CN207682377U - A kind of miniature steering engine robot arm - Google Patents

Abstract

The utility model in robot arm by being arranged four joints, and miniature steering engine is arranged in four joints, enable robot arm multi-direction, multi-joint point moves, increase 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 to the third of change gear group, 4th change gear, so that the utility model model steering engine is compact-sized, small volume, and then improve the sensitivity of rotation and the relay degree that spreads out, task is turned 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 especially grappling are current very popular robot types, 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.Later, 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.

Currently, 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, to start small direct current motor movement, is on the other hand used to receive feedback adjustable potentiometer Ground feedback signal, thus controls positive and negative rotation and the rotation angle of small direct current motor, and then entire steering engine is made to be accurately positioned.

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 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 for enriching robot fistfight also makes robot fistfight type diversification, 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, various game function is cannot achieve.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, and arm activity underaction, joint is stretched bent inconvenient 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 a kind of miniature steering engine robot arms.

To achieve the above object, the present invention provides a kind of miniature steering engine robot arm, is arranged on robot body, machine Device human agent includes front/rear face and left/right two sides, and the arm includes sequentially connected first joint, shoulder, the second pass Section, postbrachium, third joint, forearm, the 4th joint and hand, the shoulder are connect by the first joint with robot body, The postbrachium is connect by second joint with shoulder, and the forearm is connect by third joint with postbrachium, and the hand passes through Four joints are connect with forearm, and the forearm and postbrachium form arm axis；

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

The postbrachium is based on second joint and is swung relative to shoulder, and swaying direction includes towards robot body and far from machine Device human agent's both direction；

The forearm is based on third joint and is rotated 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.

First joint, second joint, each built-in steering engine in third joint and the 4th joint, in the steering engine at least It includes steering engine main body to have a kind of steering engine structure, which includes from bottom to top lower cover, middle cover and upper cover, and three is by being set to Mounting post therebetween and mounting hole cooperation and fasten and be integrated, wherein space receiving wiring board after lower cover and middle cover lid close, Motor and potentiometer, the space after upper cover and middle cover lid are closed accommodate change gear group, which is electrically connected at the circuit Plate side, top surface connect motor drive shaft, which is electrically connected at the wiring board other side, and top surface connects potentiometer shaft.

The change gear group includes the motor gear of corresponding motor side arrangement, corresponding potentiometer side cloth Third, the 4th change gear and the first, second change gear being arranged between the both sides set, described first, second, third and fourth Change gear includes that canine tooth and the small tooth for being consolidated in the big crest top land, the motor gear are set up on the motor drive shaft；Institute It states the first, second change gear to be set up on a gear shaft, and the second stud gear is located at the top of first stud gear；Institute State third, the 4th change gear is set up on the potentiometer shaft, and the 4th change gear is located at the upper of third change gear Side；The big tooth engagement of the motor gear and first stud gear；The small tooth of the first stud gear and third change gear Big tooth engagement；The small tooth of the third 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.

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 can be set in robot head, pass through camera shooting The image that head is conveyed, observes the attack process of other side, and to analyze the coping style of itself, it is interesting to increase fistfight.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 mounted on side, and in order to be better understood from the rotation direction of arm, it is a plane, two sides to define robot front-back 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 relative to robot body based on the first joint, 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, and similar human arm realizes the front and back pendulum of the entire arm of robot Dynamic, it is center of circle arm length as the circular shaped motion range of 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 relative to shoulder, swaying direction includes towards robot body and far from robot body, while before 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 range.

Third joint one end connect postbrachium, one end connect forearm so that the forearm be based on third joint relative to Postbrachium rotates, and rotation direction is to be rotated around the arm axis, and hand can be driven to move together.It is formed with third joint and is Center, using the held weapon of hand as the circular shaped motion range of radius.

The 4th joint both ends are arranged on the symmetrical position of forearm so that the hand can be put 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, increase 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 cooperate, arm can the multi-faceted stretching, extension of multi-angle, increase the flexibility ratio of arm.

Steering engine is a kind of position（Angle）The driver of servo needs angle constantly to change and can keep suitable for those 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 are mainly driven 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, increase the flexible of robot arm Degree so that robot can realize the attack of multiple directions, multiple angles during fistfight.

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, the first stud gear is set up in the approximate mid-section of the gear shaft, the second stud gear It is set up in the top of the gear shaft.

Further, first joint include be set to robot body in the first steering engine, be set to robot body with The first axle of shoulder junction and the first bearing for supporting first axle, described first axle one end and the fixed connection of shoulder, separately One end is connect with the first steering engine shaft, and the robot body engages equipped with the first card slot with first bearing；

The second joint includes being set to the second steering engine inside postbrachium, second set on postbrachium and shoulder side junction Axis, support the second axis second bearing and postbrachium and shoulder other side junction the first steering wheel, second axis one end and Postbrachium is fixed, and the other end is rotatablely connected by second bearing and shoulder, and first steering wheel side is fixed with shoulder, the other side and Second steering engine shaft connects；

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

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

First steering engine is arranged 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 connect for integral type, and the other end is connect with the first steering engine shaft so that When first steering engine works, first metal shaft, which can drive, rolls over.Due to the rotation of the first steering engine, entire arm can be driven Movement, therefore, in order to make the first steering engine operation more stablize, be disposed inside robot body.The first bearing For becket, first axle is supported by first bearing, the shaking in preventing steering engine from moving.Robot body's shell is generally The component of plastic material, shell synthesize an entirety by front and rear casing, body interior component are surrounded, is played a protective role. Shell is equipped with the first card slot, is engaged first bearing by front and back engaging.When the first steering engine drives first axle rotation, first Bearing is fixed.Since robot body is plastic material at the first card slot, the setting of first bearing is in order to anti- Only first axle is shaken in rotation process caused by wheelbase is longer, and may be blocked to robot body in rotation process Groove location causes to wear, and influences robot service life.Moving forward and backward for entire arm can be achieved in the design in the first joint, makes machine The firing area of device people has covered the range 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 sets inside postbrachium, the postbrachium both sides are connect by the second axis and the first steering wheel with shoulder, and T-shaped structure is 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 The up and down motion that can realize arm, in conjunction with the first joint, can realize can cover after robot arm all around stretches Maximum magnitude.

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

Since robot hand can design the weapons such as peashooter, knife, sword, hand there are free time it is limited, and by It is arranged in the forearm interior lower end in forearm inner space abundance, therefore by the steering engine in the 4th joint.The steering engine is logical The front and back 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 dynamic around the 4th shaft rotation.Second steering wheel one end is connect 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 driving the rotation of the second steering wheel, 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, keeps action more flexible freely, increases fistfight It is interesting.

Further, one end that the first axle is connect with the first steering engine is stepped；Third axis is connect with third 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 to axis different, in the present invention, first axle one end and shoulder welding are solid It is fixed, since first axle needs the larger torque born in rotation, 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 connect with the steering engine inside robot body, and axis needs to be inserted into steering engine, since design is miniature rudder to the present invention Machine, therefore not enough volumes are large enough to hold the big volume of first axle.Equally, third axis is also configured as step-like, Neng Goushi Axis both ends are answered to connect the demand of different parts.So in the present invention, being arranged to close to steering engine one end in first axle and third axis Ladder-like axis increases it wherein most thin central shaft is inserted into steering engine by incrementally increasing the diameter of first axle and third axis The torque that can bear increases the reliability and compactness of connection, also can utmostly prevent the skidding of axis, increase 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 the double-deck disc centre.

Since the shoulder and postbrachium junction and forearm and hand junction spatial position of the robot arm are limited, Ladder-like axis is arranged in the first joint of the no image of Buddha as third joint, therefore the first rudder is arranged 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, fixed with shoulder due to first steering wheel one end, the other end with The movable fixation of second steering engine, due to fixed from shoulder and with the fixed requirement of the second steering engine it is different, the steering wheel is by solid Fixed pattern bilayer disk and the cylindrical shaft composition for being fixed on the 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 the 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, increase the flexibility ratio of arm.

Further, the first limit space that size is more than first bearing is equipped between the first axle and shoulder, it is described First bearing is mounted in the first limit space and is fixed by the first card slot；It is more than equipped with size between the third axis and postbrachium 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 first bearing and 3rd bearing are circular metal ring, and cyclization is played in first axle and third axis respectively Support the effect of first axle and third axis.Since first axle, third axis, first 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 will appear engaging and deviation occur, keep the product quality of processing unqualified, therefore be equipped with size between the first axle and shoulder More than the first limit space of first bearing thickness, the first bearing is mounted on solid by the first card slot in the first limit space It is fixed；The second limit space that size is more than 3rd bearing thickness, the 3rd bearing peace are equipped between the third axis and postbrachium It is fixed by the second card slot in the second limit space.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 set to postbrachium control line installation position lower end, and the forearm control line entrance is set to forearm Control line installation position upper end.

Since the utility model is mainly for Grapple Robots, the self-service movement of robot is extremely important.By Control circuit mainboard is set inside robot body, have control circuit mainboard separate a plurality of each steering engine of control pair robot into Row control.Further, the control circuit mainboard is arranged at robot body back, and robot body's back side can be arranged Line outlet, the control line are divided into two-way from robot body back line outlet, along back and lead to postbrachium with before The control line installation position of arm.

Since arm steering engine is other than the first steering engine is mounted on inside robot body, the second steering engine, third steering engine and the Four steering engines are all distributed in inside postbrachium and forearm, therefore the first steering engine can complete control electricity by robot body's internal wiring The control of the first steering engine of road plate pair, then the control line installation position by being divided into two-way prolong control line from robot back respectively Postbrachium installation position and forearm installation position are extended into, and connects its internal steering engine, the control line is divided into three strands, and first strand is passed through Postbrachium installation position controls the second steering engine, in addition enters from forearm installation position for two strands, connects third steering engine and the 4th steering engine respectively.Into one Step, in order to keep the distribution of line even closer, the postbrachium control line entrance is set to control line installation position lower end, the forearm control Line entrance processed is set to control line installation position upper end so that the distance of control line share split is nearest, the intersection and mill of the control line avoided Damage, and the length of control line has been shortened to the full extent, keep whole device appearance more succinct, also arm motion is made to get up more It is 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.

For beauty and facilitate the setting of robot grappling device, the control circuit mainboard is set to robot body's Back.For the length for the control line that practices every conceivable frugality, and it can guarantee the flexible motion of arm, 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 the shortest distance be linked into forearm and postbrachium.Into one Step, it is rear thinner due to control line point, in order to protect control line not to be twisted or exposure causes to wear for a long time, therefore Protecting box is arranged in installation position, and the protective shell protects the control line of branch, and in order to more beautiful, the protective shell is designed to Special shape is fastened with forearm and postbrachium, can either protect control line, and being capable of aesthetic appeal.

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 increases 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 third, 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 of rotation 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 vertical 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, be arranged on robot body 1, robot body 1 include front 11, after Face 12, left side 13 and right side 14, as shown in Fig. 2, for floor map residing for robot body, including front and back parallel surface 15 and left and right side parallel surface 16.As shown in Fig. 3 ~ 4, the arm includes sequentially connected first joint 2, the pass of shoulder 3, second Section 4, postbrachium 5, third 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 connects, and the postbrachium 5 is connect by second joint 4 with shoulder 3, and the forearm 7 is connect by third joint 6 with postbrachium 5, The hand 9 is connect 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 is rotated 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 includes towards robot body and far from robot body；The forearm 7 It is rotated relative to postbrachium 5 based on third joint 6, rotation direction is to be rotated around the arm axis；The hand is based on the 4th and closes 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 engine 21 being set in robot body 1, sets In the first axle 22 of robot body 1 Yu 3 junction of shoulder and the first bearing 23 of support first axle, the first axle 22 1 End and 3 fixed connection of shoulder, the other end are connect with 21 shaft of the first steering engine, and the robot body 1 is equipped with the first card slot 17 Engage with first bearing 23；

As shown in fig. 6, the second joint 4 includes the second steering engine 41 being set to inside postbrachium 5, is set to postbrachium 5 and shoulder 3 The of second axis 42 of side junction, the second bearing 43 for supporting the second axis 42 and postbrachium 5 and 3 other side junction of shoulder One 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, described First steering wheel, 44 side is fixed with shoulder 3, and the other side is connect with 41 shaft of the second steering engine；The shoulder 3 include shoulder decoration 31, Shoulder frame 32, shoulder side plate 33, the postbrachium include postbrachium decorative frame 51, postbrachium decoration 52, postbrachium shell 53 and postbrachium lid 54, described Second steering engine 41 is installed on postbrachium shell 53 and postbrachium lid 54 fastens in the cavity formed.

The third joint 6 includes set on the third steering engine 61 of 7 inner upper end of forearm, set on 7 junction of postbrachium 5 and forearm Third axis 62 and support third axis 62 3rd bearing 63, described 62 one end of third axis and 5 fixed connection of postbrachium are another End is connect with 61 shaft of third 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 the second card of formation Slot 71, and internal formation cavity, install third steering engine 61 and the 4th steering engine 81.

4th joint 8 includes connecting set on the 4th steering engine 81 of 7 interior lower end of forearm, set on forearm 7 and 9 side of hand It connects the 4th axis 82 at place, support the fourth bearing 83 of the 4th axis 82 and the second steering wheel of forearm 7 and 9 other side junction of hand 84, described 4th axis, 82 one end is fixed with forearm 7, and the other end is rotatablely connected by fourth bearing 83 and hand 9, second rudder 84 side of disk is fixed with hand 9, and the other side is connect with 81 shaft of the 4th steering engine.

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

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

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

The second limit space that size is more than 3rd bearing 63, the third are equipped between the third axis 62 and postbrachium 5 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, 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 set on postbrachium control line Position lower end is filled, the forearm control line entrance is set to forearm control line installation position upper end.

Further, the control line installation position is respectively arranged on the back side of postbrachium 3 and forearm 4, and the installation position is additionally provided with Protective shell.

At least a kind of steering engine structure includes steering engine in first steering engine, the second steering engine, third steering engine and the 4th steering engine Main body 100, as shown in fig. 7, comprises steering engine main body 100, the steering engine main body 100 include from bottom to top lower cover 10, middle cover 20 and on Lid 30, middle cover is substantially in the rectangular box shape of lateral arrangement, and two opposite ends of upper cover 30 and lower cover 10 are slightly fined away, wherein Mounting hole 201 is offered at the longitudinal rib of four of middle cover 20, the bottom surface four corners of upper cover 30 extend downwardly upper cover mounting post 301, it is installed on from top to bottom in the mounting hole 201 of middle cover, the top surface four corners of lower cover 10 upwardly extend lower cover mounting post 101, It is installed in the mounting hole 201 of middle cover, is therefrom integrated lower cover 10, middle cover 20 and upper cover 30 fastening from bottom to top.It is described Steering engine 100 assembling wiring board 40, motor 50 and potentiometer 60 in the space after lower cover 10 and the lid of middle cover 20 close；Upper cover 30 with Assembling change gear group 90 in space after the lid conjunction of middle cover 20.

The wiring board 40 is embedded inside the lower cover 10.The robot arm is internally provided with control circuit mainboard and passes through Several signal wires are electrically connected at the wiring board 40, and the signal being achieved between the model control device and wiring board 40 passes It is defeated.

For 20 locking closure of the middle cover above lower cover 10, interior side accommodates the motor 50, and the other side accommodates the current potential Device 60.The motor 50 and potentiometer 60 are placed in 40 top of the wiring board, and then are electrically connected with the wiring board 40, by This realizes the signal transmission between motor 50 and potentiometer 60 and the wiring board 40.And motor 50 and potentiometer 60 are respectively at top surface Middle part connects up column motor drive shaft 501 and potentiometer shaft 601.

30 locking closure of upper cover accommodates therebetween the change gear group 90 above middle cover 20.The change gear group 90 is wrapped Include the motor gear 905 of 50 side of corresponding motor arrangement, third, the 4th speed change of corresponding potentiometer 60 side arrangement Gear 93,94 and the first, second change gear 91,92 being arranged between the both sides.The change gear 91,92,93,94 is equal It is made of one group of coaxial canine tooth 901 and small tooth 902, wherein the small tooth 902 is consolidated in the middle part of the top surface of canine tooth 901.Such tooth Wheel 91,92,93,94,95 has following relative position relation and meshing relation：Second stud gear 92 is located at the first gear teeth The surface of wheel 91, the two are simultaneously spaced suitable distance；4th change gear 94 is located at the surface of third change gear 93, the two And it is spaced suitable distance；Motor gear 95 and the canine tooth 901 of first stud gear 91 are located at same level, and the two is simultaneously nibbled each other It closes；The small tooth 902 of first stud gear 91 and the canine tooth 901 of third change gear 93 are located at same level, the two and each other Engagement；The small tooth 902 of third change gear 93 and the canine tooth 901 of second stud gear 92 are located at same level, the two simultaneously that This engagement；The small tooth 902 of second stud gear 92 and the canine tooth 901 of the 4th change gear 94 are located at same level, and the two is simultaneously It is engaged with each other.

For the steering engine 100 in assembling, the motor drive shaft 501 of the motor 50 is upward through middle cover 20 and motor gear 95, The motor gear 95 is set up in the top of the motor drive shaft 501, and can be synchronous with the motor drive shaft 501 by the design of known features Rotation.The potentiometer shaft 601 of the potentiometer 60 be upward through middle cover 20, third change gear 93, the 4th change gear 94 and Upper cover 30, the third change gear 93 and the 4th change gear 94 are set up in 601 middle and upper part of potentiometer shaft, the 4th gear teeth It takes turns the 94 upward convex stretching upper cover 30 of small tooth 902 and is engaged with the metallic rod of the robot arm joint.First speed change Gear 91 is set up in the approximate mid-section of a longitudinally arranged gear shaft 96, and the bottom end of the gear shaft 96 is embedded in middle cover 20, top End is upward through second stud gear 92, which is set up in the top of the gear shaft 96.

The course of work of the steering engine 100 approximately as：The control circuit mainboard that the robot arm is internally provided with is logical It crosses signal wire and transmits rotation activation signal to wiring board 40, wiring board 40 receives the signal and starter motor 50 rotates start, into And drive the 90 synchronous rotary start of change gear group.At this time, on the one hand, the small tooth of the 4th change gear 94 of change gear group 90 902 drive the metallic rod synchronous rotary of the robot arm joint, to carry out the steering operation of the robot arm, another party 4th change gear 94 described in face drives 601 synchronous rotary of potentiometer shaft of potentiometer 60, and then the current potential by known features The rotating signal is fed back to wiring board 40 by device 60, can essence to control the helicopter model by wiring board 40 Really rotate to predetermined direction.

In the above-mentioned course of work, the torque transmission mode of change gear group 90 approximately as：First, motor 50 drives motor 501 synchronous rotary of axis；Then, motor drive shaft 501 drives 95 synchronous rotary of motor gear；Later, 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 third change gear 93 engaged, third speed change The small tooth 902 of gear 93 also synchronous rotary；Then, the small tooth 902 of third change gear 93 drives the second speed change engaged 901 synchronous rotary of canine tooth of gear 92, the small tooth 902 of second stud gear 92 also synchronous rotary；In turn, second stud gear 92 small tooth 902 drives 901 synchronous rotary of canine tooth of the 4th change gear 94 engaged, the small tooth of the 4th change gear 94 902 also synchronous rotaries；Finally, the small tooth 902 of the 4th change gear 94 drives the robot arm joint engaged Metallic rod synchronous rotary.

As described above, the utility model model steering engine 100 by whole group gear staggeredly, centralized arrangement, and will be described The potentiometer shaft 601 of potentiometer 60 is upward through the third of change gear group 90, the 4th change gear 93,94 so that this practicality New model steering engine 100 is compact-sized, small volume, and then improves the sensitivity of rotation and the relay degree that spreads out, to more can be effective Completion turn to 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 etc., should all be included in the protection scope of the present invention made by within refreshing and principle.

Claims (9)

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, third joint, forearm, the 4th pass Section and hand, the shoulder are connect by the first joint with robot body, and the postbrachium is connected by second joint and shoulder It connects, the forearm is connect by third joint with postbrachium, and the hand is connect by the 4th joint with forearm, and the forearm is with after Arm forms arm axis；

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

The postbrachium is based on second joint and is swung relative to shoulder, and swaying direction includes towards robot body and far from robot Main body both direction；

The forearm is based on third joint and is rotated 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；

First joint, second joint, each built-in steering engine in third joint and the 4th joint, at least one in the steering engine Kind steering engine structure includes steering engine main body, which includes from bottom to top lower cover, middle cover and upper cover, and three is by being set to therebetween Mounting post and mounting hole cooperation and fasten and be integrated, wherein space receiving wiring board, motor after lower cover and middle cover lid close And potentiometer, the space after upper cover and middle cover lid are closed accommodate change gear group, which is electrically connected at the wiring board one Side, top surface connect motor drive shaft, which is electrically connected at the wiring board other side, and top surface connects potentiometer shaft,

It is characterized in that the change gear group includes the motor gear of corresponding motor side arrangement, corresponding potentiometer institute Side arrangement third, the 4th change gear and the first, second change gear being arranged between the both sides, described first, Two, three, four change gears include canine tooth and the small tooth for being consolidated in the big crest top land, and the motor gear is set up in the motor On axis；

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

The big tooth engagement of the motor gear and first stud gear；The small tooth of the first stud gear and third change gear Big tooth engagement；The small tooth of the third 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；

The first stud gear is set up in the approximate mid-section of the gear shaft, and the second stud gear is set up in the gear The top of axis.

2. 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.

3. 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.

4. miniature steering engine robot arm according to claim 1, which is characterized in that the shoulder is opened by the first steering engine Dynamic to be rotated perpendicular to robot body, the postbrachium is swung up and down by the startup of the second steering engine around shoulder, and the forearm passes through The startup of third steering engine is along postbrachium axial rotation, and the hand is by the startup of the 4th steering engine along forearm swing.

5. miniature steering engine robot arm according to claim 1, which is characterized in that first joint further includes the machine that is set to First bearing of the first metal shaft and cyclization of device human agent and shoulder junction in the first metal shaft, first metal Axis one end and the fixed connection of shoulder, the other end are rotatablely connected with the first steering engine, the robot body be equipped with the first card slot and First bearing engages；

The second joint further include be set to the second metal shaft, second bearing and the postbrachium of postbrachium and shoulder side junction with First steering wheel of shoulder other side junction, second metal shaft one end are fixed with postbrachium, the other end by second bearing with Shoulder is rotatablely connected, and first steering wheel one end is fixed with shoulder, and the other end and the second steering engine are rotatablely connected；

The third joint further include set on the third metal shaft of postbrachium and forearm junction and cyclization in third metal shaft 3rd bearing, third metal shaft one end and the fixed connection of postbrachium, the other end is rotatablely connected with third steering engine, before described Arm engages equipped with the second card slot with 3rd bearing；

4th joint further include be set to the 4th metal shaft, fourth bearing and the forearm of forearm and hand side junction with Second steering wheel of hand other side junction, described 4th metal shaft one end are fixed with forearm, the other end by fourth bearing with Hand is rotatablely connected, and second steering wheel one end is fixed with hand, and the other end and the 4th steering engine are rotatablely connected.

6. miniature steering engine robot arm according to claim 5, which is characterized in that first metal shaft and the first steering engine One end of connection is stepped；One end that third metal shaft is connect with third steering engine is stepped.

7. miniature steering engine robot arm according to claim 5, which is characterized in that first steering wheel and the second steering wheel are Step-like disk, the step-like disk at least by the fixed double-deck disk and are fixed on the cylindrical shaft group of the double-deck disc centre At.

8. miniature steering engine robot arm according to claim 5, which is characterized in that the postbrachium and forearm are respectively equipped with control Line installation position processed, the control line installation position are equipped with control line entrance, and the postbrachium control line entrance is set to control line installation position Lower end, the forearm control line entrance are set to control line installation position upper end.

9. robot arm according to claim 8, which is characterized 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 protective shell.