrachium, and the other end is connected in the 3rd steering engine shaft so that the 3rd rudder When machine works, the 3rd axis can drive forearm rotation.The 3rd bearing is becket, is arranged on the 3rd axis, after described Arm is equally made 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 card slot that front and rear two module components are formed fixes the 3rd bearing.When 3rd steering engine works, the 3rd axis can be driven It rotates, and 3rd bearing will not be rotated due to being fixed on the second card slot, play the role of supporting the 3rd axis, prevent from rocking. The setting of the 3rd bearing is that the 3rd axis is rocked and turned caused by wheelbase is longer in rotation process in order to prevent Robot body's groove position may be caused to wear during dynamic, influence robot service life.The design master in the 3rd joint If the flexibility ratio of arm is increased by piecewise joint setting, particular for fistfight closely.It is auxiliary by the 3rd joint Movement is helped, can be made a response rapidly.

Since robot hand can design the weapons such as peashooter, knife, sword, the free time that hand leaves is limited, and by It is sufficient in the forearm inner space, therefore the steering engine in the 4th joint is arranged on the forearm interior lower end.The steering engine leads to The front and rear component for crossing forearm is fastened on inside forearm, wherein the steering engine be emerging on one side outside forearm and with the face fore-arm In same plane.4th joint structure is similar to second joint, and described 4th axis one end is welded and fixed with forearm, the other end and hand Portion is rotatablely connected so that hand can be rotated around the 4th axis.Described second steering wheel one end is connected with steering engine shaft, can be turned around steering engine Dynamic, the other end is fixed on hand and the 4th axisymmetric position.When 4th steering engine works, by the way that the second steering wheel is driven to rotate, So that hand can be axially moved perpendicular to arm axis.The setting in the 4th joint is equipped with the feelings of weapon primarily directed to hand Under condition, by the booster action in the 4th joint, attack can be quickly made, action is made more nimbly and freely to increase fistfight It is interesting.

Further, one end that the first axle is connected with the first steering engine is stepped；3rd axis is connected with the 3rd steering engine One end it is stepped.

For axis by connecting two parts, it is a series of to play the role of connection, support passing power etc., 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.Since different link positions needs the diametric requirements difference to axis, in of the invention, first axle one end and shoulder welding are solid It is fixed, since first axle needs the larger torque born when rotating, therefore it is required that axis 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 engine inside robot body, and axis needs to be inserted into steering engine, and due to the present invention, design is miniature rudder Machine, therefore it is large enough to hold the big volume of first axle without enough volumes.Equally, the 3rd axis is also configured as step-like, Neng Goushi Axis both ends is answered to connect the demand of different parts.So in the present invention, it is arranged in first axle and the 3rd axis close to steering engine one end Stepped axis wherein in most thin central shaft insertion steering engine, increases it by incrementally increasing the diameter of first axle and the 3rd axis The torque that can bear adds the reliability and compactness of connection, also can utmostly prevent the skidding of axis, add operation Stability, 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 cylindrical shaft composition for being fixed on double-deck disc centre.

Since the shoulder and postbrachium junction and forearm and hand junction spatial position of the robot arm are limited, No the first joint of the image of Buddha sets stepped axis as the 3rd joint, therefore sets the first rudder in second joint and the 4th joint Disk and the second steering wheel can increase driving torque in arm motion, while can also save volume to the greatest extent, can be Steering engine and arm member are fixed in limited space.Further, since first steering wheel one end is fixed with shoulder, the other end with The movable fixation of second steering engine, due to being fixed from shoulder and different with the fixed requirement of the second steering engine, the steering wheel is by solid Fixed pattern bilayer disk and the cylindrical shaft composition for being fixed on double-deck disc centre.Since cylindrical shaft is inserted into steering engine, cylindrical shaft Diameter is smaller, and the work of steering engine mainly causes the movement of cylindrical shaft, therefore the torque that cylindrical shaft is born is maximum, therefore, Sufficiently large torque can be born in the course of work of cylindrical shaft in order to prevent, in design by being stepped up cylinder shaft diameter It realizes, therefore devises double-deck disk, the bilayer disk diameter gradually increases, and the cylindrical shaft is fixed on disc centre. The design of the steering wheel bilayer ring can preferably drive arm motion, add the flexibility ratio of arm.

Further, the first limit space that size is more than clutch shaft bearing is equipped between the first axle and shoulder, it is described Clutch shaft bearing is mounted in the first limit space and is fixed by the first card slot；It is more than between 3rd axis and postbrachium equipped with size Second limit space of 3rd bearing, the 3rd bearing are mounted in the second limit space and are fixed by the second card slot.

The clutch shaft bearing and 3rd bearing are circular metal ring, and cyclization in first axle and the 3rd axis, is played respectively Support the effect of first axle and the 3rd axis.Since first axle, the 3rd axis, clutch shaft bearing and 3rd bearing are all metal material, And robot shells are plastic material, it,, may due to the difference of material when the card slot of plastic material engages bearing in processing It is present with engaging and deviation occurs, the product quality for making processing is unqualified, therefore size is equipped between the first axle and shoulder More than the first limit space of clutch shaft bearing thickness, the clutch shaft bearing is mounted in the first limit space to be consolidated by the first card slot It is fixed；The second limit space that size is more than 3rd bearing thickness, the 3rd bearing peace are equipped between 3rd axis and postbrachium It is fixed in the second limit space by the second card slot.The setting of limit space is more convenient when can make installation, and can It prevents from the structure of unlike material from combining to occur engaging situation not in place, ensure that processing quality.

Further, the postbrachium and forearm are respectively equipped with control line installation position, and the control line installation position is equipped with control Line entrance, the postbrachium control line entrance are arranged on postbrachium control line installation position lower end, and the forearm control line entrance is arranged on forearm Control line installation position upper end.

Since present invention is generally directed to Grapple Robots, the self-service movement of robot is extremely important.By in machine Control circuit mainboard inside human agent is set, has control circuit mainboard to separate a plurality of each steering engine of control pair robot and is controlled System.Further, the control circuit mainboard is arranged on robot body back, and robot body's back side can set circuit 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.Since arm steering engine is in addition to the first steering engine is mounted on inside robot body, the second steering engine, the 3rd steering engine It is all distributed in inside postbrachium and forearm with the 4th steering engine, therefore the first steering engine can complete control by robot body's internal wiring Control of the circuit board processed to the first steering engine, then the control line installation position by being divided into 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 engine, and the control line is divided into three strands, first strand It is passed through postbrachium installation position and controls the second steering engine, in addition enter from forearm installation position for two strands, connect the 3rd steering engine and the 4th steering engine respectively. Further, in order to make the distribution of line even closer, the postbrachium control line entrance is arranged on control line installation position lower end, before described Arm control line entrance is arranged on 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 appearance more succinct, also make arm motion It is more convenient.

Beneficial effects of the present invention：Miniature steering engine is set by four joints so that robot arm can be multi-direction, more Artis moves, and adds the flexibility ratio of robot arm so that robot can realize multiple directions, more during fistfight The attack of a angle, and closely fistfight can be directed to and made a response rapidly, the utility model steering engine passes through whole group gear Staggeredly, centralized arrangement and the potentiometer shaft of the potentiometer is upward through to the three, the 4th gear teeth of change gear group Wheel so that the utility model model steering engine is compact-sized, small volume, and then improves the sensitivity rotated and the relay degree that spreads out, from And it more can effectively complete each joint of robot arm and turn to task.

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.

Fig. 7 is the utility model steering engine explosive view.

Specific embodiment

As shown in Figure 1, a kind of robot arm, is arranged on robot body 1, robot body 1 include front 11, after Face 12, left surface 13 and right flank 14, as shown in Fig. 2, being floor map residing for robot body, including front and rear parallel surface 15 and left and right side parallel surface 16.As shown in figs. 34, the arm includes sequentially connected first joint 2, shoulder 3, second Joint 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 machine Human agent 1 connects, and the postbrachium 5 is connected by second joint 4 with shoulder 3, and the forearm 7 passes through the 3rd joint 6 and postbrachium 5 Connection, the hand 9 are connected by the 4th joint 8 with forearm 7, and the forearm 7 and postbrachium 5 form arm axis.The shoulder 3 It is rotated based on the first joint 2 compared with robot body 1, rotational plane is parallel to robot or so parallel surface 16；The postbrachium 5 It is swung based on second joint 4 compared with shoulder 3, swaying direction is included towards robot body and away from robot body；It is described Forearm 7 is rotated based on the 3rd joint 6 compared with postbrachium 5, and rotation direction is to be rotated around the arm axis；The hand is based on 4th joint 8 is swung compared with forearm 7, swinging axle vertical arm axis.

Further, as shown in figure 5, first joint 2 includes the first steering engine 21 being arranged in robot body 1, sets In the first axle 22 of robot body 1 Yu 3 junction of shoulder 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 21 shaft of the first steering engine, and the robot body 1 is equipped with the first card slot 17 Engage with clutch shaft bearing 23；

As shown in fig. 6, the second joint 4 include be arranged on postbrachium 5 inside the second steering engine 41, arranged on postbrachium 5 and shoulder 3 Second axis 42 of one side junction, the second bearing 43 for supporting the second axis 42 and postbrachium 5 and 3 opposite side junction of shoulder First steering wheel 44, described second axis, 42 one end are fixed with postbrachium 5, and the other end is rotatablely connected by second bearing 43 and shoulder 3, institute It states 44 one side of the first steering wheel to fix with shoulder 3, opposite side is connected with 41 shaft of the second steering engine；The shoulder 3 includes shoulder decoration 31st, shoulder frame 32, shoulder side plate 33, the postbrachium include postbrachium decorative frame 51, postbrachium decoration 52, postbrachium shell 53 and postbrachium lid 54, Second steering engine 41 is installed on postbrachium shell 53 and postbrachium lid 54 is fastened in the cavity formed.

3rd joint 6 includes the 3rd steering engine 61 arranged on 7 inner upper end of forearm, arranged on 7 junction of postbrachium 5 and forearm The 3rd axis 62 and support the 3rd bearing 63 of the 3rd axis 62, described 3rd axis, 62 one end and 5 fixed connection of postbrachium are another End is connected with 61 shaft of the 3rd steering engine, and the forearm 7 engages equipped with the second card slot 71 with 3rd bearing 63；The forearm 7 includes Forearm decoration 72, forearm shell 73 and forearm lid 74, the forearm shell 73 and 74 upper end of forearm lid mutually fasten to form the second card Slot 71, and internal formation cavity, install the 3rd steering engine 61 and the 4th steering engine 81.

4th joint 8 includes the 4th steering engine 81 arranged on 7 interior lower end of forearm, connects arranged on forearm 7 and 9 one side of hand Connect the 4th axis 82, the fourth bearing 83 for supporting the 4th axis 82 and the forearm 7 at place and the second rudder of 9 opposite side junction of hand Disk 84, described 4th axis, 82 one end are fixed with forearm 7, and the other end is rotatablely connected by fourth bearing 83 and hand 9, and described second 84 one side of steering wheel is fixed with hand 9, and opposite side is connected with 81 shaft of the 4th steering engine.

Further, one end that the first axle 22 is connected with the first steering engine 21 is stepped；3rd axis 62 and the 3rd rudder One end that machine 61 connects is stepped.

Further, 44 and second steering wheel 84 of the first steering wheel is step-like disk, and the step-like disk is by fixing Formula bilayer disk and the cylindrical shaft composition for being fixed on double-deck disc centre.

Further, the first limit space that size is more than clutch shaft bearing 23 is equipped between the first axle 22 and shoulder 3, The clutch shaft bearing 23 is mounted in the first limit space and is fixed by the first card slot 17；

Between 3rd axis 62 and postbrachium 5 be equipped with size be more than 3rd bearing 63 the second limit space, the described 3rd Bearing 63 is mounted in the second limit space and is fixed by the second card slot 71.

The postbrachium 5 and forearm 7 are respectively equipped with control line installation position, are respectively postbrachium decoration 51 and forearm decoration 72 The cavity in besieged city.The control line installation position is equipped with control line entrance, and the postbrachium control line entrance is pacified arranged on postbrachium control line Position lower end is filled, the forearm control line entrance is arranged on forearm control line installation position upper end.

At least a kind of steering engine structure includes steering engine in first steering engine, the second steering engine, the 3rd steering engine and the 4th steering engine Main body 100, as shown in fig. 7, the steering engine main body 100 includes lower cover 10, middle cover 20 and upper cover 30 from bottom to top, three is substantially in The rectangular box shape of lateral arrangement, wherein, at four of lower cover 10 longitudinal ribs, at four of middle cover 20 longitudinal ribs and upper cover 30 Bottom surface four corners open up screw hole, are passed through from bottom to top for one group of screw 40, therefrom by lower cover 10, middle cover 20 and upper cover 30 locking closures are integrated.This steering engine 100 lower cover 10 and middle cover 20 lid close after space in assemble wiring board 50, tooth case rubber head 60, Motor 70 and potentiometer 80；Change gear group 90 is assembled in the space after upper cover 30 and the lid of middle cover 20 are closed.

10 inner horizontal of lower cover is embedded the wiring board 50, and 10 one side of lower cover is embedded the tooth case rubber head 60.Its In, as the tooth case rubber head 60 of External cable linkage interface element, for wearing and fixing for an external model signal wire.The letter Number line outer end is electrically connected with a model control device in the robot arm model, inner end and the wiring board 50 are electrically connected, the signal transmission being achieved between the model control device and wiring board 50.

For 20 locking closure of middle cover above lower cover 10, interior side accommodates the motor 70, and opposite side accommodates the current potential Device 80.The motor 70 and potentiometer 80 are placed in 50 top of wiring board, and then are electrically connected with the wiring board 50, by This realizes the signal transmission between motor 70 and potentiometer 80 and the wiring board 50.

30 locking closure of upper cover accommodates therebetween the change gear group 90 above middle cover 20.The change gear group 90 include the motor gear 95 of corresponding motor 70 side arrangement, the three, the 4th of corresponding potentiometer 80 side arrangement Change gear 93,94 and first, second change gear 91,92 being arranged between the both sides.The change gear 91,92,93, 94 are made of one group of coaxial canine tooth 901 and small tooth 902, wherein, which is consolidated in the middle part of the top surface of canine tooth 901. Such gear 91,92,93,94,95 has following relative position relation and meshing relation：Second stud gear 92 is located at the The surface of one change gear 91, the two are simultaneously spaced suitable distance；4th change gear 94 is being located at the 3rd change gear 93 just Top, the two are simultaneously spaced suitable distance；The canine tooth 901 of motor gear 95 and first stud gear 91 is located at same level, and two Person is simultaneously engaged with each other；The canine tooth 901 of 902 and the 3rd change gear 93 of small tooth of first stud gear 91 is located at same level, The two is simultaneously engaged with each other；The small tooth 902 of 3rd change gear 93 is located at same level with the canine tooth 901 of second stud gear 92 Face, the two are simultaneously engaged with each other；The canine tooth 901 of 902 and the 4th change gear 94 of small tooth of second stud gear 92 is located at same water Plane, the two are simultaneously engaged with each other.

For the utility model steering engine 100 when assembling, the motor drive shaft 701 of the motor 70 is upward through middle cover 20 and motor Gear 95, the motor gear 95 are set up in the motor top, and by the designs of known features and can be with motor drive shaft synchronous rotary. 3rd change gear 93 and the 4th change gear 94 are set up in the potentiometer top, the small tooth of the 4th change gear 94 902 it is upward convex stretch out upper covers 30 and engage with the robot arm.The first stud gear 91 is set up in one and is longitudinally arranged Gear shaft 99 approximate mid-section, the bottom of the gear shaft 99 is embedded in middle cover 20, and top is upward through second stud gear 92, which is set up in the top of the gear shaft 99.

The course of work of the utility model steering engine 100 approximately as：Control circuit mainboard in the robot body to The transmission rotation activation signal of wiring board 50, wiring board 50 receives the signal and starter motor 70 rotates start, and then drives speed change 90 synchronous rotary start of gear set.At this time, on the one hand, the small tooth 902 of the 4th change gear 94 of change gear group 90 drives should The swing link synchronous rotation of robot arm, so as to proceed by the steering operation of the robot arm, another aspect the described 4th Change gear 94 drives potentiometer 80 to work by known features, and then the rotating signal is fed back to wiring board by the potentiometer 80 50, so as to control the robot arm by wiring board 50, it can accurately rotate to predetermined direction.

In the above-mentioned course of work, the torque transmission mode of change gear group 90 approximately as：First, motor 70 drives 701 synchronous rotary of motor drive shaft；Then, motor drive shaft drives 95 synchronous rotary of motor gear；Afterwards, the drive of motor gear 95 is nibbled with it 901 synchronous rotary of canine tooth of the first stud gear 91 of conjunction, the small tooth 902 of first stud gear 91 also synchronous rotary；Then, The small tooth 902 of one change gear 91 drives 901 synchronous rotary of canine tooth of the 3rd change gear 93 engaged, the 3rd gear teeth The also synchronous rotary of small tooth 902 of wheel 93；Then, the small tooth 902 of the 3rd change gear 93 drives the second gear teeth engaged 901 synchronous rotary of canine tooth of wheel 92, the small tooth 902 of second stud gear 92 also synchronous rotary；And then second stud gear 92 Small tooth 902 drives 901 synchronous rotary of canine tooth of the 4th change gear 94 engaged, the small tooth 902 of the 4th change gear 94 Also synchronous rotary；Finally, the small tooth 902 of the 4th change gear 94 drives the synchronous rotation of the robot arm engaged Turn.

As described above, the interlocking, described in centralized arrangement and general by whole group gear of the utility model steering engine main body 100 The potentiometer shaft of potentiometer 80 is upward through the three, the 4th change gears 93,94 of change gear group 90 so that this practicality is new Type steering engine 100 is compact-sized, small volume, and then improves the sensitivity rotated and the relay degree that spreads out, so as to more can effectively complete Steering task.

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 all be included in the protection scope of the present invention.

Claims (10)

1. a kind of miniature steering engine robot arm, is arranged on robot body, robot body includes front/rear face and left/right Two sides, the arm include sequentially connected first joint, shoulder, second joint, postbrachium, the 3rd joint, forearm, the 4th pass Section and hand, the shoulder are connected by the first joint with robot body, and the postbrachium is connected by second joint and shoulder It connects, the forearm is connected by the 3rd joint with postbrachium, and the hand is connected by the 4th joint with forearm, and the forearm is with after Arm forms arm axis；It is characterized in that：

The shoulder is rotated based on the first joint compared with robot body, and rotational plane is parallel to robot body side；

The postbrachium is swung based on second joint compared with 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 compared with postbrachium, and rotation direction is to be rotated around the arm axis；

The hand is based on the 4th joint compared with preceding arm swing, swinging axle vertical arm axis；

First joint, second joint, each built-in steering engine in the 3rd joint and the 4th joint, at least one in the steering engine Kind steering engine structure includes steering engine main body, which accommodates wiring board, and top accommodates change gear group, and middle part accommodates horse It reaches and potentiometer, the motor is electrically connected at the wiring board one side, top surface connection motor drive shaft, which is electrically connected at institute State wiring board opposite side, top surface connection potentiometer shaft；

The steering engine lower body part one side accommodates cable linkage interface element, and the change gear group is included one where corresponding motor The three, the 4th change gears and be arranged between the both sides that the motor gear of side arrangement, corresponding potentiometer side are arranged First, second change gear, first, second, third and fourth change gear includes canine tooth and is consolidated in the small of the big crest top land Tooth, the motor gear are set up on the motor drive shaft；

First, second change gear is set up on a gear shaft, and the second stud gear is located at first stud gear Top；Three, the 4th change gear is set up on the potentiometer shaft, and the 4th change gear is located at the 3rd gear teeth The top of wheel；

The big tooth engagement of the motor gear and first stud gear；The small tooth and the 3rd change gear of the first stud gear Big tooth engagement；The small tooth of 3rd change gear and the big tooth engagement of second stud gear；The second stud gear The big tooth engagement of small tooth and the 4th change gear.

2. miniature steering engine robot arm according to claim 1, which is characterized in that the steering engine main body includes from bottom to top Lower cover, middle cover and upper cover, three's locking closure are integrated, wherein assembled in the space after lower cover and middle cover lid close the wiring board, Motor and potentiometer；The change gear group is assembled in the space after upper cover and middle cover lid are closed.

3. miniature steering engine robot arm according to claim 2, which is characterized in that the cable linkage interface element is one Tooth case rubber head is embedded at the lower cover one side.

4. miniature steering engine robot arm according to claim 1, which is characterized in that the motor gear is set up in the horse Up to the top of axis, and with the motor drive shaft synchronous rotary.

5. miniature steering engine robot arm according to claim 1, which is characterized in that the small teeth directional of the 4th change gear On protrude out the steering engine main body.

6. miniature steering engine robot arm according to claim 1, which is characterized in that first joint includes being arranged on machine The first axle of the first steering engine in human agent, the first axle arranged on robot body Yu shoulder junction and support first axle It holds, described first axle one end and the fixed connection of shoulder, the other end are connected with the first steering engine shaft, and the robot body is equipped with First card slot engages with clutch shaft bearing；

The second joint include be arranged on postbrachium inside the second steering engine, arranged on postbrachium Yu shoulder one side junction the second axis, Support the second bearing of the second axis and the first steering wheel of postbrachium and shoulder opposite side junction, described second axis one end and postbrachium Fixed, the other end is rotatablely connected by second bearing and shoulder, and the first steering wheel one side is fixed with shoulder, opposite side and second Steering engine shaft connects；

3rd joint include arranged on forearm inner upper end the 3rd steering engine, arranged on postbrachium and forearm junction the 3rd axis with And the 3rd bearing of the 3rd axis of support, described 3rd axis one end and the fixed connection of postbrachium, the other end and the 3rd steering engine shaft connect It connects, the forearm engages equipped with the second card slot with 3rd bearing；

4th joint includes the 4th steering engine arranged on forearm interior lower end, the arranged on forearm and hand one side junction the 4th Second steering wheel of axis, the fourth bearing for supporting the 4th axis and forearm and hand opposite side junction, described 4th axis one end with Forearm is fixed, and the other end is rotatablely connected by fourth bearing and hand, and the second steering wheel one side is fixed with hand, opposite side and 4th steering engine shaft connects.

7. robot arm according to claim 6, which is characterized in that the first axle is in one end that the first steering engine is connected It is stepped；One end that 3rd axis is connected with the 3rd steering engine is stepped.

8. robot arm according to claim 6, which is characterized in that first steering wheel and the second steering wheel are step-like circle Disk, the step-like disk are at least made of fixed double-deck disk with the cylindrical shaft for being fixed on double-deck disc centre.

9. robot arm according to claim 6, which is characterized in that be more than between the first axle and shoulder equipped with size First limit space of clutch shaft bearing, the clutch shaft bearing are mounted in the first limit space and are fixed by the first card slot；It is described The second limit space that size is more than 3rd bearing is equipped between 3rd axis and postbrachium, the 3rd bearing is mounted on the second /V It is fixed in space by the second card slot.

10. robot arm according to claim 1, which is characterized in that the postbrachium and forearm are respectively equipped with control line peace Position is filled, the control line installation position is equipped with control line entrance, and the postbrachium control line entrance is arranged under postbrachium control line installation position End, the forearm control line entrance are arranged on forearm control line installation position upper end.