CN207953920U - A kind of arm structure of robot - Google Patents
A kind of arm structure of robot Download PDFInfo
- Publication number
- CN207953920U CN207953920U CN201721844437.9U CN201721844437U CN207953920U CN 207953920 U CN207953920 U CN 207953920U CN 201721844437 U CN201721844437 U CN 201721844437U CN 207953920 U CN207953920 U CN 207953920U
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- China
- Prior art keywords
- arm
- rotation axis
- shoulder
- motor
- driving mechanism
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Abstract
The utility model is related to robotic technology fields, disclose a kind of arm structure of robot, including shoulder, the first arm, the second arm, the third arm being rotatably connected successively, and respectively drive the first driving mechanism, the second driving mechanism, third driving mechanism, the 4th driving mechanism that shoulder, the first arm, the second arm, third arm rotate comprising four degree of freedom：Shoulder is for being rotationally connected with robot body to realize the swing of entire arm structure, first arm can be rotated around shoulder to be realized toward swinging inside and outside robot, second arm can realize that lifting or putting down for arm structure, the third arm can be such that the third arm is rotated toward left and right sides around second arm rotation around the rotation of the first arm.The arm structure of the utility model is four-degree-of-freedom structure, when being installed in robot together with the structure of crawl bottle, can complete a series of pouring work, pouring is efficient.
Description
Technical field
The utility model is related to robotic technology fields, more particularly to a kind of arm structure of robot.
Background technology
Mechanical automation is the development trend of mankind's activity.Robot is a kind of installations of automatic execution work,
For assisting or replacing human work, mankind commander can be not only received, but also the program of advance layout can be run, it can also basis
Principle program action formulated with artificial intelligence technology.
Currently, there is a kind of performance robot on the market, for serving the tea or pouring, but the robot is lacked there are following
Point：
1, efficiency is low：First, automatic tea-making machine or automatic drinks machine can not be detached from, robot must a pipe in tow
Road is walked, and an automatic tea-making machine or automatic drinks machine is occupied in work, and robot ambulation is slow, efficiency and its low,
It even lower than manually serves the tea water or drinks；
2, R＆D costs are high：Robot whole body lower articular very multiform is mainly walked using apery type at burden, is given
R＆D costs are increased in control algolithm.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of arm structure of robot, Neng Goushi
The rotation of existing multiple degree of freedom, it is simple in structure, and the structure of crawl bottle can be coordinated to be installed in robot together, you can it completes
A series of actions of pouring.
To achieve the goals above, the utility model provides a kind of arm structure of robot, is used for and robot body
Side connection comprising：Shoulder, for being connected to the robot body by center of rotation of the first rotation axis；First arm,
It is connected to the shoulder by center of rotation of the second rotation axis, second rotation axis is vertical with first rotation axis；Second
Arm；It is connected to first arm by center of rotation of third rotation axis, the third rotation axis is vertical with second rotation axis；
Third arm；It is connected to the second arm connection by center of rotation of the 4th rotation axis, the 4th rotation axis turns with the third
Moving axis intersects vertically；And respectively drive the shoulder, the first arm, second arm, the first driving mechanism of third arm rotation, the
Two driving mechanisms, third driving mechanism, the 4th driving mechanism.
Preferably, first driving mechanism includes the first motor that output shaft is connect with the shoulder, described
The output shaft of first motor constitutes first rotation axis；Second driving mechanism includes second be installed in the shoulder
The output shaft of motor, second motor is connected with first bevel gear transmission mechanism, the master of the first bevel gear transmission mechanism
Driving wheel is fixedly connected with the output shaft of second motor, the driven gear of the first bevel gear transmission mechanism and described second
Rotation axis is fixedly connected；The third driving mechanism includes the third motor being installed in second arm, the third motor
Output shaft be connected with second bevel gear transmission mechanism, the driving wheel of the second bevel gear transmission mechanism and the third motor
Output shaft be fixedly connected, the driven gear of the second bevel gear transmission mechanism is fixedly connected with the third rotation axis；Institute
It includes the 4th motor being installed in second arm to state the 4th driving mechanism, output shaft and the third of the 4th motor
Arm connects, and the output shaft of the 4th motor constitutes the 4th rotation axis.
Preferably, first rotation axis is parallel to horizontal plane.
Preferably, the shoulder, first arm, second arm, the third arm are hollow shell
Shape.
Preferably, the shoulder, the first arm, the second arm, third arm length ratio range be 1.5-2:3-3.5:
1:2.5-4。
Preferably, the shoulder, the first arm, the second arm, third arm length ratio be 1.5:3:1:3.
The utility model provides a kind of arm structure of robot, including be rotatably connected successively shoulder, the first arm,
Two arms, third arm, including four degree of freedom：Shoulder is for being rotationally connected with robot body to realize entire arm structure
Swing, the first arm can be rotated around shoulder realizes that the second arm can be in fact around the rotation of the first arm toward swinging inside and outside robot
Existing arm structure lifting or putting down, and the third arm can be such that the third arm turns toward left and right sides around second arm rotation
It is dynamic, by the cooperative motion of the arm structure in the crawl structure of cooperation bottle, a series of pouring action, knot can be completed
Structure is simple rotatable flexible.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the arm structure of robot in the utility model embodiment；
Fig. 2 is the sectional view along A-A of Fig. 1；
In figure, 10, shoulder；20, the first arm；30, the second arm；40, third arm；50, the first driving mechanism；51, the first electricity
Machine；60, the second driving mechanism；61, the second motor；62, first bevel gear transmission mechanism；70, third driving mechanism；71, third
Motor；72, second bevel gear transmission mechanism；80, the 4th driving mechanism；81, the 4th motor.
Specific implementation mode
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is not intended to limit the scope of the present invention for illustrating the utility model.
Shown in referring to Figures 1 and 2, a kind of arm structure of robot of the preferred embodiment in the utility model is used for and machine
The side of device human body connects comprising：Shoulder 10, for being connected to the robot sheet by center of rotation of the first rotation axis
Body；First arm 20 is connected to the shoulder 10 using the second rotation axis as center of rotation, second rotation axis with described first turn
Moving axis is vertical；Second arm 30；It is connected to first arm 20, the third rotation axis and institute by center of rotation of third rotation axis
It is vertical to state the second rotation axis；Third arm 40；Second arm 30 is connected to using the 4th rotation axis as center of rotation to connect, described the
Four rotation axis intersect vertically with the third rotation axis；And respectively drive the shoulder 10, the first arm 20, second arm 30,
The first driving mechanism 50, the second driving mechanism 60, third driving mechanism 70, the 4th driving mechanism 80 of the rotation of third arm 40.Institute
It includes four degree of freedom to state arm structure altogether：The shoulder 10 rotates the swing in the front-back direction that can realize entire arm structure,
The rotation of first arm 20 can be achieved to roll to each side to inside and outside, and the rotation of the second arm 30 can be achieved to lift and put down action, described
The rotation of third arm 40 can be such that it rotates to the left and right, and four degree of freedom cooperative motions can complete the shifting in top to bottom, left and right, front and rear direction
It is dynamic.The arm structure can coordinate the structure of crawl bottle to be installed in robot, can neatly complete a series of of pouring
Work, it is not necessary that the circulation duct of drinks is arranged again in the structure of robot, simple in structure and pouring is efficient.
Based on the above-mentioned technical proposal, a kind of arm structure of robot, the first driving mechanism 50 packet are provided in the present embodiment
The first motor 51 that output shaft is connect with the shoulder 40 is included, the output shaft of the first motor 51 constitutes first rotation
Axis；Second driving mechanism 60 includes the second motor 61 being installed in the shoulder, the output shaft of second motor 61
It is connected with first bevel gear transmission mechanism 62, the driving wheel of the first bevel gear transmission mechanism 62 and second motor 61
Output shaft is fixedly connected, and the driven gear of the first bevel gear transmission mechanism 62 is fixedly connected with second rotation axis；Institute
It includes the third motor 71 being installed in second arm 30 to state third driving mechanism 70, and the output shaft of the third motor 71 connects
It is connected to second bevel gear transmission mechanism 72, the driving wheel of the second bevel gear transmission mechanism 72 is defeated with the third motor 71
Shaft is fixedly connected, and the driven gear of the second bevel gear transmission mechanism 72 is fixedly connected with the third rotation axis；It is described
4th driving mechanism 80 includes the 4th motor 81 being installed in second arm 30, the output shaft of the 4th motor 81 and institute
The connection of third arm 40 is stated, the output shaft of the 4th motor 40 constitutes the 4th rotation axis.Each driving mechanism is disposed as electricity
Machine, not only of low cost and driving are sensitive reliable.
Preferably, in the present embodiment, above-mentioned each driving mechanism, such as motor component in order to facilitate the installation of, the shoulder 10,
First arm 20, second arm 30, the third arm 40 are hollow housing shape.
Specifically, in the arm structure of the utility model, first rotation axis is parallel to horizontal plane setting.
In the present embodiment, in order to make shoulder 10, the first arm 20, the second arm 30,40 cooperative motion of third arm complete pouring institute
The moving range needed, the shoulder 10, the first arm 20, the second arm 30, third arm 40 length ratio range be 1.5-2:3-
3.5:1:2.5-4。
Same purpose, the shoulder 10, the first arm 20, the second arm 30, third arm 40 length ratio be 1.5:3:
1:When 3, pouring is more flexible.
To sum up, the utility model embodiment provides a kind of arm structure of robot, including the shoulder being rotatably connected successively
Portion 10, the first arm 20, the second arm 30, third arm 40, including four degree of freedom：Shoulder 20 is for being rotationally connected with robot sheet
To realize the swing of entire arm structure, the first arm 20 can be rotated around shoulder 10 to be realized toward putting inside and outside robot body
Dynamic, the second arm 30 can realize lifting or putting down for arm structure around the rotation of the first arm 20, and the third arm 40 is around second arm
30 rotations can be such that the third arm 40 is rotated toward left and right sides, pass through cooperative motion the grabbing in cooperation bottle of the arm structure
Structure is taken, a series of pouring action can be completed, it is simple in structure rotatable flexible.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without deviating from the technical principle of the utility model, several improvement and replacement can also be made, these change
The scope of protection of the utility model is also should be regarded as into replacement.
Claims (6)
1. a kind of arm structure of robot, for being connect with the side of robot body, which is characterized in that including：
Shoulder, for being connected to the robot body by center of rotation of the first rotation axis；
First arm is connected to the shoulder by center of rotation of the second rotation axis, and second rotation axis is rotated with described first
Axis is vertical；
Second arm；Be connected to first arm using third rotation axis as center of rotation, the third rotation axis with described second turn
Moving axis is vertical；
Third arm；It is connected to second arm connection using the 4th rotation axis as center of rotation, the 4th rotation axis and described the
Three rotation axis intersect vertically；
And respectively drive the first driving mechanism, the second driving machine that the shoulder, the first arm, second arm, third arm rotate
Structure, third driving mechanism, the 4th driving mechanism.
2. arm structure as described in claim 1, which is characterized in that
First driving mechanism includes the first motor that output shaft is connect with the shoulder, the output shaft structure of the first motor
At first rotation axis,
Second driving mechanism includes the second motor being installed in the shoulder, and the output shaft of second motor is connected with
The output shaft of first bevel gear transmission mechanism, the driving wheel of the first bevel gear transmission mechanism and second motor, which is fixed, to be connected
It connecing, the driven gear of the first bevel gear transmission mechanism is fixedly connected with second rotation axis,
The third driving mechanism includes the third motor being installed in second arm, the output axis connection of the third motor
There are second bevel gear transmission mechanism, the driving wheel of the second bevel gear transmission mechanism and the output shaft of the third motor to fix
Connection, the driven gear of the second bevel gear transmission mechanism are fixedly connected with the third rotation axis,
4th driving mechanism includes the 4th motor being installed in second arm, the output shaft of the 4th motor and institute
The connection of third arm is stated, the output shaft of the 4th motor constitutes the 4th rotation axis.
3. arm structure as claimed in claim 2, which is characterized in that the shoulder, first arm, second arm, institute
State the housing shape that third arm is hollow.
4. arm structure as described in claim 1, which is characterized in that first rotation axis is parallel to horizontal plane.
5. the arm structure as described in any one of claim 1-4, which is characterized in that the shoulder, the first arm, the second arm,
The length ratio range of third arm is 1.5-2:3-3.5:1:2.5-4.
6. arm structure as described in claim 5, which is characterized in that the shoulder, the first arm, the second arm, third arm
Length ratio is 1.5:3:1:3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721844437.9U CN207953920U (en) | 2017-12-23 | 2017-12-23 | A kind of arm structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721844437.9U CN207953920U (en) | 2017-12-23 | 2017-12-23 | A kind of arm structure of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207953920U true CN207953920U (en) | 2018-10-12 |
Family
ID=63729567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721844437.9U Expired - Fee Related CN207953920U (en) | 2017-12-23 | 2017-12-23 | A kind of arm structure of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207953920U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972068A (en) * | 2017-12-23 | 2018-05-01 | 华南理工大学广州学院 | A kind of arm structure of robot |
-
2017
- 2017-12-23 CN CN201721844437.9U patent/CN207953920U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972068A (en) * | 2017-12-23 | 2018-05-01 | 华南理工大学广州学院 | A kind of arm structure of robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181012 Termination date: 20201223 |
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| CF01 | Termination of patent right due to non-payment of annual fee |