CN110355782A - A kind of robot arm - Google Patents
A kind of robot arm Download PDFInfo
- Publication number
- CN110355782A CN110355782A CN201910492133.8A CN201910492133A CN110355782A CN 110355782 A CN110355782 A CN 110355782A CN 201910492133 A CN201910492133 A CN 201910492133A CN 110355782 A CN110355782 A CN 110355782A
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- China
- Prior art keywords
- driving mechanism
- bevel gear
- motor
- worm gear
- forearm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot arms, comprising: a kind of robot arm, comprising: rotating platform pedestal；Large arm: inside has the first driving mechanism and the second driving mechanism, first driving mechanism is connect with the first bevel gear that one end inside large arm is arranged in, first bevel gear is meshed with second bevel gear, and second bevel gear is fixedly connected by the first bindiny mechanism with rotating platform pedestal；Forearm: it is connect by the second bindiny mechanism with the 4th bevel gear, 4th bevel gear is meshed with the third hand tap gear that the large arm other end is arranged in, third hand tap gear is connect with the second driving mechanism; third driving mechanism is equipped in forearm; third driving mechanism is connect with the 4th driving mechanism in forearm, and the 4th driving mechanism can be driven around the rotation of third driving mechanism axis；Handgrip mechanism: connecting with the 4th driving mechanism, and the 4th driving mechanism can drive the movement of handgrip, and robot arm reasonable gravity distribution of the invention is compact-sized, at low cost.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of robot arm.
Background technique
With the rapid development that mobile robot is applied, there is the mechanical arm of crawl function to have obtained on moving body extensively
General application.Inventors have found that power input mechanism (motor+retarder) is placed outside joint mostly by existing mechanical arm,
Motor cable is exposed to outside mechanical arm, is drawn motor cable by cable pipe clamp and is concentrated, and has not only influenced beauty but also to non-structural ring
Operation under border brings hidden danger, and the mechanical arm of a small number of internal cablings is at high cost by the way of harmonic speed reducer+rimless motor
It is high, it limits mobile robot and widely applies.Meanwhile power input mechanism is placed in joint, so that weight concentrates on
Joint not only increases the outer dimension of mechanical arm, and puts forward higher requirement to the driving torque of motor.
Summary of the invention
The purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, providing a kind of robot arm, there is structure
It is compact, low in cost, the characteristics of reasonable gravity distribution.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of robot arm, comprising:
Rotating platform pedestal；
Large arm: inside has the first driving mechanism and the second driving mechanism, and the first driving mechanism and setting are inside large arm
The first bevel gear of one end connects, and first bevel gear is meshed with second bevel gear, and second bevel gear passes through the first bindiny mechanism
It is fixedly connected with rotating platform pedestal；
Forearm: being connect by the second bindiny mechanism with the 4th bevel gear, and the 4th bevel gear and setting are another in large arm
The third hand tap gear at end is meshed, and third hand tap gear is connect with the second driving mechanism, and third driving mechanism, third are equipped in forearm
Driving mechanism is connect with the 4th driving mechanism in forearm, and the 4th driving mechanism can be driven to turn around third driving mechanism axis
It is dynamic.
Handgrip mechanism: connecting with the 4th driving mechanism, and the 4th driving mechanism can drive the movement of handgrip.
Further, first driving mechanism uses first motor, the output shaft of the first motor and the first cone tooth
Wheel connection, it is intra-articular that second bevel gear is arranged in large arm end is arranged first.
Further, first bindiny mechanism includes the first sleeve being fixedly connected with second bevel gear and and rotary flat
First ringfeder of platform pedestal connection, the first sleeve are connect with the first articulation, the first sleeve and the first ringfeder
Inner round portion is fixedly connected, and the outer perimeter section of first ringfeder is connect with the third arthrodesis that rotating platform pedestal is arranged.
Further, second driving mechanism uses the second motor, second motor output shaft and third hand tap gear
Connection, the 4th bevel gear are arranged in the second joint of large arm end setting.
Further, second bindiny mechanism includes the second sleeve being fixedly connected with the 4th bevel gear and is arranged small
Second ringfeder of arm end, the second sleeve and second joint are rotatablely connected, the inner ring of the second sleeve and the second ringfeder
Part is fixedly connected, and the outer perimeter section of second ringfeder is connect with the 4th arthrodesis of forearm end.
Further, the third driving mechanism is third motor, the 4th driving mechanism is the 4th motor, the third electricity
The output shaft of machine is fixedly connected with one end of connecting shaft, and the other end of connecting shaft is fixedly connected with the 4th motor.
Further, the connecting shaft is connected with conducting slip ring, the rotor-end of the conducting slip ring with connect axis connection, lead
The stator terminal of electric slip ring is fixedly installed, and the controlling cable of the 4th driving mechanism and the rotor-end of conducting slip ring connect, third
The controlling cable and conducting slip ring stator terminal cable of driving mechanism pass through forearm inner space and enter large arm inner space, and with the
The controlling cable of one driving mechanism and the second driving mechanism merges, and the controlling cable after merging passes through large arm and rotating platform pedestal
After draw.
Further, the handgrip mechanism includes handgrip seat, and the handgrip seat is connected with transmission mechanism, the transmission mechanism
It is connect with the first clamping jaw and the second clamping jaw, the 4th driving mechanism is connect with transmission mechanism, and the 4th driving mechanism can pass through
The opening and closing of transmission mechanism drive the first clamping jaw and the second clamping jaw.
Further, the transmission mechanism includes the first worm gear shaft and the second worm gear shaft with the rotation connection of handgrip seat, the
One worm gear shaft is fixed with the first worm gear, and the second worm gear shaft is fixed with the second worm gear, between the first worm gear and the second worm gear be equipped with
The worm screw of first worm gear and the engagement of the second worm gear, worm screw connect with the 4th driving mechanism, and the one of the first worm gear shaft and first connecting rod
End is fixedly connected, and the second worm gear shaft is fixedly connected with one end of second connecting rod, the other end of first connecting rod and the first jaw end
Hingedly, the other end of second connecting rod and the second jaw end are hinged, and the first clamping jaw is also hinged with third connecting rod one end, third connecting rod
The other end and handgrip seat are hinged, and third connecting rod is arranged in parallel with first connecting rod, and the second clamping jaw is also hinged with fourth link one end, the
The double leval jib other end and handgrip seat are hinged, and fourth link is arranged in parallel with second connecting rod.
Further, the forearm is also equipped with camera.
Beneficial effects of the present invention:
1. robot arm of the invention, the first driving mechanism and the second driving mechanism are arranged in inside large arm, third
Driving mechanism and the 4th driving mechanism are arranged in inside forearm, compact-sized, reasonable gravity distribution, the power output dress of mechanical arm
It is placed in inside large arm or forearm, avoids traditional mechanical arm weight and concentrate on joint, mechanical arm size is increased, to motor
The demanding defect of driving torque.
2. robot arm of the invention, motor control cable is arranged in inside large arm and forearm, is not exposed to machine
Outside tool arm, aesthetic effect is good, while will not bring security risk to the operation under non-structure environment.
3. robot arm of the invention, the first driving mechanism, the second driving mechanism, third driving mechanism and 4 wheel driven
Motivation structure is all made of common DC motor, at low cost, is conducive to the extensive use of robot arm.
4. robot arm of the invention, transmission mechanism forms parallelogram linkage, the first clamping jaw and
Two clamping jaws are parallelly opening-and-closing, suitable for the crawl under narrow environment to object.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not constitute the restriction to the application for explaining the application.
Fig. 1 is 1 overall structure diagram of the embodiment of the present invention；
Fig. 2 is 1 rotating platform schematic diagram of base structure of the embodiment of the present invention；
Fig. 3 is 1 rotating platform pedestal configuration schematic diagram of the embodiment of the present invention；
Fig. 4 is 1 large arm structural schematic diagram of the embodiment of the present invention；
Fig. 5 is A in Fig. 4 of the present invention to schematic cross-section；
Fig. 6 is 1 large arm configuration schematic diagram of the embodiment of the present invention；
Fig. 7 is 1 forearm structure schematic diagram of the embodiment of the present invention；
Fig. 8 is B in Fig. 7 of the present invention to schematic cross-section；
Fig. 9 is 1 forearm configuration schematic diagram of the embodiment of the present invention；
Figure 10 is 1 handgrip mechanism structural schematic diagram of the embodiment of the present invention；
Figure 11 is 1 handgrip mechanism schematic diagram of internal structure of the embodiment of the present invention；
Wherein, 1. rotating platform pedestal, 1-1. optoelectronic switch, 1-2. detection plate, 1-3. third joint, 1-4. first rise
Set, 2. large arm of 1-5. rotating electric machine, 2-1. large arm arm pipe, the first joint 2-2., 2-3. second joint, 2-4. first motor, 2-
5. first motor seat, 2-5-1. notch, 2-6. positioning ring, 2-7. bayonet, 2-8. first bevel gear, the joint 2-9. lid, 2-10. axis
Hold I, 2-11. axle sleeve I, 2-12. second bevel gear, 2-13. first sleeve, 2-14. bearing II, 2-15. round nut, 2-16. axis
Cover II, 2-17. bearing (ball) cover, the second motor of 2-18., 2-19. second sleeve, 2-20. shield, 2-21. third hand tap gear, 2-
22. the 4th bevel gear, 3. forearms, 3-1. forearm arm pipe, the 4th joint 3-2., the second ringfeder of 3-3., 3-4. third motor, 3-5.
4th motor, 3-6. third motor cabinet, 3-7. connecting shaft, 3-8. driving key, 3-9. drive sleeve, the 4th motor cabinet of 3-10., 3-
11. sliding bearing, 3-12. polytetrafluoro bearing shell, 3-13. conducting slip ring, 3-14. transmission shaft, 4. handgrip mechanisms, 4-1. install bottom
Plate, 4-2. side plate, the first worm gear shaft of 4-3., the second worm gear shaft of 4-4., the first worm gear of 4-5., the second worm gear of 4-6., 4-7. worm screw,
4-8. bearing III, 4-9. first connecting rod, the first clamping jaw of 4-10., 4-11. third connecting rod, 4-12. articulated shaft, 4-13. second connect
Bar, the second clamping jaw of 4-14., 4-15. fourth link.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In order to facilitate narration, if there is "upper", "lower", " left side " " right side " printed words in the present invention, only expression and attached drawing itself
Upper and lower, left and right direction it is consistent, not to structure rise restriction effect, it is only for convenient for description the present invention and simplification retouch
It states, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, and be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.
As background technique is introduced, existing robot arm is at high cost, and shape is big, wants to motor driving torque
It asks high and there is some potential safety problems, in view of the above-mentioned problems, present applicant proposes a kind of robot arms.
In a kind of exemplary embodiment embodiment 1 of the application, as shown in figs. 1-11, a kind of robot arm, including
Rotating platform pedestal 1, large arm 2, forearm 3 and handgrip mechanism 4 are equipped with camera 5 on the forearm, for grabbing to handgrip mechanism
The case where taking object carries out Image Acquisition, facilitates monitoring.
The rotating platform pedestal can be connect by screw with the car body for carrying mechanical arm, the rotating platform bottom
Seat uses existing rotating platform, is equipped with optoelectronic switch 1-1 and detection plate 1-2, is provided by rotating electric machine 1-5 it
Power, rotating electric machine can drive the output flange of rotating platform pedestal to make rotating motion.
The large arm includes large arm arm pipe 2-1, and inside has cavity, and the both ends of the large arm arm pipe are respectively equipped with the first pass
Save 2-2 and second joint 2-3, first joint and second joint are the tubular structure of L-type, including orthogonal first
The one end in joint portion and second joint portion, the first joint portion is sealed using joint lid 2-9, and the second joint portion includes straight
Diameter two parts of different sizes, wherein the lesser part of diameter can be inserted into large arm arm pipe, and using screw and large arm arm pipe into
Row is fixed.
The first driving mechanism and the second driving mechanism are equipped with inside the large arm arm pipe.
First driving mechanism uses first motor 2-4, and the first motor is fixedly connected with first motor seat 2-5,
The first motor seat is fixedly connected by screw with the second joint portion in the first joint, and first motor seat end is fixed with
The positioning ring 2-6 of semicircle shape structure, the positioning ring both ends are equipped with bulge-structure, and the bulge-structure can be caught in the first joint and set
In the bayonet 2-7 set, by using the positioning ring of different-thickness, the engagement of first bevel gear and second bevel gear bracket can be changed
Gap.
The output shaft of the first motor is connect with first bevel gear 2-8, and the first bevel gear is fixed with first gear
Axis, the first bevel gear are connected with first gear axis integral type, and first gear axis passes through the output shaft of flat key and first motor
It is fixedly connected, the first gear axis passes through the cavity being arranged in the middle part of first motor seat, and first gear axis passes through two I 2- of bearing
10 are rotatablely connected with first motor seat, and I 2-11 of axle sleeve is equipped between two bearings I.
The first bevel gear is meshed with the second bevel gear 2-12 in the first joint portion that the first joint is arranged in, institute
Second bevel gear is stated to connect with the first bindiny mechanism, first bindiny mechanism includes first sleeve 2-13, the first ringfeder 1-4,
The second bevel gear is fixedly connected with first sleeve, and the first sleeve is closed by the first of II 2-14 of bearing and the first joint
The rotation connection of section portion, the inner ring of bearing II are fixed on the positioning using round nut 2-15 and shaft sleeve II 2-16, the outer ring of bearing II
It is positioned and is fixed using bearing (ball) cover 2-17.
The first sleeve is fixedly connected with the inner round portion for the first ringfeder that rotating platform pedestal is arranged in, and described first
The outer perimeter section of ringfeder is connect with the third arthrodesis that rotating platform pedestal is arranged, and the third arthrodesis is in rotating platform
The output flange of pedestal, the third joint is also tubular structure, and one end is sealed using joint lid.
Second bevel gear connects by the way that the third joint 1-3 on first sleeve, the first ringfeder 1-4 and rotating platform pedestal is fixed
It connects, first motor work, first motor output shaft is able to drive first bevel gear rotation, while first bevel gear rotates, energy
It is enough to do rotary motion around second bevel gear axis, to drive large arm relative to the rotation of rotating platform pedestal.
The first sleeve is connect by the first ringfeder with third arthrodesis, easy to process, and first sleeve can also be with the
Three joints are directly fixedly connected.
Fan-shaped notch 2-5-1 is provided on the first motor seat, for passing through for controlling cable, the first cone tooth
The side of wheel is equipped with shield, and the shield 2-20 is fixedly connected with first motor seat, for preventing first bevel gear and control
Cable processed generates interference.
Second driving mechanism is the second motor 2-18, and second motor passes through the second motor cabinet and large arm arm Guan Gu
Fixed connection, the output shaft of second motor connects with third hand tap gear 2-21, third hand tap gear and positioned at large arm end second
Intra-articular 4th bevel gear 2-22 is meshed, and the 4th bevel gear connect with the second bindiny mechanism, and the 4th bevel gear passes through
Second bindiny mechanism connect with forearm, and the structure of second motor cabinet is identical as first motor holder structure, the second motor and
Third hand tap gear, the assembly method of the second motor cabinet and first motor are identical as the assembly method of first bevel gear, first motor seat,
The connection type and first motor seat of second motor cabinet and second joint are identical as the connection type in the first joint, herein without
Narration in detail.
Second bindiny mechanism includes the second sleeve 2-19 being fixedly connected with the 4th bevel gear, and the sleeve passes through axis
It holds and is rotatablely connected with second joint, the second sleeve is with the second ringfeder 3-3's for being fixed in the 4th joint 3-2 of forearm end
Inner round portion is fixedly connected, and the outer perimeter section of the second ringfeder is connect with the 4th arthrodesis.
Second motor is able to drive the rotation of third hand tap gear, and third hand tap gear drives the rotation of the 4th bevel gear, the 4th cone
Gear drives the rotation of second sleeve, and second sleeve drives the inner round portion rotation of the second ringfeder, utilizes the second ringfeder inner ring portion
Divide and the frictional force of outer perimeter section, the outer perimeter section of the second ringfeder drive the rotation of forearm.
Forearm includes forearm arm pipe 3-1, and third driving mechanism and the 4th driving mechanism are equipped in the forearm arm pipe, described
Third driving mechanism uses third motor 3-4, and the 4th driving mechanism uses the 4th motor 3-5, and the third motor passes through
Third motor cabinet 3-6 is fixedly connected with forearm arm pipe, and third motor cabinet is provided with the sector notch passed through for controlling cable, institute
The output shaft for stating third motor is fixedly connected with one end of connecting shaft 3-7, and the other end of connecting shaft is fixed with driving key 3-8, institute
It states driving key to connect with drive sleeve 3-9, drive sleeve is fixedly connected with the 4th motor cabinet 3-10, and the 4th motor is fixed on the 4th
On motor cabinet, the 4th motor cabinet is rotatablely connected by the medial surface of sliding bearing 3-11 and forearm arm pipe, third motor energy
The whole rotation around third electrical axis of the 4th motor, institute are enough driven by connecting shaft, driving key, drive sleeve and the 4th motor cabinet
State the polytetrafluoro bearing shell that the 4th motor cabinet is located at sliding bearing and is mounted on inside forearm arm pipe with annular boss, annular boss
Between 3-12, the 4th motor cabinet is fixed on the positioning by annular boss, sliding bearing and polytetrafluoro bearing shell, the polytetrafluoro axis
It watt is made of the bearing shell portion of two semi-annular shapes.
The connecting shaft uses stepped shaft structure, is equipped with conducting slip ring 3-13, the conducting slip ring in the connecting shaft
Rotor-end be fixedly connected with connecting shaft, the stator terminal of conducting slip ring is fixedly connected with third motor cabinet.
The controlling cable of 4th motor is connected to the rotor-end of conducting slip ring, the controlling cable and conducting slip ring of third motor
Stator end cable sequentially pass through after the sector notch of forearm, second sleeve, the second motor cabinet with first motor and the second motor
Controlling cable merge, controlling cable after merging is drawn after passing through large arm, first sleeve and third joint by rotating platform pedestal
Out.
First motor, the second motor, third motor and the 4th motor controlling cable be respectively positioned on inside large arm or forearm, control
Cable processed will not be exposed to exterior space, and aesthetic effect is good, and eliminate operation bring security risk under non-structure environment.
The output shaft of 4th motor is fixedly connected with transmission shaft 3-14, the transmission shaft and the fixed company of handgrip mechanism
It connects.
The handgrip mechanism includes handgrip seat, and the handgrip seat is connected with transmission mechanism, the transmission mechanism and the first folder
Pawl and the connection of the second clamping jaw, the handgrip seat are U-shaped structure, including mounting base 4-1 and are fixed on the sides of mounting base two sides
Plate 4-2, the transmission mechanism include worm gear shaft, worm gear, worm screw and connecting rod, and the of two parallelly distribute ons is equipped between two side plates
The both ends of one worm gear shaft 4-3 and the second worm gear shaft 4-4, the first worm gear shaft and the second worm gear shaft are connected by bearing and side plate rotation
It connects, the first worm gear 4-5 is fixedly connected with by spline on first worm gear shaft, is connected on second worm gear shaft by spline
It is fixed with the second worm gear 4-6, worm screw 4-7 is provided between first worm gear and the second worm gear, the worm screw and transmission shaft are solid
Fixed connection, the worm screw and mounting base are rotatablely connected by III 4-8 of bearing, and the bearing is positioned and consolidated using round nut
Fixed, the worm screw is meshed with the first worm gear and the second worm gear, and worm screw is able to drive the rotation of the first worm gear and the second worm gear, and
Drive the rotation of the first worm gear shaft and the second worm gear shaft respectively by the first worm gear and the second worm gear.
First worm gear shaft is fixedly connected with one end of first connecting rod 4-9, the other end of first connecting rod and the first clamping jaw
One end of 4-10 is hinged, and the other end of first clamping jaw is for clamping object, and the medium position of first clamping jaw is also with the
One end of three-link 4-11 is hinged, and the other end of third connecting rod is hinged by articulated shaft 4-12 and two side plates, second snail
Wheel shaft is fixedly connected with one end of second connecting rod 4-13, and the other end of second connecting rod and one end of the second clamping jaw 4-14 are hinged, the
The other end of two clamping jaws is used to clamp object, the medium position and fourth link 4-15 of second clamping jaw jointly with the first clamping jaw
One end it is hinged, the other end of fourth link is hinged by articulated shaft and two side plates, and the first clamping jaw and the second clamping jaw are used to press from both sides
The end for holding object is equipped with laciniation, for increasing and clamp the frictional force of object, guarantees clamping effect, first connecting rod,
First clamping jaw, third connecting rod constitute parallelogram linkage, and second connecting rod, the second clamping jaw, fourth link constitute parallel four
Side shape link mechanism, worm screw are able to drive the first worm gear shaft and the rotation of the second worm gear shaft, pass through first connecting rod, second connecting rod, the
Three-link and fourth link drive the first clamping jaw and the second clamping jaw to do parallel opening and closing campaign, thus realize clamping to object with
It unclamps, the first clamping jaw and the second clamping jaw use parallel opening and closing campaign, suitable for the crawl under narrow environment to object.
In the present embodiment, rotating platform pedestal can drive large arm, forearm and handgrip mechanism to do the rotation fortune along its axis
Dynamic, first motor is able to drive large arm and does rotation relative to rotating platform pedestal, and the second motor is able to drive large arm and forearm
The variation of direct angle, the third motor is able to drive the 4th motor and handgrip mechanism does the rotation around forearm axis, is suitble to
It is mounted on remote-controlled movement platform, object is grabbed.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of robot arm characterized by comprising
Rotating platform pedestal；
Large arm: inside has the first driving mechanism and the second driving mechanism, the first driving mechanism and setting one end inside large arm
First bevel gear connection, first bevel gear is meshed with second bevel gear, second bevel gear by the first bindiny mechanism with revolve
Turn platform base to be fixedly connected；
Forearm: being connect by the second bindiny mechanism with the 4th bevel gear, the 4th bevel gear and the large arm other end is arranged in
Third hand tap gear is meshed, and third hand tap gear is connect with the second driving mechanism, and third driving mechanism, third driving are equipped in forearm
Mechanism is connect with the 4th driving mechanism in forearm, and the 4th driving mechanism can be driven around the rotation of third driving mechanism axis；
Handgrip mechanism: connecting with the 4th driving mechanism, and the 4th driving mechanism can drive the movement of handgrip.
2. a kind of robot arm as described in claim 1, which is characterized in that first driving mechanism is using the first electricity
The output shaft of machine, the first motor is connect with first bevel gear, and the first pass of large arm end setting is arranged in second bevel gear
In section.
3. a kind of robot arm as claimed in claim 2, which is characterized in that first bindiny mechanism includes and second
The first sleeve and the first ringfeder being connect with rotating platform pedestal that bevel gear is fixedly connected, the first sleeve and the first joint
Rotation connection, the first sleeve are fixedly connected with the inner round portion of the first ringfeder, the outer perimeter section of first ringfeder and rotation
Turn the third arthrodesis connection of platform base setting.
4. a kind of robot arm as described in claim 1, which is characterized in that second driving mechanism is using the second electricity
Machine, second motor output shaft are connect with third hand tap gear, and the second joint of large arm end setting is arranged in the 4th bevel gear
It is interior.
5. a kind of robot arm as claimed in claim 4, which is characterized in that second bindiny mechanism includes and the 4th
Second sleeve that bevel gear is fixedly connected and the second ringfeder that forearm end is arranged in, the second sleeve and second joint rotate
Connection, the second sleeve are fixedly connected with the inner round portion of the second ringfeder, the outer perimeter section of second ringfeder and forearm end
The 4th arthrodesis connection of portion's setting.
6. a kind of robot arm as described in claim 1, which is characterized in that the third driving mechanism is third electricity
Machine, the 4th driving mechanism are the 4th motor, and the output shaft of the third motor is fixedly connected with one end of connecting shaft, connecting shaft
The other end is fixedly connected with the 4th motor.
7. a kind of robot arm as claimed in claim 6, which is characterized in that the connecting shaft is connected with conducting slip ring
Rotor-end, the stator terminal fixed setting of conducting slip ring, the controlling cable of the 4th driving mechanism and the rotor-end of conducting slip ring
Connection, the controlling cable and conducting slip ring stator terminal cable of third driving mechanism pass through forearm inner space and enter sky inside large arm
Between, and merge with the controlling cable of the first driving mechanism and the second driving mechanism, the controlling cable after merging passes through large arm and rotation
It is drawn after turning platform base.
8. a kind of robot arm as described in claim 1, which is characterized in that the handgrip mechanism includes handgrip seat, institute
It states handgrip seat and is connected with transmission mechanism, the transmission mechanism is connect with the first clamping jaw and the second clamping jaw, the 4th driving mechanism
It is connect with transmission mechanism, the 4th driving mechanism can drive the open and close of the first clamping jaw and the second clamping jaw by transmission mechanism
It closes.
9. a kind of robot arm as claimed in claim 8, which is characterized in that the transmission mechanism includes turning with handgrip seat
The first worm gear shaft and the second worm gear shaft of dynamic connection, the first worm gear shaft are fixed with the first worm gear, and the second worm gear shaft is fixed with second
Worm gear is equipped with the worm screw engaged with the first worm gear and the second worm gear, worm screw and the 4th driving between the first worm gear and the second worm gear
Mechanism connection, the first worm gear shaft are fixedly connected with one end of first connecting rod, and one end of the second worm gear shaft and second connecting rod is fixed to be connected
It connecing, the other end of first connecting rod and the first jaw end are hinged, and the other end of second connecting rod and the second jaw end are hinged, and first
Clamping jaw is also hinged with third connecting rod one end, and the third connecting rod other end and handgrip seat are hinged, and third connecting rod is parallel with first connecting rod to be set
It sets, the second clamping jaw is also hinged with fourth link one end, and the fourth link other end and handgrip seat are hinged, fourth link and second connecting rod
It is arranged in parallel.
10. a kind of robot arm as described in claim 1, which is characterized in that the forearm is also equipped with camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910492133.8A CN110355782A (en) | 2019-06-06 | 2019-06-06 | A kind of robot arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910492133.8A CN110355782A (en) | 2019-06-06 | 2019-06-06 | A kind of robot arm |
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| CN110355782A true CN110355782A (en) | 2019-10-22 |
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| CN201910492133.8A Pending CN110355782A (en) | 2019-06-06 | 2019-06-06 | A kind of robot arm |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111195895A (en) * | 2020-01-10 | 2020-05-26 | 山东科技大学 | Wheeled removes robot of grabbing medicine |
| CN111216123A (en) * | 2019-11-29 | 2020-06-02 | 深圳勇艺达机器人有限公司 | Humanoid robot arm control and fault diagnosis system |
| CN112222925A (en) * | 2020-10-30 | 2021-01-15 | 广州云也科技有限公司 | Workpiece feeding device for machining of numerical control machine tool |
| CN112466568A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Cable doubling structure, cable keysets, desktop arm and robot |
| CN112454328A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Rotary table of desktop mechanical arm, desktop mechanical arm and robot |
| CN112550509A (en) * | 2020-11-12 | 2021-03-26 | 武汉理工大学 | Foot joint structure of wheeled walking vehicle steering drive axle |
| CN113580183A (en) * | 2021-07-24 | 2021-11-02 | 苏州钧舵机器人有限公司 | Electric clamping jaw |
| CN113858211A (en) * | 2021-10-28 | 2021-12-31 | 深圳市大寰机器人科技有限公司 | Rotary clamping jaw |
| CN114161406A (en) * | 2021-12-22 | 2022-03-11 | 航天科工智能机器人有限责任公司 | Electric heavy-load mechanical arm based on closed chain mechanism and control method thereof |
| CN114475841A (en) * | 2022-01-24 | 2022-05-13 | 浙江闪龙信息技术有限公司 | Robot suitable for climbing electric pole |
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| CN101372097A (en) * | 2008-09-12 | 2009-02-25 | 山东大学 | Tower type robot arm and paw suitable for service location |
| CN201279777Y (en) * | 2008-09-26 | 2009-07-29 | 郭长青 | Miniature self-service ground robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216123A (en) * | 2019-11-29 | 2020-06-02 | 深圳勇艺达机器人有限公司 | Humanoid robot arm control and fault diagnosis system |
| CN111195895A (en) * | 2020-01-10 | 2020-05-26 | 山东科技大学 | Wheeled removes robot of grabbing medicine |
| CN112222925A (en) * | 2020-10-30 | 2021-01-15 | 广州云也科技有限公司 | Workpiece feeding device for machining of numerical control machine tool |
| CN112466568A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Cable doubling structure, cable keysets, desktop arm and robot |
| CN112454328A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Rotary table of desktop mechanical arm, desktop mechanical arm and robot |
| CN112550509A (en) * | 2020-11-12 | 2021-03-26 | 武汉理工大学 | Foot joint structure of wheeled walking vehicle steering drive axle |
| CN113580183A (en) * | 2021-07-24 | 2021-11-02 | 苏州钧舵机器人有限公司 | Electric clamping jaw |
| CN113858211A (en) * | 2021-10-28 | 2021-12-31 | 深圳市大寰机器人科技有限公司 | Rotary clamping jaw |
| CN114161406A (en) * | 2021-12-22 | 2022-03-11 | 航天科工智能机器人有限责任公司 | Electric heavy-load mechanical arm based on closed chain mechanism and control method thereof |
| CN114475841A (en) * | 2022-01-24 | 2022-05-13 | 浙江闪龙信息技术有限公司 | Robot suitable for climbing electric pole |
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Application publication date: 20191022 |