CN218576266U - Bionic arm - Google Patents

Abstract

The utility model relates to a bionic robot technical field discloses a bionic arm, including: a shoulder joint; the large arm comprises a connecting seat and a main body, the connecting seat is arranged on the shoulder joint in a front-back rotating manner, and the main body is arranged on the connecting seat in a left-right rotating manner; the large arm comprises a first arm and a second arm which are connected in a rotating mode, and the first arm and the second arm are always in the same straight line direction; the small arm comprises a third arm and a fourth arm which are rotatably connected, and the third arm is rotatably connected with the second arm; the third arm and the fourth arm are always in the same straight line direction; and the palm is rotatably arranged on the fourth arm. The utility model has the advantages of, thereby this bionical arm can simulate all degrees of freedom of real person's arm to satisfy the driving demand among the automotive test.

Description

Bionic arm

Technical Field

The utility model relates to a bionical robotechnology field especially relates to a bionical arm.

Background

With the continuous development of society, the biomimetic robot industry has gained vigorous development, and the biomimetic robot is a machine with high intelligence, and it controls through central processing unit, and the biomimetic robot needs a biomimetic arm structure at the during operation, and the biomimetic arm is an automatic operation device that can imitate some action functions of human hand and arm, in order to snatch or operate the instrument according to fixed procedure.

The traditional bionic arm structure has limited arm flexibility and cannot imitate various arm operations of a real person; especially in the automobile detection process, the existing bionic arm structure cannot simulate all degrees of freedom of the arm of a driver, and cannot meet the test requirement.

SUMMERY OF THE UTILITY MODEL

The above-mentioned not enough to prior art exists, the utility model aims to solve the technical problem that a can simulate the bionical arm of all degrees of freedom of people's hand is proposed.

The utility model provides a technical scheme that its technical problem adopted is, provides a bionic arm, including:

a shoulder joint;

the large arm comprises a connecting seat and a main body, the connecting seat is arranged on the shoulder joint in a front-back rotating manner, and the main body is arranged on the connecting seat in a left-right rotating manner; the large arm comprises a first arm and a second arm which are connected in a rotating mode, and the first arm and the second arm are always in the same straight line direction;

the small arm comprises a third arm and a fourth arm which are rotatably connected, and the third arm is rotatably connected with the second arm; the third arm and the fourth arm are always in the same straight line direction;

and the palm is rotatably arranged on the fourth arm.

Furthermore, a first rotating shaft and a first motor for driving the first rotating shaft to rotate are arranged on the shoulder joint, and one end of the connecting seat is connected with the first rotating shaft; the first arm is provided with a second rotating shaft and a second motor used for driving the first arm to rotate, and the connecting seat is sleeved on the second rotating shaft.

Furthermore, the first rotating shaft and the second rotating shaft are vertically arranged.

Further, be equipped with first fixed disk on the first arm, be equipped with the second fixed disk on the second arm and set up third motor on the second fixed disk, the output shaft of third motor with first fixed disk links to each other, in order to drive the second fixed disk is relative first fixed disk rotates.

Furthermore, a fixing seat is arranged on the third arm, a fourth motor is arranged on the second arm, and an output shaft of the fourth motor is connected with the fixing seat so as to drive the third arm to rotate around the output shaft of the fourth motor.

Furthermore, a third fixed disk and a fifth motor are arranged on the third arm, a fourth fixed disk is arranged on the fourth arm, and an output shaft of the fifth motor is connected with the fourth fixed disk.

Furthermore, a third rotating shaft and a sixth motor used for driving the third rotating shaft to rotate are arranged on the fourth arm, and the palm is arranged on the third rotating shaft.

Further, the shoulder joint includes continuous mount pad and adapter sleeve, the adapter sleeve is established on the connecting seat, first motor sets up on the mount pad, the output shaft of first motor wears to establish in the adapter sleeve.

Compared with the prior art, the utility model discloses following beneficial effect has at least:

in the utility model, the bionic arm comprises a shoulder joint, a big arm, a small arm and a palm which are sequentially and rotatably connected, the whole arm is connected with the shoulder of the robot through the shoulder joint, the big arm can rotate back and forth and left and right relative to the shoulder joint so as to realize the swinging and opening and closing of the arm, and the big arm is formed by rotatably connecting a first arm and a second arm so as to realize the integral rotation of the second arm and the small arm; simultaneously, the forearm comprises rotatable coupling's third arm and fourth arm, can realize the upset of palm through the rotation of fourth arm to simulate all degrees of freedom of real person's arm, drive the demand in order to satisfy the automotive test.

Drawings

FIG. 1 is a schematic view of the structure of the bionic arm of the present invention;

FIG. 2 is an exploded view of FIG. 1;

fig. 3 is a further exploded view of fig. 2.

In the figure:

100. a shoulder joint; 110. a first rotating shaft; 120. a first motor; 130. a mounting seat; 140. connecting sleeves; 200. a large arm; 210. a connecting seat; 220. a main body; 221. a first arm; 222. a second arm; 223. a second rotating shaft; 224. a second motor; 225. a first fixed disk; 226. a second fixed disk; 227. a third motor; 228. a fourth motor; 229. an output shaft of a fourth motor; 300. a small arm; 310. a third arm; 311. a fixed seat; 312. a third fixed disk; 313. a fifth motor; 320. a fourth arm; 321. a fourth fixed tray; 322. a connecting portion; 323. a third rotating shaft; 324. a sixth motor; 400. the palm of the hand.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

As shown in fig. 1-3, a bionic arm comprises: a shoulder joint 100; a large arm 200 including a connecting base 210 and a main body 220, the connecting base 210 being rotatably provided on the shoulder joint 100 in a front-rear direction, the main body 220 being rotatably provided on the connecting base 210 in a left-right direction; the large arm 200 comprises a first arm 221 and a second arm 222 which are rotatably connected, and the first arm 221 and the second arm 222 are always in the same straight line direction; a small arm 300 including a third arm 310 and a fourth arm 320 rotatably connected, the third arm 310 being rotatably connected with the second arm 222; and the third arm 310 and the fourth arm 320 are always in the same straight direction; and a palm 400 rotatably provided on the fourth arm 320.

Specifically, the shoulder joint 100 is used for being connected with a shoulder of the bionic robot, the main body 220 of the large arm 200 is connected to the shoulder joint 100 through the connecting seat 210, the connecting seat 210 can rotate around the shoulder joint 100 back and forth, namely, the swing of the large arm 200 is realized, meanwhile, the main body 220 can rotate around the connecting seat 210, the left and right rotation of the large arm 200 is realized, namely, the opening and closing of the large arm 200 is realized; the first arm 221 and the second arm 222 are rotatably connected, so that the second arm 222 and the small arm 300 connected with the second arm 222 can integrally rotate around the first arm 221, and further the small arm 300 can swing; the large arm 200 and the small arm 300 which are rotatably connected realize the rotation of the small arm 300 so as to adjust the size of an included angle between the large arm 200 and the small arm 300; the small arm 300 is composed of a third arm 310 and a fourth arm 320 which are rotatably connected, so that the turning of the palm 400 connected with the fourth arm 320 is realized, meanwhile, the palm 400 is rotatably arranged on the fourth arm 320, and the rotation of the palm 400 is further realized, so as to complete the flapping action; i.e. the whole arm structure can simulate all the degrees of freedom of a real person.

In this embodiment, the shoulder joint 100 is provided with a first rotating shaft 110 and a first motor 120 for driving the first rotating shaft 110 to rotate, and one end of the connecting seat 210 is connected to the first rotating shaft 110; the first arm 221 is provided with a second rotating shaft 223 and a second motor 224 for driving the first arm 221 to rotate, and the connecting seat 210 is sleeved on the second rotating shaft 223. In practical use, the connecting base 210 is connected to the shoulder joint 100 through the first rotating shaft 110, and the connecting base 210 is fixed to the first rotating shaft 110, so that the connecting base 210 and the main body 220 can be driven to rotate by the rotation of the first rotating shaft 110; under the driving of the second motor 224, the first arm 221 is rotated around the second rotating shaft 223, so that the main body 220 is integrally rotated left and right; preferably, the first rotating shaft 110 and the second rotating shaft 223 are perpendicular to each other, so that the main body 220 can rotate in different directions, and the main body 220 can rotate at any angle by the cooperation of the first motor 120 and the second motor 224.

Wherein, be equipped with first fixed disk 225 on the first arm 221, be equipped with second fixed disk 226 and setting on the second arm 222 third motor 227 on the second fixed disk 226, the output shaft of third motor 227 with first fixed disk 225 links to each other, in order to drive second fixed disk 226 rotates relatively first fixed disk 225. In practical use, the first fixing disk 225 is used as a mounting carrier of the second motor 224, the first fixing disk 225 and the second fixing disk 226 are connected through an output shaft of the third motor 227, and the second arm 222 can be driven by the third motor 227 to rotate around the circumference of the first arm 221, so that the second arm 222 and the small arm 300 connected to the second arm 222 can be overturned.

A fixed seat 311 is arranged on the third arm 310, a fourth motor 228 is arranged on the second arm 222, and an output shaft 229 of the fourth motor 228 is connected with the fixed seat 311 to drive the third arm 310 to rotate around the output shaft 229 of the fourth motor. In practice, the fourth motor 228 is mounted on the second fixing plate 226, the third arm 310 is fixed on the output shaft 229 of the fourth motor, and the rotation of the third arm 310, that is, the bending between the large arm 200 and the small arm 300, can be realized by the rotation of the output shaft 229 of the fourth motor.

The third arm 310 is further provided with a third fixed disk 312 and a fifth motor 313, the fourth arm 320 is provided with a fourth fixed disk 321, and an output shaft of the fifth motor 313 is connected with the fourth fixed disk 321. The third fixing plate 312 is connected to the fixing base 311, the fifth motor 313 is mounted on the third fixing plate 312, and the fourth fixing plate 321 is connected to an output shaft of the fifth motor 313 through a connecting portion 322 thereof, so that the fourth fixing plate 321 can rotate relative to the third fixing plate 312, thereby turning over the fourth arm 320 and the palm 400.

The fourth arm 320 is provided with a third rotating shaft 323 and a sixth motor 324 for driving the third rotating shaft 323 to rotate, and the palm 400 is disposed on the third rotating shaft 323. That is, the palm 400 is connected to the fourth arm 320 via the third rotating shaft 323, and the rotation of the palm 400 is realized by the driving of the sixth motor 324, and the rotation can simulate the flapping and pressing actions of a real person.

Preferably, the shoulder joint 100 includes a mounting base 130 and a connecting sleeve 140 connected to each other, the connecting sleeve 140 is sleeved on the connecting base 210, the first motor 120 is disposed on the mounting base 130, and an output shaft of the first motor 120 is disposed in the connecting sleeve 140 in a penetrating manner. That is, during actual installation, the first motor 120 is sleeved in the mounting seat 130, the mounting seat 130 is used for being connected with the shoulder of the robot, and the connecting sleeve 140 is arranged to cover the connecting portion 322 between the connecting seat 210 and the first rotating shaft 110, so as to improve the appearance.

In this scheme, this bionical arm overall structure reasonable in design through set up the motor in each arm festival to make bionical arm have all degrees of freedom of real man's arm, accomplished some meticulous operations, and satisfy the driving robot arm demand among the automobile test.

It should be noted that all the directional indicators (such as up, down, left, right, front, back, 8230; \8230;) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

Furthermore, the descriptions in the present application as to "first," "second," "a," etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating a number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "secured" are to be construed broadly, and thus, for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In addition, the technical solutions between the embodiments of the present invention can be combined with each other, but it is necessary to be able to be realized by a person having ordinary skill in the art as a basis, and when the technical solutions are contradictory or cannot be realized, the combination of such technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

Claims (8)

1. A bionic arm is characterized by comprising:

a shoulder joint;

the large arm comprises a connecting seat and a main body, the connecting seat is arranged on the shoulder joint in a front-back rotating manner, and the main body is arranged on the connecting seat in a left-right rotating manner; the large arm comprises a first arm and a second arm which are connected in a rotating mode, and the first arm and the second arm are always in the same straight line direction;

the small arm comprises a third arm and a fourth arm which are rotatably connected, and the third arm is rotatably connected with the second arm; the third arm and the fourth arm are always in the same straight line direction;

and the palm is rotatably arranged on the fourth arm.

2. A bionic arm as claimed in claim 1, wherein the shoulder joint is provided with a first rotating shaft and a first motor for driving the first rotating shaft to rotate, one end of the connecting base is connected with the first rotating shaft; the first arm is provided with a second rotating shaft and a second motor used for driving the first arm to rotate, and the connecting seat is sleeved on the second rotating shaft.

3. A biomimetic arm as claimed in claim 2, wherein the first pivot is perpendicular to the second pivot.

4. A bionic arm as claimed in claim 1, wherein the first arm is provided with a first fixing disc, the second arm is provided with a second fixing disc and a third motor arranged on the second fixing disc, and an output shaft of the third motor is connected with the first fixing disc to drive the second fixing disc to rotate relative to the first fixing disc.

5. A bionic arm as claimed in claim 1, wherein the third arm is provided with a mounting, the second arm is provided with a fourth motor, and an output shaft of the fourth motor is connected to the mounting to drive the third arm to rotate around an output shaft of the fourth motor.

6. A biomimetic arm as recited in claim 1, wherein a third fixing plate and a fifth motor are provided on the third arm, a fourth fixing plate is provided on the fourth arm, and an output shaft of the fifth motor is connected to the fourth fixing plate.

7. A bionic arm as claimed in claim 1, wherein the fourth arm is provided with a third rotating shaft and a sixth motor for driving the third rotating shaft to rotate, and the palm is disposed on the third rotating shaft.

8. A bionic arm as claimed in claim 2, wherein the shoulder joint comprises a mounting seat and a connecting sleeve connected with each other, the connecting sleeve is sleeved on the connecting seat, the first motor is arranged on the mounting seat, and the output shaft of the first motor is arranged in the connecting sleeve in a penetrating manner.

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