CN209425474U - A kind of anthropomorphic robot arm structure - Google Patents
A kind of anthropomorphic robot arm structure Download PDFInfo
- Publication number
- CN209425474U CN209425474U CN201920149582.8U CN201920149582U CN209425474U CN 209425474 U CN209425474 U CN 209425474U CN 201920149582 U CN201920149582 U CN 201920149582U CN 209425474 U CN209425474 U CN 209425474U
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- CN
- China
- Prior art keywords
- arm
- driving motor
- anthropomorphic robot
- driving
- input shaft
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of anthropomorphic robot arm structures, including the first driving motor, the right end of first driving motor is sequentially connected with shoulder, the internal activity of the shoulder is equipped with the second driving motor, the internal activity of first arm is equipped with the 4th driving motor, the driving end of 4th driving motor is movably installed with input shaft, the lower end of the input shaft is movably installed with output shaft, the output shaft is movably arranged on the upper end of the second arm, the internal activity of second arm is equipped with the 5th driving motor, the driving end of 5th driving motor is movably installed with third arm, the internal activity of the third arm is equipped with electronics telescopic rod.The anthropomorphic robot arm structure, improves the scope of activities of arm, reduces the limitation of arm, the front end of arm can carry out the adjusting of length as needed, convenient for the operation of some long ranges work, and alleviate the weight and cost of arm, it is high-efficient suitable for multiple fields.
Description
Technical field
The utility model relates to anthropomorphic robot technical field, specially a kind of anthropomorphic robot arm structure.
Background technique
With the reach of science, the mechanical epoch gradually replace the artificial epoch, and the work for high-risk, people often use
Robot replaces.Robot is exactly a kind of high-tech machinery of human simulation, is by each turning joint, driving motor and control
The several majors such as terminal composition.
However existing anthropomorphic robot arm structure scope of activities is small in the market, limitation is big, and flexibility ratio is not strong enough, hand
Arm cannot carry out the adjusting of length as needed, and then the work of some long ranges can not be carried out, and can only be specified
Work, low efficiency is very more by joint, research and develop it is at high cost.
Utility model content
The purpose of this utility model is to provide a kind of anthropomorphic robot arm structures, to solve to mention in above-mentioned background technique
The anthropomorphic robot arm structure scope of activities having is small, and limitation is big, and flexibility ratio is not strong enough, arm cannot as needed into
The adjusting of row length, and then the work of some long ranges can not be carried out, and specified work can only be carried out, low efficiency, lead to
It crosses that joint is very more, researches and develops problem at high cost.
To achieve the above object, the utility model provides the following technical solutions: a kind of anthropomorphic robot arm structure, including
First driving motor, the right end of first driving motor are sequentially connected with shoulder, and the lower end of the shoulder offers steering slot,
The internal activity of the shoulder is equipped with the second driving motor, the driving end of second driving motor pass through the inner wall of shoulder with
The external activity installation of cabinet is installed, the driving end that the internal activity of the installation cabinet is equipped with third driving motor passes through peace
Installation case is flexibly connected with the upper end of the first arm, and the internal activity of first arm is equipped with the 4th driving motor, described
The driving end of 4th driving motor is movably installed with input shaft, and the input shaft is movably arranged on the inside of limit axle bed, described
Limit axle bed is movably arranged on mounting plate two sides in the first arm, and the lower end of the input shaft is movably installed with output shaft, described
Output shaft is movably arranged on the upper end of the second arm, and the internal activity of second arm is equipped with the 5th driving motor, described
The driving end of 5th driving motor is movably installed with third arm, and it is flexible that the internal activity of the third arm is equipped with electronics
Bar.
Preferably, the shoulder, the first arm, the second arm and third arm are hollow structure.
Preferably, the width for turning to slot is equal with the installation width of cabinet, and turns to upper surface and the installation cabinet of slot
It is poor that there are certain distances for upper surface.
Preferably, there are two second driving motor is symmetrical arranged about the vertical centerline of installation cabinet, and second
The driving end of driving motor and the outside of installation cabinet are mutually locked by lock screw.
Preferably, it is described limit axle bed about the first arm vertical centerline be symmetrical arranged there are two, and limit axle bed
It is socketed with the center of input shaft.
Preferably, the input shaft about the first arm vertical centerline be symmetrical arranged there are two, and input shaft with it is defeated
Shaft engagement connection.
Preferably, the right end of the left end of second arm and third arm mutually coincide, and the second arm and third hand
Arm is sequentially connected by the 5th driving motor.
Preferably, the electronics telescopic rod and third arm installation by adhering, and electronics telescopic rod and controlling terminal are electrical
Connection.
It is and existing humanoid compared with prior art, the utility model has the beneficial effects that the anthropomorphic robot arm structure
Robot arm configuration is compared, and is added to and is turned to slot, the second driving motor and electronics telescopic rod, by turning to slot and the second driving
The setting of motor improves the scope of activities of arm, reduces arm so that arm structure can rotate in perpendicular
Limitation, so that the front end of arm can carry out the adjusting of length as needed, is convenient for some long range works by electronics telescopic rod
The operation of work, and arm is integrally all made of hollow structure, alleviates the weight and cost of arm, is suitable for multiple fields, effect
Rate is high.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is the utility model schematic diagram of internal structure；
Fig. 3 is the utility model side structure schematic view；
Fig. 4 is the utility model input shaft and output shaft mounting structure schematic diagram.
In figure: 1, the first driving motor；2, shoulder；3, slot is turned to；4, the second driving motor；5, cabinet is installed；6, third
Driving motor；7, the first arm；8, the 4th driving motor；9, axle bed is limited；10, input shaft；11, output shaft；12, second-hand
Arm；13, the 5th driving motor；14, third arm；15, electronics telescopic rod.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-4 is please referred to, the utility model provides a kind of technical solution: a kind of anthropomorphic robot arm structure, including the
One driving motor 1, shoulder 2 turn to slot 3, the second driving motor 4, installation cabinet 5, third driving motor 6, the first arm 7, the
Four driving motors 8, limit axle bed 9, input shaft 10, output shaft 11, the second arm 12, the 5th driving motor 13, third arm 14
With electronics telescopic rod 15, the right end of the first driving motor 1 is sequentially connected with shoulder 2, and the lower end of shoulder 2, which offers, turns to slot 3, shoulder
The internal activity in portion 2 is equipped with the second driving motor 4, and the driving end of the second driving motor 4 passes through the inner wall and fitting machine of shoulder 2
The external activity of case 5 is installed, and the driving end that the internal activity of installation cabinet 5 is equipped with third driving motor 6 passes through installation cabinet 5
It is flexibly connected with the upper end of the first arm 7, the internal activity of the first arm 7 is equipped with the 4th driving motor 8, the 4th driving motor
8 driving end is movably installed with input shaft 10, and input shaft 10 is movably arranged on the inside of limit axle bed 9,9 activity peace of limit axle bed
The mounting plate two sides in the first arm 7, the lower end of input shaft 10 are movably installed with output shaft 11, and output shaft 11 is movably arranged on
The upper end of second arm 12, the internal activity of the second arm 12 are equipped with the 5th driving motor 13, the biography of the 5th driving motor 13
Moved end is movably installed with third arm 14, and the internal activity of third arm 14 is equipped with electronics telescopic rod 15；
Further, shoulder 2, the first arm 7, the second arm 12 and third arm 14 are hollow structure, mitigate arm
Whole quality, reduces research cost；
Further, steering slot 3 is wide equal with the installation width of cabinet 5, and turns to upper surface and the installation cabinet 5 of slot 3
That there are certain distances for upper surface is poor, it is ensured that arm can stable rotation in perpendicular, increase the scope of activities of arm；
Further, there are two the second driving motor 4 is symmetrical arranged about the vertical centerline of installation cabinet 5, and second
The driving end of driving motor 4 and the outside of installation cabinet 5 are mutually locked by lock screw, it is ensured that the rotation of arm, and be convenient for
Maintenance and replacement to the second driving motor 4；
Further, limit axle bed 9 about the first arm 7 vertical centerline be symmetrical arranged there are two, and limit axle bed 9
It is socketed with the center of input shaft 10, it is ensured that input shaft 10 is not in shake when rotating；
Further, input shaft 10 about the first arm 7 vertical centerline be symmetrical arranged there are two, and input shaft 10 with
The engagement connection of output shaft 11, it is ensured that input shaft 10 drives output shaft 11 to rotate, and then ensures the stable rotation of the second arm 12；
Further, the right end of the left end of the second arm 12 and third arm 14 mutually coincide, and the second arm 12 and the
Three arms 14 pass through the 5th driving motor 13 and are sequentially connected, it is ensured that the second arm 12 connect out smooth with third arm 14, mentions
The high aesthetics of appearance；
Further, electronics telescopic rod 15 and 14 installation by adhering of third arm, and electronics telescopic rod 15 and controlling terminal
It is electrically connected, the length of arm can be adjusted as needed, and then can operate to the work of long range.
Working principle: the first driving motor 1, the second driving motor 4, third driving motor 6, the 4th driving motor the 8, the 5th
Driving motor 13, electronics telescopic rod 15 are electrically connected with controlling terminal, the rotation of the first driving motor 1,1 band of the first driving motor
Dynamic shoulder 2, the second driving motor 4 drive installation cabinet 5 to rotate, and third driving motor 6 drives the rotation of the first arm 7,4 wheel driven
For dynamic motor 8 with driven input shaft 10, input shaft 10 drives output shaft 11, and output shaft 11 drives the rotation of the second arm 12, the 5th driving
Motor 13 drives third arm 14 to rotate, and completes the adjusting of arm angles, and electronics telescopic rod 15 stretches, so that arm is flexible
To designated place, the use of anthropomorphic robot arm structure is completed.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (8)
1. a kind of anthropomorphic robot arm structure, including the first driving motor (1), it is characterised in that: first driving motor
(1) right end is sequentially connected with shoulder (2), and the lower end of the shoulder (2), which offers, turns to slot (3), the inside of the shoulder (2)
It is movably installed with the second driving motor (4), the driving end of second driving motor (4) passes through inner wall and the installation of shoulder (2)
The external activity of cabinet (5) is installed, and the internal activity of installation cabinet (5) is equipped with the driving end of third driving motor (6)
It is flexibly connected across installation cabinet (5) with the upper end of the first arm (7), the internal activity of first arm (7) is equipped with the
The driving end of four driving motors (8), the 4th driving motor (8) is movably installed with input shaft (10), the input shaft (10)
It is movably arranged on the inside of limit axle bed (9), the limit axle bed (9) is movably arranged on the interior mounting plate two sides of the first arm (7),
The lower end of the input shaft (10) is movably installed with output shaft (11), and the output shaft (11) is movably arranged on the second arm (12)
Upper end, the internal activity of second arm (12) is equipped with the 5th driving motor (13), the 5th driving motor (13)
Driving end be movably installed with third arm (14), the internal activity of the third arm (14) is equipped with electronics telescopic rod
(15)。
2. a kind of anthropomorphic robot arm structure according to claim 1, it is characterised in that: the shoulder (2), first-hand
Arm (7), the second arm (12) and third arm (14) are hollow structure.
3. a kind of anthropomorphic robot arm structure according to claim 1, it is characterised in that: the width for turning to slot (3)
It is equal with the installation width of cabinet (5), and turn to the upper surface of slot (3) with install cabinet (5) that there are certain distances for upper surface is poor.
4. a kind of anthropomorphic robot arm structure according to claim 1, it is characterised in that: second driving motor
(4) there are two being symmetrical arranged about the vertical centerline of installation cabinet (5), and the driving end of the second driving motor (4) and installation
It is mutually locked by lock screw in the outside of cabinet (5).
5. a kind of anthropomorphic robot arm structure according to claim 1, it is characterised in that: the limit axle bed (9) is closed
There are two being symmetrical arranged in the vertical centerline of the first arm (7), and the center for limiting axle bed (9) and input shaft (10) is socketed.
6. a kind of anthropomorphic robot arm structure according to claim 1, it is characterised in that: the input shaft (10) about
There are two the vertical centerline of first arm (7) is symmetrical arranged, and input shaft (10) engages connection with output shaft (11).
7. a kind of anthropomorphic robot arm structure according to claim 1, it is characterised in that: second arm (12)
The right end of left end and third arm (14) mutually coincide, and the second arm (12) and third arm (14) pass through the 5th driving motor
(13) it is sequentially connected.
8. a kind of anthropomorphic robot arm structure according to claim 1, it is characterised in that: the electronics telescopic rod (15)
With third arm (14) installation by adhering, and electronics telescopic rod (15) and controlling terminal are electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920149582.8U CN209425474U (en) | 2019-01-29 | 2019-01-29 | A kind of anthropomorphic robot arm structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920149582.8U CN209425474U (en) | 2019-01-29 | 2019-01-29 | A kind of anthropomorphic robot arm structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209425474U true CN209425474U (en) | 2019-09-24 |
Family
ID=67977774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920149582.8U Expired - Fee Related CN209425474U (en) | 2019-01-29 | 2019-01-29 | A kind of anthropomorphic robot arm structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209425474U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111359193A (en) * | 2020-04-02 | 2020-07-03 | 杨树芬 | Fighting training robot |
| CN116690642A (en) * | 2023-08-07 | 2023-09-05 | 深圳慧闻智造技术有限公司 | Humanoid robot arm |
-
2019
- 2019-01-29 CN CN201920149582.8U patent/CN209425474U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111359193A (en) * | 2020-04-02 | 2020-07-03 | 杨树芬 | Fighting training robot |
| CN111359193B (en) * | 2020-04-02 | 2021-02-09 | 秦皇岛职业技术学院 | Fighting training robot |
| CN116690642A (en) * | 2023-08-07 | 2023-09-05 | 深圳慧闻智造技术有限公司 | Humanoid robot arm |
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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 |
Granted publication date: 20190924 Termination date: 20210129 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |