CN201881383U - Arm of multi-joint humanoid massage robot - Google Patents
Arm of multi-joint humanoid massage robot Download PDFInfo
- Publication number
- CN201881383U CN201881383U CN2010206276991U CN201020627699U CN201881383U CN 201881383 U CN201881383 U CN 201881383U CN 2010206276991 U CN2010206276991 U CN 2010206276991U CN 201020627699 U CN201020627699 U CN 201020627699U CN 201881383 U CN201881383 U CN 201881383U
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Abstract
The utility model relates to an arm of a multi-joint humanoid massage robot, which belongs to the field of service robots. A shoulder joint which is provided with a swing parts is connected with an elbow joint which is provided with a rotary pair and the swing pair through a large arm, and the elbow joint is connected with a wrist joint which is provided with the rotary pair and the swing pair through a small arm. The arm of the multi-joint humanoid massage robot has the advantages that the structure is novel, simple and compact, the size is small, the weight is light, the connection of all the joints is reliable, a modularized design is adopted, the detachment is convenient, a motor line and a sensor line are built in, and the transmission relationship is simple; and the arm has the characteristics of five degrees of freedom, large scope of motion and is flexible; and the safety is strong, the reachability is strong, the coordinative movement of both hands is flexible, and the scope of application is wide.
Description
Technical field
The utility model belongs to the service robot field, refers in particular to the medical services equipment that can massage.
Background technology
China has entered aging society, and now the elderly population of China have reached 1.32 hundred million, and with average annual 3.30% speed sustainable growth, ever-increasing elderly population have huge demand to medical treatment and health care, become the great community service problem that China faces.Service robot can effectively be alleviated the present situation of medical worker's deficiency, improves the elderly and the disabled's quality of life, for positive role is played in the stable development of Chinese society.Yet lack the massage robot that to realize certain massage functions at present, in the structure of this massage robot, the massage robot arm is one of key device wherein, need it apish arm function to carry out various operations, promptly finish actions such as wrist revolution, wrist swing, ancon swing, ancon revolution, big arm swing, these all need people to develop.
Summary of the invention
The utility model provides a kind of multi-joint apery massage robot arm, to solve the problem that lacks the massage robot arm that can realize certain massage functions at present.
The technical scheme that the utility model is taked is: by have the secondary shoulder joint of swing by the big arm elbow joint secondary with having a rotary pair and swing is connected, this elbow joint by forearm with have rotary pair and be connected with the wrist joint of swinging pair.
The structure of the utility model shoulder joint is: first motor is fixedlyed connected with the shoulder motor cabinet, the shoulder motor cabinet is fixedlyed connected with shoulder support, the shoulder rotating shaft is connected with shoulder support, the shoulder connecting axle is connected with shoulder support, the shoulder bearing (ball) cover is fixedlyed connected with shoulder support, shoulder rotating shaft end cap and shoulder rotating shaft are fixed, and are connected to form the swing pair in shoulder joint, and big arm support is fixedlyed connected with shoulder rotating shaft, shoulder connecting axle.
The structure of the utility model elbow joint is: big arm support is fixedlyed connected with ancon pitch axis bearing, second motor links to each other with driving gear by straight end-face key, the gear shaft bearing holder (housing, cover) is on driving gear shaft, driving gear is meshed with driven gear, the driven gear cover is enclosed within on the ancon swinging axle and connects by fixed by nut, bearing gland one is fixedlyed connected with the ancon swinging mounting, screw is fixedlyed connected with the ancon swinging axle, bearing gland two is fixedlyed connected with the ancon swinging mounting, ancon the 3rd motor is connected with ring flange by the ancon motor screw, the ancon floating bearing is contained in the ring flange, and forearm is fixedlyed connected with ancon rotating shaft bearing seat.
The structure in the utility model wrist joint is: forearm is fixedlyed connected with the wrist axes bearing, the 4th motor delivery outlet and straight end-face key are fixedly linked, link to each other with driving gear shaft driven gear axle motion of straight end-face key, main drive gear bearing is enclosed within on the driving gear shaft, driving gear is meshed with driven gear, bearing gland is fixedlyed connected with the wrist rotary support, the wrist oscillation bearing is enclosed within on the wrist swinging axle, the 5th motor and wrist rotary support are fixed on the support end by wrist turning motor screw, and the 5th motor delivery outlet connects with the massage palmistry.
This arm can apish arm function carry out various operations, finishes actions such as wrist revolution, wrist swing, ancon swing, ancon revolution, big arm swing, and realizes certain massage functions by the Cooperation And Coordination action of both hands arm.
The utility model advantage is that novel structure, simple and compact, volume are little, in light weight, and each joint connects reliable and adopts modularized design, convenient disassembly, and motor lines, pickup wire are built-in, and drive connection is simple and clear; Arm has the characteristics of 5DOF, and the arm motion scope is big, flexible; High safety, accessibility are strong, the two hands coordination motion flexibly, applied range; Operation arm energy consumption is low, adopts direct current 24V power supply; The maximum massage of single massage arm strength: 〉=5kg.
Description of drawings:
Fig. 1 is the structural representation of the utility model multi-joint apery massage robot arm;
Fig. 2 is the structural representation in the utility model shoulder joint;
Fig. 3 is the structural representation of the utility model elbow joint;
Fig. 4 is the structural representation in the utility model wrist joint;
Fig. 5 is the corner schematic diagram of the utility model multi-joint apery massage robot arm.
The specific embodiment:
Consult Fig. 1, by have the secondary shoulder joint 1 of swing by big arm 2 elbow joint 3 secondary with having a rotary pair and swing is connected, this elbow joint 3 by forearm 4 with have rotary pair and be connected with the wrist joint 5 of swinging pair.
Consult Fig. 2, the structure of shoulder joint 1 is: first motor 103 is fixedlyed connected with shoulder motor cabinet 102, shoulder motor cabinet 102 is fixedlyed connected with shoulder support 101, shoulder rotating shaft 105 is connected with shoulder support 101, shoulder connecting axle 104 is connected with shoulder support 101, shoulder bearing (ball) cover 106 is fixedlyed connected with shoulder support 101, shoulder rotating shaft end cap 107 is fixing with shoulder rotating shaft 105, be connected to form the swing pair in shoulder joint 1, big arm support 2 is fixedlyed connected with shoulder rotating shaft 105, shoulder connecting axle 104.
Consult Fig. 3, the structure of elbow joint 3 is: big arm support 2 is fixedlyed connected with ancon pitch axis bearing 317, second motor 301 links to each other with driving gear 302 by straight end-face key 304, gear shaft bearing 305 is enclosed within on the driving gear shaft 306, driving gear 302 is meshed with driven gear 303, driven gear cover 309 is enclosed within on the ancon swinging axle 312 and connects by fixed by nut, bearing gland 1 is fixedlyed connected with ancon swinging mounting 310, screw 311 is fixedlyed connected with ancon swinging axle 312, bearing gland 2 308 is fixedlyed connected with ancon swinging mounting 310, ancon the 3rd motor 314 is connected with ring flange by ancon motor screw 315, ancon floating bearing 313 is contained in the ring flange, and forearm 4 is fixedlyed connected with ancon rotating shaft bearing seat 316.
Consult Fig. 4, the structure in wrist joint 5 is: forearm 4 is fixedlyed connected with wrist axes bearing 512, the 4th motor 501 delivery outlets and straight end-face key 502 are fixedly linked, link to each other with driving gear shaft 510 driven gear axle motion of straight end-face key 502, main drive gear bearing 501 is enclosed within on the driving gear shaft 510, driving gear 503 is meshed with driven gear 505, bearing gland 506 is fixedlyed connected with wrist rotary support 508, wrist oscillation bearing 507 is enclosed within on the wrist swinging axle 504, the 5th motor 511 is fixed on the support end with wrist rotary support 508 by wrist turning motor screw 509, and the 5th motor delivery outlet connects with the massage palmistry.
The rotary pair in each joint and swing pair are driven by a DC servo motor respectively.The shoulder joint of this multi-joint apery massage robot arm has one degree of freedom: motor drives big arm around I axle swing (range of movement-60 °-+60 °) by ring flange; The ancon joint is divided two sections: go up ancon, following ancon, last ancon has 1 free degree: motor is started the thorny arm longitudinal axis of arm revolution (180 ° of range of movement) by the gear pair driving-belt, and following ancon has 1 free degree: motor drives the thorny arm longitudinal axis revolution of forearm (range of movement-90 °+90 °) by ring flange; There are 2 frees degree in the wrist joint: motor drives the thorny arm longitudinal axis of wrist III axle swing (range of movement-90 °-+90 °), motor by ring flange by the gear pair transmission, drives massage winding by hand arm longitudinal axis revolution (range of movement-90 °-+90 °).This novel multi-joint apery massage robot arm, but left-right symmetry be installed on the robot health, its both arms are the tunable action under computer control, cooperatively interacts.Arm adopts the 5(redundancy) the degrees of freedom copy man structure, length and people's arm are similar.
Claims (4)
1. multi-joint apery massage robot arm is characterized in that: by have the secondary shoulder joint of swing by the big arm elbow joint secondary with having a rotary pair and swing is connected, this elbow joint by forearm with have rotary pair and be connected with the wrist joint of swinging pair.
2. multi-joint apery massage robot arm according to claim 1, it is characterized in that: the structure of shoulder joint is: first motor is fixedlyed connected with the shoulder motor cabinet, the shoulder motor cabinet is fixedlyed connected with shoulder support, the shoulder rotating shaft is connected with shoulder support, the shoulder connecting axle is connected with shoulder support, the shoulder bearing (ball) cover is fixedlyed connected with shoulder support, shoulder rotating shaft end cap and shoulder rotating shaft are fixed, be connected to form the swing pair in shoulder joint, big arm support is fixedlyed connected with shoulder rotating shaft, shoulder connecting axle.
3. multi-joint apery massage robot arm according to claim 1, it is characterized in that: the structure of elbow joint is: big arm support is fixedlyed connected with ancon pitch axis bearing, second motor links to each other with driving gear by straight end-face key, the gear shaft bearing holder (housing, cover) is on driving gear shaft, driving gear is meshed with driven gear, the driven gear cover is enclosed within on the ancon swinging axle and connects by fixed by nut, bearing gland one is fixedlyed connected with the ancon swinging mounting, screw is fixedlyed connected with the ancon swinging axle, bearing gland two is fixedlyed connected with the ancon swinging mounting, ancon the 3rd motor is connected with ring flange by the ancon motor screw, the ancon floating bearing is contained in the ring flange, and forearm is fixedlyed connected with ancon rotating shaft bearing seat.
4. multi-joint apery massage robot arm according to claim 1, it is characterized in that: the structure in wrist joint is: forearm is fixedlyed connected with the wrist axes bearing, the 4th motor delivery outlet and straight end-face key are fixedly linked, link to each other with driving gear shaft driven gear axle motion of straight end-face key, main drive gear bearing is enclosed within on the driving gear shaft, driving gear is meshed with driven gear, bearing gland is fixedlyed connected with the wrist rotary support, the wrist oscillation bearing is enclosed within on the wrist swinging axle, the 5th motor and wrist rotary support are fixed on the support end by wrist turning motor screw, and the 5th motor delivery outlet connects with the massage palmistry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206276991U CN201881383U (en) | 2010-11-28 | 2010-11-28 | Arm of multi-joint humanoid massage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206276991U CN201881383U (en) | 2010-11-28 | 2010-11-28 | Arm of multi-joint humanoid massage robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201881383U true CN201881383U (en) | 2011-06-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206276991U Expired - Fee Related CN201881383U (en) | 2010-11-28 | 2010-11-28 | Arm of multi-joint humanoid massage robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201881383U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431038A (en) * | 2011-10-28 | 2012-05-02 | 武汉需要智能技术有限公司 | Modular joint combination of mechanical arm with multiple degrees of freedom |
| CN103144102A (en) * | 2013-03-28 | 2013-06-12 | 南京妙手机电科技有限公司 | Mechanical arm with connecting module with two degrees of freedom |
| CN103273499A (en) * | 2013-05-08 | 2013-09-04 | 南京航空航天大学 | Compact type robot modularized joint and robot |
| CN103802127A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Axial type arm |
| CN103895032A (en) * | 2014-04-11 | 2014-07-02 | 成都三译智能技术有限公司 | Upper arm of robot |
| CN105171760A (en) * | 2015-06-01 | 2015-12-23 | 刘学勇 | Robot |
| CN106217357A (en) * | 2016-08-26 | 2016-12-14 | 北京工业大学 | Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot |
| CN107160379A (en) * | 2017-06-30 | 2017-09-15 | 安徽理工大学 | A kind of screw assembles special SCARA robots |
| CN107344360A (en) * | 2017-07-31 | 2017-11-14 | 广州大学 | A kind of double-degree-of-freedom robot module |
| CN107877539A (en) * | 2017-12-14 | 2018-04-06 | 深圳艾比仿生机器人科技有限公司 | Building block system joint and robot arm |
| CN108908309A (en) * | 2018-10-08 | 2018-11-30 | 哈尔滨工业大学 | A kind of mechanical arm device with eight degrees of freedom |
| CN111729790A (en) * | 2020-06-16 | 2020-10-02 | 湖北工业大学 | Movable paint spraying robot |
-
2010
- 2010-11-28 CN CN2010206276991U patent/CN201881383U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431038A (en) * | 2011-10-28 | 2012-05-02 | 武汉需要智能技术有限公司 | Modular joint combination of mechanical arm with multiple degrees of freedom |
| CN103802127A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Axial type arm |
| CN103144102A (en) * | 2013-03-28 | 2013-06-12 | 南京妙手机电科技有限公司 | Mechanical arm with connecting module with two degrees of freedom |
| CN103273499A (en) * | 2013-05-08 | 2013-09-04 | 南京航空航天大学 | Compact type robot modularized joint and robot |
| CN103273499B (en) * | 2013-05-08 | 2015-11-18 | 南京航空航天大学 | Compact machines people modularized joint and robot |
| CN103895032A (en) * | 2014-04-11 | 2014-07-02 | 成都三译智能技术有限公司 | Upper arm of robot |
| CN103895032B (en) * | 2014-04-11 | 2015-09-23 | 成都三译智能技术有限公司 | Robot upper arm |
| CN105171760B (en) * | 2015-06-01 | 2017-10-20 | 刘学勇 | Robot |
| CN105171760A (en) * | 2015-06-01 | 2015-12-23 | 刘学勇 | Robot |
| CN106217357A (en) * | 2016-08-26 | 2016-12-14 | 北京工业大学 | Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot |
| CN106217357B (en) * | 2016-08-26 | 2018-07-17 | 北京工业大学 | Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot |
| CN107160379A (en) * | 2017-06-30 | 2017-09-15 | 安徽理工大学 | A kind of screw assembles special SCARA robots |
| CN107160379B (en) * | 2017-06-30 | 2023-08-15 | 安徽理工大学 | Special SCARA robot of screw assembly |
| CN107344360A (en) * | 2017-07-31 | 2017-11-14 | 广州大学 | A kind of double-degree-of-freedom robot module |
| CN107877539A (en) * | 2017-12-14 | 2018-04-06 | 深圳艾比仿生机器人科技有限公司 | Building block system joint and robot arm |
| CN108908309A (en) * | 2018-10-08 | 2018-11-30 | 哈尔滨工业大学 | A kind of mechanical arm device with eight degrees of freedom |
| CN111729790A (en) * | 2020-06-16 | 2020-10-02 | 湖北工业大学 | Movable paint spraying robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110629 Termination date: 20121128 |