CN204893945U - Imitative articular housekeeping robot of human arm - Google Patents
Imitative articular housekeeping robot of human arm Download PDFInfo
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- CN204893945U CN204893945U CN201520704903.8U CN201520704903U CN204893945U CN 204893945 U CN204893945 U CN 204893945U CN 201520704903 U CN201520704903 U CN 201520704903U CN 204893945 U CN204893945 U CN 204893945U
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Abstract
Imitative articular housekeeping robot of human arm belongs to the machinery technical field of robot. The utility model discloses a solve that present robot arm exists that joint structure is too fat to move, self weight is big, bear a heavy burden than little and control loaded down with trivial details problem. The utility model discloses a body frame, shoulder joint, arm, wrist and hand claw, shoulder joint are installed in body frame upper end, and the swing of the one end of arm is installed in the shoulder joint, and the wrist is installed to the other end, and the wobbling action is realized to the relative arm of wrist, and the gyration of hand claw is installed on the wrist, and the hand claw includes hand claw base, claw and indicate the portion, and the claw is connected through axle and finger portion foundation, and the portion of finger sets up installs on hand claw base, the centre gripping motion of each articular turning pair and hand claw vice with the swing respectively by a servo motor drive. The utility model has the advantages that the whole structure is simple prompt compact, small, light in weight, each joint is connected reliably, and it is convenient to dismantle, and the flexibility is strong, and the range of application is wide.
Description
Technical field
The utility model relates to the housekeeping robot of apery class arm joint, belongs to robotic's technical field.
Background technology
Along with the progress of science and technology, the research application of robot is in continuous expansion, wherein the investigation and application of anthropomorphic robot is especially subject to common concern, and become one of most active study hotspot in field in intelligent robotics, anthropomorphic robot is in housekeeping, help the elderly, be used widely in the field of helping the disabled, he not only can complete and get it filled, pouring, thing got by refrigerator, open the door and assist the behaviors such as old man in, this robot can also complete family according to the requirement of owner and guard and look after the old,weak,sick and disabled personage and complete the task that the alternative mankind guard, simultaneously because arm take human arm as stencil design, directly can complete the task of many mankind explanation, such as: cleaning, help takes some mankind to hold tired, heavy thing, some things relatively scalded can also be taken, the task that originally can be completed by human arm structure can be completed, robotic manipulator is the representational complex component of most in humanoid robot system, that anthropomorphic robot completes the basis capturing operation and realize man-machine interaction, it is too fat to move to there is articulation structure in existing robot arm, own wt is large, bear a heavy burden more loaded down with trivial details with control than low, therefore the compactedness of its structural design, versatility and flexibility are the primary factor realizing arm Based Intelligent Control, the kinematic dexterity of mechanical arm simultaneously, security, the modularized design of stationarity and multi-freedom joint mechanism is a urgent problem.The key simultaneously evaluating robot motion flexibility is robot shoulder joint, elbow joint, the design of carpal movement mechanism with multiple degrees of freedom, and whether security is embodied in shoulder joint can realize self-locking, and modularization makes joint compact and be convenient to change.
Utility model content
The purpose of this utility model be have that articulation structure is too fat to move to solve existing robot arm, own wt is large, bear a heavy burden than little and control loaded down with trivial details problem, and then provides the housekeeping robot of apery class arm joint.
The technical solution of the utility model:
The housekeeping robot of apery class arm joint comprises body frame, shoulder joint, arm, wrist and paw, described shoulder joint is arranged on body frame upper end, one end of described arm swings and is arranged in shoulder joint, the other end is provided with wrist, wrist relative arm realizes wobbling action, paw revolution is arranged on wrist, described paw comprises paw pedestal, claw and finger, claw is connected by axle and finger, finger arranges and is arranged on paw pedestal, the rotary pair in described each joint and swinging pair, and the clamping movement of paw is respectively by a driven by servomotor.
Preferred: described shoulder joint comprises shoulder joint bracing frame and shoulder joint rotating mechanism, shoulder joint bracing frame is a kind of support housing being provided with three through holes, be provided with mounting flange in the housing of shoulder joint bracing frame, shoulder joint rotating mechanism is mounted on the mounting flange of shoulder joint bracing frame by shoulder joint rotating mechanism connector.
Preferred: described shoulder joint rotating mechanism comprises shoulder rotary mounting seat and arm mount pad, shoulder rotary mounting seat and arm mount pad are integrated the part processed, the installed surface of described shoulder rotary mounting seat is the flange mounting plane being arranged on shoulder joint axis, and the installed surface of arm mount pad is level flange mounting plane upward.
Preferred: be provided with arms swing motor in described arm mount pad, arm is connected and installed by axle and oscillating motor, thus completes the wobbling action of the relative shoulder joint of arm.
Preferred: described arm comprises forearm and postbrachium, the relative postbrachium of forearm carries out wobbling action.
Preferred: described forearm is provided with the first arm rotating part and first-hand arm swing portion, the first electric rotating machine is provided with in first-hand arm swing portion, first arm rotating part and the first electric rotating machine connect, and the first relatively first-hand arm swing portion of arm rotating part realizes spinning movement.
Preferred: described postbrachium is provided with the second arm rotating part and second-hand's arm swing portion, second-hand's arm swing is provided with the second electric rotating machine in portion, second arm rotating part and the second electric rotating machine connect, and the second arm rotating part relative second-hand's arm swing portion realizes spinning movement.
Preferred: the front end of described finger is provided with fingerboard cover, corresponding finger medial surface is provided with fingerboard pad.
The utility model has following beneficial effect: the housekeeping robot of apery class arm joint of the present utility model, in structural design, whole bionic mechanical arm is respectively in shoulder joint, elbow joint and wrist joint place are provided with multiple free degree, each joint is enable to complete revolution action and wobbling action, crawl can be completed to the various article in the service environments such as family by corresponding mode of operation by a series of interoperations of mechanical arm and mechanical paw simultaneously, the actions such as transmission and manipulation, the housekeeping robot of apery class arm joint of the present utility model, its overall structure simple and compact, volume is little, lightweight, each joint connects reliable, convenient disassembly, flexibility is strong, applied range.
Accompanying drawing explanation
Fig. 1 is the overall structure figure of the housekeeping robot of apery class arm joint;
Fig. 2 is the structural representation of shoulder joint;
Fig. 3 is the front view of shoulder joint rotating mechanism 7;
Fig. 4 is the profile of Fig. 3;
Fig. 5 is the structural representation of paw;
Fig. 6 is the overall structure partial sectional view of the housekeeping robot of apery class arm joint;
1-body frame in figure, 2-shoulder joint, 3-arm, 4-wrist, 5-paw, 6-shoulder joint bracing frame, 7-shoulder joint rotating mechanism, 8-paw pedestal, 9-claw, 10-finger, 11-shoulder rotary mounting seat, 12-arm mount pad, 13-forearm, 14-postbrachium, 15-first arm rotating part, the first-hand arm swing portion of 16-, 17-first electric rotating machine, 18-arms swing motor, 19-second arm rotating part, 20-second-hand's arm swing portion, 21-shoulder joint rotating mechanism connector, 22-first bevel gear, 23-second bevel gear, 24-second electric rotating machine.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 to Fig. 6 illustrates present embodiment, the housekeeping robot of the apery class arm joint of present embodiment comprises body frame 1, shoulder joint 2, arm 3, wrist 4 and paw 5, described shoulder joint 2 is arranged on body frame 1 upper end, one end of described arm 3 swings and is arranged in shoulder joint 2, the other end is provided with wrist 4, wrist 4 relative arm 3 realizes wobbling action, paw 5 revolution is arranged on wrist 4, described paw 5 comprises paw pedestal 8, claw 9 and finger 10, claw 9 is connected by axle and finger 10, finger 10 arranges and is arranged on paw pedestal 8, the rotary pair in described each joint and swinging pair, and the clamping movement of paw is respectively by a driven by servomotor.Setting like this, the torso portion (body frame 1) of the housekeeping robot of apery class arm joint mainly plays a support, simultaneously, at shoulder joint place, there is the rotation of both direction, one of them driving is arranged in body frame 1, can complete the revolution action of whole arm 3, and another driving is arranged in shoulder joint 2, the wobbling action of whole arm can be completed; In the utility model, the combination composition finger of claw 9 and finger 10, each finger has two frees degree, and each paw 5 comprises 3 finger mounted on paw pedestal 8, and directly driven as finger-joint by small-sized motor, each dactylus has fixing movement locus.
Detailed description of the invention two: composition graphs 1 illustrates present embodiment, the shoulder joint 2 described in housekeeping robot of the apery class arm joint of present embodiment comprises shoulder joint bracing frame 6 and shoulder joint rotating mechanism 7, shoulder joint bracing frame 6 is a kind of support housings being provided with three through holes, be provided with mounting flange in the housing of shoulder joint bracing frame 6, shoulder joint rotating mechanism 7 is mounted on the mounting flange of shoulder joint bracing frame 6 by shoulder joint rotating mechanism connector 21.Setting like this, shoulder joint bracing frame 6 manufactures a kind of housing with three through holes, and the upper end of housing is provided with semicircle mount pad, for installation control system, the lower end of shoulder joint bracing frame 6 is provided with flange mount pad, for being connected and installed with body 1, the rear side side of shoulder joint bracing frame 6 is also provided with installation and debugging hole simultaneously, convenient for maintaining or charging-up lubricant oil operation, in body 1, first bevel gear 22 is installed simultaneously, shoulder joint rotating mechanism 7 is set up by the first bevel gear 22 be provided with in the second bevel gear 23 and body 1 and is connected with a joggle, achieve the change of steering direction, thus achieve the gyration that shoulder joint rotating mechanism 7 drives arm 3.
Detailed description of the invention three: composition graphs 3 illustrates present embodiment, the shoulder joint rotating mechanism 7 described in housekeeping robot of the apery class arm joint of present embodiment comprises shoulder rotary mounting seat 11 and arm mount pad 12, shoulder rotary mounting seat 11 and arm mount pad 12 are integrated the part processed, the installed surface of described shoulder rotary mounting seat 11 is the flange mounting plane being arranged on shoulder joint 2 axis, and the installed surface of arm mount pad 12 is level flange mounting plane upward.Setting like this, shoulder joint rotating mechanism 7 is as the transferring element of arm 3 and shoulder joint 2, and its manner of execution has imitated the conventional action of human arm, enables integrated model complete revolution action and wobbling action.
Detailed description of the invention four: composition graphs 3 illustrates present embodiment, arms swing motor 18 is provided with in the arm mount pad 12 described in housekeeping robot of the apery class arm joint of present embodiment, arm 3 is connected and installed by axle and oscillating motor 18, thus completes the wobbling action of the relative shoulder joint 2 of arm 3.Setting like this, when the arms swing motor 18 be arranged in arm mount pad 12 works, arms swing motor 18 is by being arranged on axle in arm and pin arrangement drives arm 3 to complete horizontal hunting.
Detailed description of the invention five: composition graphs 6 illustrates present embodiment, the arm 3 described in housekeeping robot of the apery class arm joint of present embodiment comprises forearm 13 and postbrachium 14, and forearm 13 relatively postbrachium 14 carries out wobbling action.Setting like this, forearm 13 and postbrachium 14 can complete the action of arbitrfary point in robot ambulation space and position.
Detailed description of the invention six: composition graphs 6 illustrates present embodiment, the forearm 13 described in housekeeping robot of the apery class arm joint of present embodiment is provided with the first arm rotating part 15 and first-hand arm swing portion 16, the first electric rotating machine 17 is provided with in first-hand arm swing portion 16, first arm rotating part 15 and the first electric rotating machine 17 connect, and the first relatively first-hand arm swing portion 16 of arm rotating part 15 realizes spinning movement; Described postbrachium 14 is provided with the second arm rotating part 19 and second-hand's arm swing portion 20, the second electric rotating machine 24 is provided with in second-hand's arm swing portion 20, second arm rotating part 19 and the second electric rotating machine 24 connect, and the second arm rotating part 19 realizes spinning movement in second-hand's arm swing portion 20 relatively.Setting like this, the mechanical combination of forearm 13 and postbrachium 14 can improve the flexibility of robot running, expand the crawl space of robot mechanical arm, its forearm 13 and postbrachium 14 inside are connected and installed respectively by the first electric rotating machine 17 and the second electric rotating machine 24 connection reducer and the first arm rotating part 15 and the second arm rotating part 19, are realized the precision rotation action in first-hand arm swing portion 16 and second-hand's arm swing portion 20 like this by mechanical drive mode.
Detailed description of the invention seven: composition graphs 5 illustrates present embodiment, the front end of the finger 10 described in housekeeping robot of the apery class arm joint of present embodiment is provided with fingerboard cover, and corresponding finger medial surface is provided with fingerboard pad.Setting like this, sleeve-board and plate cushion material are PVC, silica gel material, so can increase the frictional force of finger, and such robot finger, when capturing article, has enough large crawl frictional force, avoids valuables landing to cause damage.
The exemplary illustration of present embodiment just to this patent, does not limit its protection domain, and those skilled in the art can also change, as long as no the Spirit Essence exceeding this patent, in the protection domain of this patent its local.
Claims (8)
1. the housekeeping robot of apery class arm joint, comprise body frame (1), shoulder joint (2), arm (3), wrist (4) and paw (5), it is characterized in that: described shoulder joint (2) is arranged on body frame (1) upper end, one end of described arm (3) swings and is arranged in shoulder joint (2), the other end is provided with wrist (4), wrist (4) relative arm (3) realizes wobbling action, paw (5) revolution is arranged on wrist (4), described paw (5) comprises paw pedestal (8), claw (9) and finger (10), claw (9) is connected by axle and finger (10), finger (10) arranges and is arranged on paw pedestal (8), the rotary pair in described each joint and swinging pair, and the clamping movement of paw is respectively by a driven by servomotor.
2. the housekeeping robot of apery class arm joint according to claim 1, it is characterized in that: described shoulder joint (2) comprises shoulder joint bracing frame (6) and shoulder joint rotating mechanism (7), shoulder joint bracing frame (6) is a kind of support housing being provided with three through holes, be provided with mounting flange in the housing of shoulder joint bracing frame (6), shoulder joint rotating mechanism (7) is mounted on the mounting flange of shoulder joint bracing frame (6) by shoulder joint rotating mechanism connector (21).
3. the housekeeping robot of apery class arm joint according to claim 2, it is characterized in that: described shoulder joint rotating mechanism (7) comprises shoulder rotary mounting seat (11) and arm mount pad (12), shoulder rotary mounting seat (11) and arm mount pad (12) are integrated the part processed, the installed surface of described shoulder rotary mounting seat (11) is for being arranged on the axial flange mounting plane of shoulder joint (2), and the installed surface of arm mount pad (12) is level flange mounting plane upward.
4. the housekeeping robot of apery class arm joint according to claim 3, it is characterized in that: in described arm mount pad (12), be provided with arms swing motor (18), arm (3) is connected and installed by axle and oscillating motor (18), thus completes the wobbling action of the relative shoulder joint (2) of arm (3).
5. the housekeeping robot of apery class arm joint according to claim 1, it is characterized in that: described arm (3) comprises forearm (13) and postbrachium (14), forearm (13) relatively postbrachium (14) carries out wobbling action.
6. the housekeeping robot of apery class arm joint according to claim 5, it is characterized in that: described forearm (13) is provided with the first arm rotating part (15) and first-hand arm swing portion (16), the first electric rotating machine (17) is provided with in first-hand arm swing portion (16), first arm rotating part (15) and the first electric rotating machine (17) connect, and the relatively first-hand arm swing portion (16) of the first arm rotating part (15) realizes spinning movement.
7. the housekeeping robot of apery class arm joint according to claim 5, it is characterized in that: described postbrachium (14) is provided with the second arm rotating part (19) and second-hand's arm swing portion (20), the second electric rotating machine (24) is provided with in second-hand's arm swing portion (20), second arm rotating part (19) and the second electric rotating machine (24) connect, and the second arm rotating part (19) realizes spinning movement in second-hand's arm swing portion (20) relatively.
8. the housekeeping robot of apery class arm joint according to claim 1, is characterized in that: the front end of described finger (10) is provided with fingerboard cover, and corresponding finger medial surface is provided with fingerboard pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520704903.8U CN204893945U (en) | 2015-09-11 | 2015-09-11 | Imitative articular housekeeping robot of human arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520704903.8U CN204893945U (en) | 2015-09-11 | 2015-09-11 | Imitative articular housekeeping robot of human arm |
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| CN204893945U true CN204893945U (en) | 2015-12-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520704903.8U Expired - Fee Related CN204893945U (en) | 2015-09-11 | 2015-09-11 | Imitative articular housekeeping robot of human arm |
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| CN (1) | CN204893945U (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105489088A (en) * | 2016-01-13 | 2016-04-13 | 宋纪元 | Voice bionic sign language bidirectional translation system |
| CN105643631A (en) * | 2016-03-23 | 2016-06-08 | 武汉科技大学 | Tea pouring robot |
| CN105945968A (en) * | 2016-07-11 | 2016-09-21 | 中国地质大学（武汉） | Joint type dulcimer playing 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 |
| CN106346456A (en) * | 2016-11-24 | 2017-01-25 | 成都炬石科技有限公司 | Humanoid mechanical arm and robot |
| CN107042507A (en) * | 2017-03-16 | 2017-08-15 | 广东省智能制造研究所 | A kind of multiple degrees of freedom driving arm and the tow-armed robot using the arm |
| CN107116571A (en) * | 2017-05-22 | 2017-09-01 | 中新智擎科技有限公司 | A kind of multivariant robot arm and robot |
| CN107160366A (en) * | 2017-06-20 | 2017-09-15 | 成都黑盒子电子技术有限公司 | One kind service articulated robot arm structure and joint angle correction method |
| CN107498539A (en) * | 2017-08-29 | 2017-12-22 | 广州中国科学院先进技术研究所 | A kind of asymmetric double robot arm device |
| CN107953359A (en) * | 2017-12-23 | 2018-04-24 | 华南理工大学广州学院 | A kind of robot manipulator structure of robot |
| CN107972046A (en) * | 2017-12-23 | 2018-05-01 | 华南理工大学广州学院 | A kind of feast robot |
| CN108247672A (en) * | 2018-02-08 | 2018-07-06 | 河源市勇艺达科技有限公司 | Robot shoulder joint steering mechanism |
| CN110039509A (en) * | 2019-05-14 | 2019-07-23 | 西安工业大学 | A kind of wired home robot and its method |
| CN110315512A (en) * | 2019-07-24 | 2019-10-11 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Tow-armed robot |
| CN110815235A (en) * | 2019-09-23 | 2020-02-21 | 苏州商信宝信息科技有限公司 | Intelligent shopping service method and system based on data matching |
| US20200182337A1 (en) * | 2018-12-11 | 2020-06-11 | Ubtech Robotics Corp | Robot and arm assembly thereof |
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2015
- 2015-09-11 CN CN201520704903.8U patent/CN204893945U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105489088A (en) * | 2016-01-13 | 2016-04-13 | 宋纪元 | Voice bionic sign language bidirectional translation system |
| CN105643631A (en) * | 2016-03-23 | 2016-06-08 | 武汉科技大学 | Tea pouring robot |
| CN105945968A (en) * | 2016-07-11 | 2016-09-21 | 中国地质大学（武汉） | Joint type dulcimer playing robot |
| CN105945968B (en) * | 2016-07-11 | 2018-02-27 | 中国地质大学（武汉） | A kind of joint type dulcimer plays 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 |
| 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 |
| CN106346456A (en) * | 2016-11-24 | 2017-01-25 | 成都炬石科技有限公司 | Humanoid mechanical arm and robot |
| CN107042507A (en) * | 2017-03-16 | 2017-08-15 | 广东省智能制造研究所 | A kind of multiple degrees of freedom driving arm and the tow-armed robot using the arm |
| CN107116571A (en) * | 2017-05-22 | 2017-09-01 | 中新智擎科技有限公司 | A kind of multivariant robot arm and robot |
| CN107160366A (en) * | 2017-06-20 | 2017-09-15 | 成都黑盒子电子技术有限公司 | One kind service articulated robot arm structure and joint angle correction method |
| CN107498539A (en) * | 2017-08-29 | 2017-12-22 | 广州中国科学院先进技术研究所 | A kind of asymmetric double robot arm device |
| CN107953359A (en) * | 2017-12-23 | 2018-04-24 | 华南理工大学广州学院 | A kind of robot manipulator structure of robot |
| CN107972046A (en) * | 2017-12-23 | 2018-05-01 | 华南理工大学广州学院 | A kind of feast robot |
| CN107972046B (en) * | 2017-12-23 | 2024-03-19 | 华南理工大学广州学院 | Feast robot |
| CN108247672A (en) * | 2018-02-08 | 2018-07-06 | 河源市勇艺达科技有限公司 | Robot shoulder joint steering mechanism |
| CN108247672B (en) * | 2018-02-08 | 2023-09-22 | 河源市勇艺达科技有限公司 | Robot shoulder joint steering mechanism |
| US20200182337A1 (en) * | 2018-12-11 | 2020-06-11 | Ubtech Robotics Corp | Robot and arm assembly thereof |
| US10927931B2 (en) * | 2018-12-11 | 2021-02-23 | Ubtech Robotics Corp | Robot and arm assembly thereof |
| CN110039509A (en) * | 2019-05-14 | 2019-07-23 | 西安工业大学 | A kind of wired home robot and its method |
| CN110315512A (en) * | 2019-07-24 | 2019-10-11 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Tow-armed robot |
| CN110815235A (en) * | 2019-09-23 | 2020-02-21 | 苏州商信宝信息科技有限公司 | Intelligent shopping service method and system based on data matching |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151223 Termination date: 20170911 |
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| CF01 | Termination of patent right due to non-payment of annual fee |