CN207710822U - A kind of anthropomorphic robot arm and anthropomorphic robot - Google Patents
A kind of anthropomorphic robot arm and anthropomorphic robot Download PDFInfo
- Publication number
- CN207710822U CN207710822U CN201721569918.3U CN201721569918U CN207710822U CN 207710822 U CN207710822 U CN 207710822U CN 201721569918 U CN201721569918 U CN 201721569918U CN 207710822 U CN207710822 U CN 207710822U
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- China
- Prior art keywords
- steering
- interconnecting piece
- forearm
- gear body
- steering gear
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Abstract
A kind of anthropomorphic robot arm includes the connection component of large arm, forearm and the connection large arm and the forearm；The connection component includes the first steering engine being connected with the large arm, the second steering engine being connected with the forearm and the interconnecting piece for connecting first steering engine and second steering engine；The interconnecting piece includes the upper interconnecting piece being connected with first steering engine and the lower interconnecting piece for being connected to the upper interconnecting piece and being connect with second steering engine；First steering engine includes the first steering gear body that one end is connected with the upper interconnecting piece and the first switching part for driving it to rotate and be connected with external structural member by first steering gear body；Second steering engine includes the second steering gear body being connected with the forearm and drives it to rotate and the second switching part for being connect with the lower interconnecting piece by second steering gear body.The utility model design is simple, reasonable for structure, has very high price advantage.
Description
Technical field
The utility model belongs to robotics equipment field more particularly to a kind of anthropomorphic robot arm and humanoid machine
People.
Background technology
Currently, with the development of science and technology the research application field of robot is constantly extending, wherein anthropomorphic robot is ground
Study carefully and using being particularly subject to common concern, and as one of most active research hotspot in robot field.Mechanical arm is people
Representative complex component in anthropomorphic robot system is the basis that anthropomorphic robot completes crawl operation and human-computer interaction.
Therefore, most people anthropomorphic robot is required for a pair of flexibly and suitable both hands, to do various simulated actions.
Utility model content
The purpose of this utility model is to provide a kind of reasonable design, anthropomorphic robot arms simple in structure.
The utility model is realized in this way a kind of anthropomorphic robot arm, including large arm, forearm and connection are described big
The connection component of arm and the forearm；The connection component includes the first steering engine being connected with the large arm and the forearm
The interconnecting piece of the second steering engine and connection first steering engine and second steering engine that are connected；The interconnecting piece includes and institute
State the upper interconnecting piece and the lower connection for being connected to the upper interconnecting piece and being connect with second steering engine that the first steering engine is connected
Portion；First steering engine includes the first steering gear body that one end is connected with the upper interconnecting piece and by the first steering engine sheet
Body drives its first switching part for rotating and being connected with external structural member；Second steering engine includes being connected with the forearm
The second steering gear body for connecing and second turn being driven it to rotate by second steering gear body and being connect with the lower interconnecting piece
Socket part.
Further, first switching part includes being arranged in first steering gear body side and by first steering engine
Its rotation of ontology-driven and the first steering wheel connect with external structural member and setting are in first steering gear body other side
And the first flange for being rotatablely connected with first steering gear body and being connect with external structural member, the rotation of the first flange
The pivot center of axis and first steering wheel coincides.
Further, the large arm includes the large arm positioned at first steering gear body side and close to the first flange
Left cover and the large arm right cover that first steering gear body other side is adapted and be located at the large arm left cover, first rudder
Machine ontology is between the large arm left cover and the large arm right cover.
Further, the first connecting hole is offered in the large arm left cover, described first is placed in the first flange and is connected
It connects in hole；The second connecting hole is offered in the large arm right cover, is placed in first steering wheel in second connecting hole.
Further, second switching part includes being arranged in second steering gear body side and by second steering engine
Ontology-driven its rotate and connect the second steering wheel of the lower interconnecting piece and be rotationally connected with the another of second steering gear body
Side and the second flange being connected with the lower interconnecting piece, the pivot center of the second flange turn with second steering wheel
Shaft line coincides.
Further, the upper interconnecting piece includes that the first bottom plate being connected with the lower interconnecting piece and a pair are connected to
Two edges of boards that are oppositely arranged in first bottom plate and towards extend away from the lower interconnecting piece direction and with the first steering engine phase
First connecting plate of connection, first steering engine are located between two pieces of first connecting plates；The lower interconnecting piece includes side
The second bottom plate and a pair being connected with first bottom plate are connected to two edges of boards being oppositely arranged in second bottom plate simultaneously
Towards the second connecting plate extended away from the upper interconnecting piece direction, second steering engine is located between two pieces of second connecting plates
And the second flange and second steering wheel are connected with second connecting plate respectively.
Further, the forearm includes the forearm positioned at second steering gear body side and close to the second flange
Left cover and the forearm right cover that second steering gear body other side is adapted and be located at the forearm left cover, second rudder
Machine ontology is between the forearm left cover and the forearm right cover.
Further, third connecting hole is offered in the forearm left cover, the third is placed in the second flange and is connected
It connects in hole；The 4th connecting hole is offered in the forearm right cover, is placed in second steering wheel in the 4th connecting hole.
Further, further include palmar hand, the palmar hand is installed in free end of the forearm far from the connection component.
Further, a kind of anthropomorphic robot, including anthropomorphic robot arm as described above.
The utility model having the technical effect that compared with the existing technology：First switching part is connected with external structural member,
It under the driving of the first steering gear body, relatively rotates between the first steering gear body and the first switching part, described in driving
Relative motion occurs for large arm.Occur under the driving of the second steering gear body, between the second steering gear body and the second switching part opposite
Rotation keeps anthropomorphic robot arm complete to drive forearm that relative motion occurs by the relative motion of large arm and forearm
It is reasonable in design at various simulated actions, simple and flexible.
Description of the drawings
Fig. 1 is the structural schematic diagram of the provided anthropomorphic robot arm of the utility model embodiment.
Fig. 2 is the explosive view of the anthropomorphic robot arm of Fig. 1.
Fig. 3 is the explosive view of the connection component of the anthropomorphic robot arm of Fig. 1.
Fig. 4 is the structural schematic diagram of the large arm left cover of the anthropomorphic robot arm of Fig. 1.
Fig. 5 is the structural schematic diagram of the large arm right cover of the anthropomorphic robot arm of Fig. 1.
Fig. 6 is the structural schematic diagram of the forearm left cover of the anthropomorphic robot arm of Fig. 1.
Fig. 7 is the structural schematic diagram of the forearm right cover of the anthropomorphic robot arm of Fig. 1.
Attached figure label relationship corresponding with title is as follows：
Specific implementation mode
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model
Limitation.
In the description of the present invention, it should be understood that term " thickness ", "upper", "lower", " vertical ", " parallel ",
The orientation or positional relationship of the instructions such as "bottom", " angle " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
State the utility model and simplify and describe, do not indicate or imply the indicated device or element must have a particular orientation, with
Specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.
In the present invention unless specifically defined or limited otherwise, the terms such as term " installation ", " connection " should be done extensively
Reason and good sense solution may be a detachable connection for example, it may be being fixedly connected, or integral；Can be mechanical connection, it can also
It is electrical connection；Can be directly connected, can also indirectly connected through an intermediary, can be connection inside two elements or
The interaction relationship of two elements.
It please refers to Fig.1 to Fig.3, the anthropomorphic robot arm 100 that the utility model embodiment is provided, including large arm 10,
The connection component 20 of forearm and the connection large arm 10 and the forearm 30；The connection component 20 includes and the large arm 10
The first steering engine 21 for being connected, the second steering engine 23 being connected with the forearm 30 and connect first steering engine 21 with it is described
The interconnecting piece 22 of second steering engine 23；The interconnecting piece 22 include the upper interconnecting piece 221 being connected with first steering engine 21 and
The lower interconnecting piece 222 for being connected to the upper interconnecting piece 221 and being connect with second steering engine 23；First steering engine 21 includes one
It holds the first steering gear body 211 being connected with the upper interconnecting piece 221 and its rotation is driven by first steering gear body 211
And the first switching part 21a being connected with external structural member (not shown)；Second steering engine 23 includes and the forearm 30
The second steering gear body 231 for being connected and by second steering gear body 231 drive its rotation and with the lower interconnecting piece 222
Second switching part 23a of connection.
First switching part 21a is connected with external structural member, under the driving of the first steering gear body 211, the first steering engine
It relatively rotates between ontology 211 and the first switching part 21a, to drive the large arm 10 that relative motion occurs.Second
Under the driving of steering gear body 231, relatively rotate between the second steering gear body 231 and the second switching part 23a, it is small to drive
Relative motion occurs for arm 30 allows anthropomorphic robot arm 100 to complete various by the relative motion of large arm 10 and forearm 30
Simulated actions, reasonable in design, simple and flexible.
Further, the first switching part 21a includes setting in 211 side of the first steering gear body and by described the
One steering gear body 211 drives its rotation and the first steering wheel 212 being connect with external structural member and setting are in first rudder
211 other side of machine ontology and the first flange for being rotatablely connected with first steering gear body 211 and being connect with external structural member
213, the pivot center of the first flange 213 and the pivot center of first steering wheel 212 coincide.Specifically, described
One steering gear body 211 is between first steering wheel 212 and the first flange 213, the drive of first steering gear body 211
Dynamic first steering wheel 212 relatively rotates, and the first steering wheel 212 drives the first flange 213 to occur by external structural member
It relatively rotates, to make the first switching part 21a have the effect of similar human body shoulder joint.
Further, the large arm 10 includes positioned at 211 side of the first steering gear body and close to the first flange
It 213 large arm left cover 11 and is adapted with the large arm left cover 11 and big positioned at 211 other side of the first steering gear body
Arm right cover 12, first steering gear body 211 is between the large arm left cover 11 and the large arm right cover 12.Specifically, institute
It states and is connected together between large arm left cover 11 and the large arm right cover 12, and turn with the opposite of first steering gear body 211
It moves and rotates.
Further, the first connecting hole 111 is offered in the large arm left cover 11, and institute is placed in the first flange 213
It states in the first connecting hole 111；The second connecting hole 121 is offered in the large arm right cover 12, and institute is placed in first steering wheel 212
It states in the second connecting hole 121.First flange 213 and the first steering wheel 212 are respectively from the first connecting hole 111 and the second connecting hole 121
Inside extend and is connected with external structural member.
Further, the second switching part 23a includes setting in 231 side of the second steering gear body and by described the
The driving of two steering gear bodies 231 its rotate and connect the second steering wheel 232 of the lower interconnecting piece 222 and be rotationally connected with described the
The other side of two steering gear bodies 231 and the second flange 233 being connected with the lower interconnecting piece 222, the second flange 233
Pivot center is overlapped with the pivot center of second steering wheel 232.Under the driving of the second steering gear body 231, the second steering wheel 232
It relatively rotates with the second steering gear body 231, the second steering wheel 232 drives the lower interconnecting piece 222 and by lower interconnecting piece 222
The second flange 233 is driven to relatively rotate with respect to the second steering gear body 231.To make the second switching part 23a that there is class
Like the effect of human elbow.
Further, the upper interconnecting piece 221 include the first bottom plate 2211 being connected with the lower interconnecting piece 222 and
A pair be connected to two edges of boards that are oppositely arranged in first bottom plate 2211 and towards extending away from 222 direction of lower interconnecting piece and
The first connecting plate 2212 being connected with first steering engine 21, first steering engine 21 are located at two pieces of first connecting plates
Between 2212；The lower interconnecting piece 222 includes the second bottom plate 2221 and one that side is connected with first bottom plate 2211
To being connected to two edges of boards being oppositely arranged in second bottom plate 2221 and towards the extended away from 221 direction of upper interconnecting piece
Two connecting plates 2222, second steering engine 23 is located between two pieces of second connecting plates 2222 and 233 He of the second flange
Second steering wheel 232 is connected with second connecting plate 2222 respectively.First bottom plate 2211 and second bottom
It is connected by bolt 223 between plate 2221, other connection types can also be used in other embodiments, for example weld.
Two piece of first connecting plate 2212 and two piece of second connecting plate 2222 by bolted connection respectively with the first steering engine sheet
Body 211 and the second switching part 23a are connected.
Further, the forearm 30 includes positioned at 231 side of the second steering gear body and close to the second flange
It 233 forearm left cover 31 and is adapted with the forearm left cover 31 and small positioned at 231 other side of the second steering gear body
Arm right cover 32, second steering gear body 231 is between the forearm left cover 31 and the forearm right cover 32.Specifically, institute
It states and is connected between forearm left cover 31 and the forearm right cover 32, and turn with the relative rotation of second steering gear body 231
It is dynamic.
Further, third connecting hole 311 is offered in the forearm left cover 31, institute is placed in the second flange 233
It states in third connecting hole 311；The 4th connecting hole 321 is offered in the forearm right cover 32, and institute is placed in second steering wheel 232
It states in the 4th connecting hole 321.The second flange 233 connects from third connecting hole 311 and the 4th respectively with second steering wheel 232
Hole 321 is connect to extend and with the lower interconnecting piece 222 be connected.
Further, further include palmar hand 40, described in free end installation of the forearm 30 far from the connection component 20
Palmar hand 40.Different palmar hands 40 can be arranged in anthropomorphic robot arm 100 according to actual working condition, to complete not
Same operation.
Further, the utility model additionally provides a kind of anthropomorphic robot (not shown) comprising people as described above
Anthropomorphic robot arm 100.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (10)
1. a kind of anthropomorphic robot arm, it is characterised in that：Including large arm, forearm and connect the large arm and the forearm
Connection component；The second rudder that the connection component includes the first steering engine being connected with the large arm, is connected with the forearm
The interconnecting piece of machine and connection first steering engine and second steering engine；The interconnecting piece includes being connected with first steering engine
The upper interconnecting piece connect and the lower interconnecting piece for being connected to the upper interconnecting piece and being connect with second steering engine；First steering engine
The first steering gear body for being connected with the upper interconnecting piece including one end and by first steering gear body drive its rotate and
The first switching part being connected with external structural member；Second steering engine includes the second steering engine sheet being connected with the forearm
Body and the second switching part for being driven it to rotate by second steering gear body and being connect with the lower interconnecting piece.
2. anthropomorphic robot arm according to claim 1, it is characterised in that：First switching part includes being arranged in institute
The first rudder stated the first steering gear body side and drive it to rotate and connect with external structural member by first steering gear body
Disk and be arranged in first steering gear body other side and be rotatablely connected with first steering gear body and with external structure
The first flange of part connection, the pivot center of the first flange and the pivot center of first steering wheel coincide.
3. anthropomorphic robot arm according to claim 2, it is characterised in that：The large arm includes being located at first rudder
Machine ontology side and close to the first flange large arm left cover and be adapted with the large arm left cover and be located at described first
The large arm right cover of the steering gear body other side, first steering gear body is between the large arm left cover and the large arm right cover.
4. anthropomorphic robot arm according to claim 3, it is characterised in that：The first company is offered in the large arm left cover
Hole is connect, is placed in the first flange in first connecting hole；Offer the second connecting hole in the large arm right cover, described
It is placed in one steering wheel in second connecting hole.
5. anthropomorphic robot arm according to any one of claims 1 to 4, it is characterised in that：The second switching part packet
It includes and is arranged in second steering gear body side and drives it to rotate by second steering gear body and connect the lower interconnecting piece
The second steering wheel and be rotationally connected with the other side of second steering gear body and be connected with the lower interconnecting piece second
Flange, the pivot center of the second flange and the pivot center of second steering wheel coincide.
6. anthropomorphic robot arm according to claim 5, it is characterised in that：The upper interconnecting piece includes and the lower company
The first bottom plate and a pair that socket part is connected are connected to two edges of boards being oppositely arranged in first bottom plate and towards away from described
Lower interconnecting piece direction extends and the first connecting plate for being connected with first steering engine, and first steering engine is located at two pieces described the
Between one connecting plate；The lower interconnecting piece includes that the second bottom plate that side is connected with first bottom plate and a pair are connected to
Two edges of boards that are oppositely arranged in second bottom plate and towards the second connecting plate extended away from the upper interconnecting piece direction, described the
Two steering engines are located between two pieces of second connecting plates and the second flange and second steering wheel are respectively with one described second
Connecting plate is connected.
7. anthropomorphic robot arm according to claim 6, it is characterised in that：The forearm includes being located at second rudder
Machine ontology side and close to the second flange forearm left cover and be adapted with the forearm left cover and be located at described second
The forearm right cover of the steering gear body other side, second steering gear body is between the forearm left cover and the forearm right cover.
8. anthropomorphic robot arm according to claim 7, it is characterised in that：Third company is offered in the forearm left cover
Hole is connect, is placed in the second flange in the third connecting hole；Offer the 4th connecting hole in the forearm right cover, described
It is placed in two steering wheels in the 4th connecting hole.
9. anthropomorphic robot arm according to claim 1, it is characterised in that：The anthropomorphic robot arm further includes hand
The palmar hand is installed in metacarpus, free end of the forearm far from the connection component.
10. a kind of anthropomorphic robot, it is characterised in that：Including anthropomorphic robot hand as described in any one of claim 1 to 9
Arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721569918.3U CN207710822U (en) | 2017-11-21 | 2017-11-21 | A kind of anthropomorphic robot arm and anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721569918.3U CN207710822U (en) | 2017-11-21 | 2017-11-21 | A kind of anthropomorphic robot arm and anthropomorphic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207710822U true CN207710822U (en) | 2018-08-10 |
Family
ID=63061690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721569918.3U Expired - Fee Related CN207710822U (en) | 2017-11-21 | 2017-11-21 | A kind of anthropomorphic robot arm and anthropomorphic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207710822U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3626406A1 (en) | 2018-09-24 | 2020-03-25 | Fruitcore Gmbh | Robot with complementary fixture assembly for connection of modules |
-
2017
- 2017-11-21 CN CN201721569918.3U patent/CN207710822U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3626406A1 (en) | 2018-09-24 | 2020-03-25 | Fruitcore Gmbh | Robot with complementary fixture assembly for connection of modules |
| WO2020064302A1 (en) | 2018-09-24 | 2020-04-02 | Fruitcore Gmbh | Robot having complementary fastening elements for connecting assemblies |
| JP2022502270A (en) * | 2018-09-24 | 2022-01-11 | フルーツコア ロボティックス ゲーエムベーハーfruitcore robotics GmbH | Robot with complementary fastening elements for assembly connection |
| US11518047B2 (en) | 2018-09-24 | 2022-12-06 | Fruitcore Robotics Gmbh | Robot having complementary fastening elements for connecting assemblies |
| EP4104977A1 (en) | 2018-09-24 | 2022-12-21 | fruitcore robotics GmbH | Robot having complementary fastening elements for connecting assemblies |
| JP7281538B2 (en) | 2018-09-24 | 2023-05-25 | フルーツコア ロボティックス ゲーエムベーハー | Robot with complementary fastening elements for assembly connection |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180810 Termination date: 20211121 |