CN107984494A - A kind of apery service robot mechanical arm - Google Patents
A kind of apery service robot mechanical arm Download PDFInfo
- Publication number
- CN107984494A CN107984494A CN201711489112.8A CN201711489112A CN107984494A CN 107984494 A CN107984494 A CN 107984494A CN 201711489112 A CN201711489112 A CN 201711489112A CN 107984494 A CN107984494 A CN 107984494A
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- bolted
- connector
- shoulder
- forearm
- ancon
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- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 210000000245 forearm Anatomy 0.000 claims abstract description 68
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 26
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 23
- 210000000115 thoracic cavity Anatomy 0.000 claims abstract description 22
- 230000001360 synchronised effect Effects 0.000 claims description 21
- 239000003638 chemical reducing agent Substances 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 6
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 3
- 210000000038 chest Anatomy 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000013550 semantic technology Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The apery service robot mechanical arm of the present invention, including shoulder joint mechanism, big arm mechanism is connected with the lower end of the bolt of the shoulder joint mechanism, elbow joint mechanism is connected with the lower end of the bolt of the big arm mechanism, small arm mechanism is connected with the lower end of the bolt of the elbow joint mechanism；Shoulder joint mechanism is connected the shoulder of robot with chest by shoulder thoracic cavity connector；Elbow joint mechanism is connected by the U-shaped part of ancon with big arm mechanism, is connected by first ancon forearm connector with small arm mechanism；Small arm mechanism is connected by the second ancon forearm connector with elbow joint mechanism, is connected by forearm hand connector with arm；The apery service robot mechanical arm of the present invention is connected by multiple connection structures, and amount of articulation that can be movable is more；Shoulder driving motor, large arm driving motor, ancon driving motor and forearm driving motor are provided with apery service robot mechanical arm and improves load capacity.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of apery service robot mechanical arm.
Background technology
Apery service robot is limited to the limitation of intelligent sound semantic technology development, its mechanical arm is in human-computer interaction and people
Critically important effect is played in machine collaboration feature.And mostly there is activity and close in the existing apery service robot mechanical arm of in the market
Joint number is few, appearance and size and human dimension differ greatly with load capacity it is poor the shortcomings that, so as to cause the most apery of in the market
Service robot can be only done relatively simple action, and cannot complete the larger article carrying action of weight.
A kind of accordingly, it is desirable to provide apery service robot mechanical arm that turning joint number is more and load capacity is strong.
The content of the invention
It is an object of the invention to provide a kind of apery service robot mechanical arm, to solve the machinery of existing robot
Arm turning joint number is few and the problem of load capacity is poor.
To achieve the above object, the technical scheme is that：
A kind of apery service robot mechanical arm, including shoulder joint mechanism, connect in the lower end of the bolt of the shoulder joint mechanism
Big arm mechanism is connected to, elbow joint mechanism is connected with the lower end of the bolt of the big arm mechanism, in the lower end of the elbow joint mechanism
It has been bolted small arm mechanism.
Wherein, the shoulder joint mechanism includes shoulder thoracic cavity connector, passes through in the side of shoulder thoracic cavity connector
Bolt is fixed with the first motor fixing seat, and shoulder driving electricity has been bolted in the end of first motor fixing seat
Machine, has been bolted first harmonic decelerator in the opposite side of shoulder thoracic cavity connector, has subtracted in the first harmonic
One end of the remote shoulder thoracic cavity connector of fast device has been bolted U-shaped connector, slows down in the first harmonic
The edge of the end of one end of the close U-shaped connector of device has been bolted the first encoder, in the U-shaped connector
On be bolted the first encoder detection support of the L-type that one end is expressed on first encoder, in described U-shaped
The second motor fixing seat is bolted on the first baffle of connector, in second motor fixing seat and described U-shaped
It is provided with the T-shaped connector being fixedly connected with bolt and first harmonic decelerator between the second baffle of connector, described second
One end of harmonic speed reducer is fixed by bolts on the first baffle, and the T-shaped connector, which is rotatably connected in, is arranged in described second
On bearing in motor fixing seat；Second encoder and second encoder have been bolted on the outside of the first baffle
Detection support；It is bolted on the outer wall of the side of the remote shoulder driving motor of the first harmonic decelerator
There is shoulder motor driving plate；Shoulder large arm connector is screwed with by screw thread in the lower end of the T-shaped connector.
Wherein, shoulder thoracic cavity connector includes the first connector of plate-like and is integrally formed with first connector
The second connector；The screw thread being adapted with the first harmonic decelerator is equipped with the edge of first connector
Hole；The threaded hole being adapted with the first motor fixing seat is equipped with the edge of second connector.
Wherein, in one end of the close shoulder thoracic cavity connector of the first harmonic decelerator first is screwed with by screw thread
Synchronous pulley；The first synchronous cog belt is enclosed with the output terminal of shoulder driving motor, first synchronous cog belt
The other end is wrapped on first synchronous pulley to drive first harmonic decelerator.
Wherein, the big arm mechanism includes discoid third harmonic retarder, under the third harmonic retarder
The edge at end is bolted the 3rd encoder of annular shape, passes through bolt in the upper end of the third harmonic retarder
The first retarder end cap is fixed with, the large arm cartridge type of cylindrical shape is bolted in the upper end of the first retarder end cap
Part；
The 3rd motor fixing seat of convex is bolted in the upper end of the first retarder end cap, in described
The upper end of three motor fixing seats is bolted along the axially extending large arm of the large arm cartridge type part and drives motor；Institute
State large arm driving motor and third harmonic retarder is driven by the second synchronous pulley and the second synchronous cog belt；
The first circuit board stent and the second circuit board mount are bolted to first retarder respectively
On end cap；In being threaded with large arm drive circuit board on the first circuit board stent and the second circuit board mount.
Wherein, in being equipped with least two installation and adjustment window on the side wall of the large arm cartridge type part.
Wherein, the elbow joint mechanism includes the U-shaped part of ancon, in being bolted for the top of the U-shaped part of the ancon
There is the 4th motor fixing seat, being equipped with end thread in the top of the U-shaped part of the ancon is connected to the 4th motor fixing seat
On ancon driving motor, in the ancon driving motor output shaft on be screwed with motor shaft sleeve, in the U-shaped part of the ancon
Lower part is equipped with the 4th harmonic speed reducer fixed with bolt, has been bolted in one end of the 4th harmonic speed reducer
Ancon rotation axis, is screwed with retarder rotation axis, in the 4th harmonic reduction in the other end of the 4th harmonic speed reducer
The end of device is threadably secured the second retarder end cap being sheathed in the retarder rotation axis, U-shaped in the ancon
The lower part of part is bolted the bearing (ball) cover for the end for covering at the ancon rotation axis, in logical on the bearing (ball) cover
Cross bolt and be fixed with the 4th encoder, first ancon forearm has been bolted in the end of the 4th harmonic speed reducer
Connector.
Wherein, the small arm mechanism includes forearm cartridge type part, the forearm end cap in the inner cavity lower part of the forearm cartridge type part
On be bolted the 5th motor fixing seat, be bolted forearm drive in the upper end of the 5th motor fixing seat
Dynamic motor, is bolted the 5th encoder of annular shape, in described in the edge of the lower end of the forearm cartridge type part
The upper end of forearm cartridge type part is bolted the second ancon forearm to match with the first ancon forearm connector and connects
Fitting, forearm end cap has been bolted in the lower end of the forearm cartridge type part, is being arranged in the bearing of the forearm end cap
Forearm hand connector is inside installed with, is electrically connected in being bolted in the forearm cartridge type part with forearm driving motor
The forearm motor driving plate connect.
The invention has the advantages that：
The apery service robot mechanical arm of the present invention, including shoulder joint mechanism, in the lower end spiral shell of the shoulder joint mechanism
Tether and be connected to big arm mechanism, elbow joint mechanism is connected with the lower end of the bolt of the big arm mechanism, in the elbow joint mechanism
Lower end of the bolt is connected with small arm mechanism；
The shoulder joint mechanism can be connected the shoulder of robot and chest by shoulder thoracic cavity connector；Shoulder joint
Section mechanism can be connected the shoulder of robot with big arm mechanism by U-shaped connector, T-shaped connector and shoulder large arm connector
Get up；
The elbow joint mechanism is connected by the U-shaped part of ancon with big arm mechanism, by first ancon forearm connector and small
Arm mechanism is connected；
The small arm mechanism is connected by the second ancon forearm connector with elbow joint mechanism, passes through forearm hand connector
It is connected with arm；So apery service robot mechanical arm of the invention is just connected by multiple connection structures, can be lived
Dynamic amount of articulation is more, it is possible to achieve multi-motion；
Two shoulder driving motors are provided with the shoulder joint mechanism, large arm drive is provided with the big arm mechanism
Dynamic motor, is provided with ancon driving motor in the elbow joint mechanism, and forearm driving electricity is provided with the small arm mechanism
Machine, apery service robot mechanical arm of the present invention improve its load capacity by above-mentioned 5 high power motors, can carry weight
Measure the article of bigger.
Brief description of the drawings
Fig. 1 is the installation diagram of the apery service robot mechanical arm of the present invention.
Fig. 2 is type apery service robot mechanical arm shoulder joint mechanism of the present invention installation diagram.
Fig. 3 is the big arm mechanism installation diagram of type apery service robot mechanical arm of the present invention.
Fig. 4 is type apery service robot mechanical arm elbow joint mechanism of the present invention installation diagram.
Fig. 5 is the small arm mechanism installation diagram of type apery service robot mechanical arm of the present invention.
1- shoulder joint mechanism；11- shoulder motor driving plates；12- shoulders thoracic cavity connector；13- first harmonic decelerators；
14- shoulders drive motor；The first motor fixing seats of 15-；The first encoders of 16-；17- second encoders；18- second encoders are examined
Survey stent；19- the first encoder detection supports；110-U type connectors；The second motor fixing seats of 111-；112-T type connectors；
113- second harmonic retarders；114- shoulder large arm connectors；The big arm mechanisms of 2-；21- large arm drive circuit boards；The electricity of 22- first
Road board mount；23- third harmonic retarders；The 3rd encoders of 24-；25- large arm cartridge type parts；26- large arm drives motor；27-
Two circuit board supports；28- the first retarder end caps；The 3rd motor fixing seats of 29-；3- elbow joints mechanism；31- ancons driving electricity
Machine；The U-shaped part of 32- ancons；The 4th encoders of 33-；34- bearing (ball) covers；35- ancon rotation axis；36- motor shaft sleeves；The electricity of 37- the 4th
Machine fixed seat；38- the second retarder end caps；39- retarder rotation axis；The 4th harmonic speed reducers of 310-；311- first ancons are small
Arm connector；The small arm mechanisms of 4-；41- forearms drive motor；42- forearm cartridge type parts；The 5th motor fixing seats of 43-；44- the 5th is compiled
Code device；45- the second ancon forearm connectors；46- forearm motor driving plates；47- forearm end caps；48- forearm hand connectors.
Embodiment
Following embodiments are used to illustrate the present invention, but are not limited to the scope of the present invention.
Embodiment 1
The apery service robot mechanical arm of the present embodiment 1, including shoulder joint mechanism 1, under the shoulder joint mechanism 1
Terminal bolt is connected with big arm mechanism 2, elbow joint mechanism 3 is connected with the lower end of the bolt of the big arm mechanism 2, in the elbow joint
The lower end of the bolt of mechanism 3 is connected with small arm mechanism 4.
The shoulder joint mechanism 1 includes shoulder thoracic cavity connector 12, passes through in the side of shoulder thoracic cavity connector 12
Bolt is fixed with the first motor fixing seat 15, and shoulder driving has been bolted in the end of first motor fixing seat 15
Motor 14, first harmonic decelerator 13 has been bolted in the opposite side of shoulder thoracic cavity connector 12, in described
One end of the remote shoulder thoracic cavity connector 12 of one harmonic speed reducer 13 has been bolted U-shaped connector 110, in institute
The edge for stating the end of one end of the close U-shaped connector 110 of first harmonic decelerator 13 has been bolted the first volume
Code device 16, in being bolted L-type that one end is expressed on first encoder 16 on the U-shaped connector 110
First encoder detection support 19, is fixed in being bolted the second motor on the first baffle of the U-shaped connector 110
Seat 111, is provided between the second baffle of second motor fixing seat 111 and the U-shaped connector 110 and is fixed with bolt
The T-shaped connector 112 and first harmonic decelerator 113, one end of the second harmonic retarder 113 of connection are fixed by bolts to
On the first baffle, the T-shaped connector 112 is rotatably connected on the bearing being arranged in second motor fixing seat 111；In
Second encoder 17 and second encoder detection support 18 have been bolted on the outside of the first baffle；In described first
The driving of shoulder motor has been bolted on the outer wall of the side of the remote shoulder driving motor 14 of harmonic speed reducer 13
Plate 11；Shoulder large arm connector 114 is screwed with by screw thread in the lower end of the T-shaped connector 112.The shoulder thoracic cavity connection
First connector of part 12 including plate-like and with integrally formed second connector of first connector；In the described first connection
The edge of part is equipped with the threaded hole being adapted with the first harmonic decelerator 13；In the edge of second connector
It is equipped with the threaded hole being adapted with the first motor fixing seat 15.Connect in the close shoulder thoracic cavity of the first harmonic decelerator 13
One end of fitting 12 is screwed with the first synchronous pulley by screw thread；First is enclosed with the output terminal of shoulder driving motor 14
Synchronous cog belt, the other end of first synchronous cog belt are wrapped on first synchronous pulley to drive first harmonic to subtract
Fast device 13.
The shoulder joint mechanism 1 of the present embodiment 1 can be connected the chest of robot and shoulder by shoulder thoracic cavity connector 12
Pick up and, connected the shoulder of robot and large arm by U-shaped connector 110, T-shaped connector 112 and shoulder large arm connector 114
Pick up and, realize movement of the shoulder joint in Pitch and Roll both directions, improve the flexibility of manipulator motion；
Rotated in the control shoulder driving motor 14 of the shoulder motor driving plate 11, the shoulder driving motor 14 passes through
Synchronous pulley and synchronous cog belt drive first harmonic decelerator 13 to rotate, and U-shaped connector is driven by first harmonic decelerator 13
110th, T-shaped connector 112 and shoulder large arm connector 114 are rotated up in Pitch side, so as to fulfill shoulder joint mechanism 1 and greatly
The coordinated movement of various economic factors together of arm mechanism 2；There is provided shoulder joint mechanism 1 motion-promotion force by shoulder driving motor 14.
Embodiment 2
Further, embodiment 2 is to increase following feature and connection relation on the basis of embodiment 1：
The big arm mechanism 2 includes discoid third harmonic deceleration 23, in the lower end of the third harmonic retarder 23
Edge be bolted annular shape the 3rd encoder 24, pass through spiral shell in the upper end of the third harmonic retarder 23
Bolt is fixed with the first retarder end cap 28, and the big of cylindrical shape is bolted in the upper end of the first retarder end cap 28
Arm cylinder type part 25；The 3rd motor fixing seat 29 of convex is bolted in the upper end of the first retarder end cap 28,
It is bolted in the upper end of the 3rd motor fixing seat 29 along the axially extending big of the large arm cartridge type part 25
Arm drives motor 26；The large arm driving motor 26 drives third harmonic to subtract by the second synchronous pulley and the second synchronous cog belt
Fast device 23；In the both sides of the inner cavity of the large arm cartridge type part 25 first circuit board stent 22 and second is fixed with bolt respectively
Circuit board support 27；Driven in being threaded with large arm on the first circuit board stent 22 and the second circuit board mount 27
Dynamic circuit board 21.In being equipped with 3 installation and adjustment windows on the side wall of the large arm cartridge type part 25.
All structures of big arm mechanism 2 are installed and fixed by the present embodiment 2 with large arm cartridge type part 25, and this, simplifies installation
Process and internal wiring wiring, improve the stability of structure；The size and the size of shape and human body large arm of big arm mechanism 2 and
Shape approaches, easy to work instead of people；
Large arm drive circuit board 21 is fixed by the first circuit board stent 22 and the second circuit board mount 27
Firmly, the large arm drive circuit board 21 controls large arm driving motor 26 to operate, and third harmonic is driven by large arm driving motor 26
Retarder 23 rotates, most the movement output of large arm mechanism 2 at last.
Embodiment 3
Further, embodiment 3 is to increase following feature and connection relation on the basis of embodiment 2：
The elbow joint mechanism 3 includes the U-shaped part 32 of ancon, in being bolted for the top of the U-shaped part 32 of the ancon
There is the 4th motor fixing seat 37, be equipped with end thread in the top of the U-shaped part 32 of the ancon and be connected to the 4th motor and consolidate
Ancon driving motor 31 in reservation 37, in being screwed with motor shaft sleeve 36 on the output shaft of ancon driving motor 31, in institute
The lower part for stating the U-shaped part 32 of ancon is equipped with the 4th harmonic speed reducer 310 fixed with bolt, in the 4th harmonic speed reducer
310 one end has been bolted ancon rotation axis 35, and deceleration is screwed with the other end of the 4th harmonic speed reducer 310
Device rotation axis 39, has been threadably secured in the end of the 4th harmonic speed reducer 310 and has been sheathed on the retarder rotation axis
The second retarder end cap 38 on 39, has been bolted in the lower part of the U-shaped part 32 of the ancon and has covered at the ancon turn
The bearing (ball) cover 34 of the end of moving axis 35, in being bolted the 4th encoder 33 on the bearing (ball) cover 34, in described
The end of 4th harmonic speed reducer 310 has been bolted first ancon forearm connector 311.
The present embodiment 3 is connected all structures of elbow joint mechanism 3 by the U-shaped part 32 of ancon, thus by it is all with
The relevant parts of elbow joint are combined into an entirety, improve the strength and stability of elbow joint mechanism 3.
The ancon driving motor 31 passes through motor shaft sleeve 36, synchronous pulley, synchronous cog belt and retarder rotation axis 39
The 4th harmonic speed reducer 310 and ancon rotation axis 35 is driven to rotate, so as to output power；And connected by first ancon forearm
The movement of elbow joint mechanism 3 is delivered to small arm mechanism 4 by part 311.
The small arm mechanism 4 includes forearm cartridge type part 42, the forearm end cap in the inner cavity lower part of the forearm cartridge type part 42
The 5th motor fixing seat 43 has been bolted on 47, has been bolted in the upper end of the 5th motor fixing seat 43
Forearm drives motor 41, and the 5th coding of annular shape is bolted in the edge of the lower end of the forearm cartridge type part 42
Device 44, has been bolted in the upper end of the forearm cartridge type part 42 and has matched with the first ancon forearm connector 311
The second ancon forearm connector 45, be bolted forearm end cap 47 in the lower end of the forearm cartridge type part 42, worn
Forearm hand connector 48 is installed with the bearing of the forearm end cap 47, in passing through bolt in the forearm cartridge type part 42
It is fixed with the forearm motor driving plate 46 being electrically connected with forearm driving motor 41.
The present embodiment 3 is connected all parts of small arm mechanism 4 by forearm cartridge type part 42；The forearm cartridge type
The cylindrical-shaped structure that part 42 is integrally formed, its intensity is higher, and bearing capacity is stronger, and occupied space is smaller；In forearm cartridge type
Adjusting window is offered on the outer wall of part 42, easy to be debugged during installation and use；
The forearm motor driving plate 46 controls forearm driving motor 41 to run to drive small arm mechanism 4 to move；Forearm machine
Structure 4 moves hand exercise by 48 connect band of forearm hand connector, and elbow joint machine is connected by the second ancon forearm connector 45
The movement of elbow joint mechanism 3, can be delivered to small arm mechanism 4 by structure 3.
Although above with general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention, belong to the scope of protection of present invention.
Claims (8)
- A kind of 1. apery service robot mechanical arm, it is characterised in that：Including shoulder joint mechanism (1), in the shoulder joint mechanism (1) lower end of the bolt is connected with big arm mechanism (2), and elbow joint mechanism is connected with the lower end of the bolt of the big arm mechanism (2) (3), it is connected with small arm mechanism (4) in the lower end of the bolt of the elbow joint mechanism (3).
- 2. apery service robot mechanical arm according to claim 1, it is characterised in that：Shoulder joint mechanism (1) bag Shoulder thoracic cavity connector (12) is included, being bolted the first motor in the side of shoulder thoracic cavity connector (12) fixes Seat (15), has been bolted shoulder driving motor (14), in the shoulder in the end of first motor fixing seat (15) The opposite side of portion thoracic cavity connector (12) has been bolted first harmonic decelerator (13), in the first harmonic decelerator (13) one end of remote shoulder thoracic cavity connector (12) has been bolted U-shaped connector (110), in described first The edge of the end of one end of the close U-shaped connector (110) of harmonic speed reducer (13) has been bolted the first coding Device (16), in the L for one end is bolted on the U-shaped connector (110) being expressed on first encoder (16) First encoder detection support (19) of type, in being bolted second on the first baffle of the U-shaped connector (110) Motor fixing seat (111), sets between second motor fixing seat (111) and the second baffle of the U-shaped connector (110) It is equipped with the T-shaped connector (112) being fixedly connected with bolt and first harmonic decelerator (113), the second harmonic retarder (113) one end is fixed by bolts on the first baffle, and the T-shaped connector (112), which is rotatably connected in, is arranged in described second On bearing in motor fixing seat (111)；Be bolted on the outside of the first baffle second encoder (17) and Second encoder detection support (18)；In the one of the remote shoulder driving motor (14) of the first harmonic decelerator (13) Shoulder motor driving plate (11) has been bolted on the outer wall of side；Pass through screw thread in the lower end of the T-shaped connector (112) It is screwed with shoulder large arm connector (114).
- 3. apery service robot mechanical arm according to claim 2, it is characterised in that：Shoulder thoracic cavity connector (12) including plate-like the first connector and with integrally formed second connector of first connector；In the described first connection The edge of part is equipped with the threaded hole being adapted with the first harmonic decelerator (13)；In the edge of second connector Place is equipped with the threaded hole being adapted with the first motor fixing seat (15).
- 4. apery service robot mechanical arm according to claim 2, it is characterised in that：In the first harmonic decelerator (13) one end of close shoulder thoracic cavity connector (12) is screwed with the first synchronous pulley by screw thread；Electricity is driven in the shoulder The output terminal of machine (14) is enclosed with the first synchronous cog belt, and it is same that the other end of first synchronous cog belt is wrapped in described first Walk on belt wheel to drive first harmonic decelerator (13).
- 5. apery service robot mechanical arm according to claim 1, it is characterised in that：The big arm mechanism (2) includes Discoid third harmonic retarder (23), is bolted in the edge of the lower end of the third harmonic retarder (23) There is the 3rd encoder (24) of annular shape, the first deceleration has been bolted in the upper end of the third harmonic retarder (23) Device end cap (28), the large arm cartridge type part of cylindrical shape is bolted in the upper end of the first retarder end cap (28) (25)；The 3rd motor fixing seat (29) of convex is bolted in the upper end of the first retarder end cap (28), in institute The upper end for stating the 3rd motor fixing seat (29) is bolted along the axially extending big of the large arm cartridge type part (25) Arm driving motor (26)；The large arm driving motor (26) is humorous by the second synchronous pulley and the driving the 3rd of the second synchronous cog belt Ripple retarder (23)；The first circuit board stent (22) and the second circuit board mount (27) are bolted to described first and subtract respectively On fast device end cap (28)；It is threaded with the first circuit board stent (22) and the second circuit board mount (27) Large arm drive circuit board (21).
- 6. apery service robot mechanical arm according to claim 5, it is characterised in that：In the large arm cartridge type part (25) Side wall on be equipped with least two installation and adjustment window.
- 7. apery service robot mechanical arm according to claim 1, it is characterised in that：Elbow joint mechanism (3) bag The U-shaped part of ancon (32) is included, the 4th motor fixing seat (37) has been bolted in the top of the U-shaped part of the ancon (32), in The top of the U-shaped part of ancon (32) is equipped with the ancon driving that end thread is connected on the 4th motor fixing seat (37) Motor (31), in being screwed with motor shaft sleeve (36) on the output shaft of ancon driving motor (31), in the U-shaped part of the ancon (32) lower part is equipped with the 4th harmonic speed reducer (310) fixed with bolt, in the one of the 4th harmonic speed reducer (310) End has been bolted ancon rotation axis (35), and retarder is screwed with the other end of the 4th harmonic speed reducer (310) Rotation axis (39), has been threadably secured in the end of the 4th harmonic speed reducer (310) and has been sheathed on the retarder rotation The second retarder end cap (38) on axis (39), has been bolted in the lower part of the U-shaped part of the ancon (32) and has covered at institute The bearing (ball) cover (34) of the end of ancon rotation axis (35) is stated, is compiled in being bolted the 4th on the bearing (ball) cover (34) Code device (33), first ancon forearm connector has been bolted in the end of the 4th harmonic speed reducer (310) (311)。
- 8. apery service robot mechanical arm according to claim 7, it is characterised in that：The small arm mechanism (4) includes Forearm cartridge type part (42), in being bolted on the forearm end cap (47) of the inner cavity lower part of the forearm cartridge type part (42) Five motor fixing seats (43), forearm driving motor has been bolted in the upper end of the 5th motor fixing seat (43) (41), the 5th encoder (44) of annular shape is bolted in the edge of the lower end of the forearm cartridge type part (42), It is bolted what is matched with the first ancon forearm connector (311) in the upper end of the forearm cartridge type part (42) Second ancon forearm connector (45), forearm end cap (47) has been bolted in the lower end of the forearm cartridge type part (42), Forearm hand connector (48) is installed with being arranged in the bearing of the forearm end cap (47).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711489112.8A CN107984494A (en) | 2017-12-29 | 2017-12-29 | A kind of apery service robot mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711489112.8A CN107984494A (en) | 2017-12-29 | 2017-12-29 | A kind of apery service robot mechanical arm |
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| CN107984494A true CN107984494A (en) | 2018-05-04 |
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| CN201711489112.8A Withdrawn CN107984494A (en) | 2017-12-29 | 2017-12-29 | A kind of apery service robot mechanical arm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848979A (en) * | 2019-01-18 | 2019-06-07 | 浙江大学 | A kind of built-in multi-degree-of-freemechanical mechanical arm of driving cylinder |
| CN114378801A (en) * | 2022-01-19 | 2022-04-22 | 苏州艾利特机器人有限公司 | Speed reducer assembly integrated with encoder and multi-joint robot |
| CN115008447A (en) * | 2022-05-26 | 2022-09-06 | 北京化工大学 | Lightweight humanoid robot arm device based on belt transmission and rope transmission are mixed |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109848979A (en) * | 2019-01-18 | 2019-06-07 | 浙江大学 | A kind of built-in multi-degree-of-freemechanical mechanical arm of driving cylinder |
| CN109848979B (en) * | 2019-01-18 | 2023-10-20 | 浙江大学 | Driving cylinder built-in type multi-degree-of-freedom mechanical arm |
| CN114378801A (en) * | 2022-01-19 | 2022-04-22 | 苏州艾利特机器人有限公司 | Speed reducer assembly integrated with encoder and multi-joint robot |
| CN114378801B (en) * | 2022-01-19 | 2023-11-14 | 苏州艾利特机器人有限公司 | Speed reducer assembly of integrated encoder and multi-joint robot |
| CN115008447A (en) * | 2022-05-26 | 2022-09-06 | 北京化工大学 | Lightweight humanoid robot arm device based on belt transmission and rope transmission are mixed |
| CN115008447B (en) * | 2022-05-26 | 2024-06-21 | 北京化工大学 | Lightweight humanoid robot arm device based on belt transmission and rope transmission mixing |
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