CN206105854U - Arm moving system in robot - Google Patents
Arm moving system in robot Download PDFInfo
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- CN206105854U CN206105854U CN201621032782.8U CN201621032782U CN206105854U CN 206105854 U CN206105854 U CN 206105854U CN 201621032782 U CN201621032782 U CN 201621032782U CN 206105854 U CN206105854 U CN 206105854U
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- main shaft
- arm
- shell
- motion system
- rotatable platform
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- 230000033001 locomotion Effects 0.000 claims abstract description 49
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The utility model discloses an arm moving system in robot, but this system including can swing back and forth, the arm shell of luffing motion again, particularly, arm moving system is including installing the first main shaft on the support, be provided with on first main shaft along with first main shaft pivoted rotation platform install the arm shell on the rotation platform install in the arm shell the second spindle with be used for driving the arm shell round the rotatory second motor of the second spindle, it all is through gear transmission to rotate to can realize robot arm's steady double stage driving, and all be provided with the spacing and electronic limit component of machinery in two -stage drive mechanism, thus guarantee the security of robot arm motion, prevent that the arm motion from exceeding the critical value.
Description
Technical field
This utility model is related to the control of robot and Sports Field, and in particular to the arm motion system in a kind of robot
System.
Background technology
Roboticses are an important development research directions of today's society, people in order to respective purpose, realize it is various
Function and design various robots, wherein, the robot for being able to carry out various motion enjoys the favor of people, however, machine
People has its unique construction features, often not natural enough when robot does action, it appears comparison is stiff, especially compares
The action such as wave, embrace for personalizing, needs to compare complicated multiple degrees of freedom action by control robot arm, and right
The continuity of action and the homogeneity of speed have higher requirement, such as a kind of cartoon robot, and its arm is shorter, need to coordinate
When pendulum and outwardly action are done on some arms in its dance movement, often due to mechanism ossifys and seems not familiar, do not assist
Adjust, in addition, the internal structure of robot is more complicated, fine, if its arm motion excess, more than predetermined range of movement,
Easily miscellaneous part and its inner facility are damaged, and robot is easily acted on by external force, such as child's handss
When pulling, hold the arm of robot, easily cause the arm motion of robot beyond its default range of movement, there is presently no one
Plant the new technical scheme that perfect can be solved the above problems.
For above-mentioned reasons, the present inventor furthers investigate to existing robot arm and its control system, design
The arm motion system gone out in a kind of new robot that can solve the problem that the problems referred to above.
Utility model content
In order to overcome the problems referred to above, present inventor has performed studying with keen determination, the arm motion in a kind of robot is designed
System, the system arm shell that swing can swing up and down again including by, specifically, the arm motion system
Including the first rack-mount main shaft；It is provided with the first main shaft with the rotatable platform of the first main axis, in institute
State and be provided with rotatable platform arm shell, the arm inside the shell be provided with the second main shaft and for drive arm shell around
The second motor of the second main shaft rotation, the rotation is transmitted by gear, such that it is able to realize robot
The steady two-stage transmission of arm, and mechanical position limitation and electronic limit component are both provided with two-stage drive mechanism, so as to ensure
The safety of robot arm motion, prevents arm motion from exceeding marginal value, so as to complete this utility model.
Specifically, the purpose of this utility model is to provide following aspect：
(1) the arm motion system in a kind of robot, it is characterised in that the system includes：
The first main shaft 2 on support 1；It is provided with the rotation rotated with the first main shaft 2 on the first main shaft 2 to put down
Platform 3,
Second main shaft (4) and arm shell 10 are installed on rotatable platform 3, second is provided with arm shell 10 electric
Machine 5, the second motor 5 drives arm shell 10 to rotate around second main shaft 4.
(2) the arm motion system according to above-mentioned (1), it is characterised in that
The axis direction of first main shaft 2 is identical with X-direction,
The axis direction of second main shaft 4 is vertical with X-direction.
(3) the arm motion system according to above-mentioned (1), it is characterised in that
The arm motion system also includes the first motor 6 for driving the first main shaft 2 to rotate, first motor 6 and the
It is connected by gear between one main shaft 2.
(4) the arm motion system according to above-mentioned (1), it is characterised in that
Side towards main shaft on the rotatable platform 3 is provided with mechanical position limitation pin 31,
Chute 11 is offered on the support 1, the chute semicircular in shape, the mechanical position limitation pin 31 extend into chute
In 11, and as being rotated in the chute for rotatable platform 3 is moved.
(5) the arm motion system according to above-mentioned (1), it is characterised in that
Side towards main shaft on the rotatable platform 3 is provided with the first electronic limit catch 32,
The first electric limit switch 12 is provided with the support 1,
The first slot 13 passed through for the first electronic limit catch 32 is offered on first electric limit switch 12,
The first electronic limit catch 32 can pass through first slot 13.
(6) the arm motion system according to above-mentioned (1), it is characterised in that
Mainshaft gear 7 is provided with second main shaft 4,
Multiple gears 8 are provided between the second motor 5 and the second main shaft 4,
Mainshaft gear 7 of second motor 5 with moving gear 8 on second main shaft 4 rotates.
(7) the arm motion system according to above-mentioned (6), it is characterised in that
Be additionally provided with the arm shell 10 with arm shell 10 together have mercy on the second main shaft 4 rotation main shaft shell
9,
The shell slot 91 for accommodating rotatable platform 3 is offered in main shaft shell 9, the main shaft shell is with the second main shaft 4
Rotation, the gap between the wall and rotatable platform 3 at its shell slot edge changes therewith, when second main shaft 4 is rotated to machine
During tool extreme position, the wall at the shell slot edge is abutted with rotatable platform 3.
(8) the arm motion system according to above-mentioned (7), it is characterised in that
The second electric limit switch 92 is additionally provided with the main shaft shell 9,
The second electronic limit catch 33 is additionally provided with the rotatable platform 3,
The second slot 93 passed through for the second electronic limit catch 33 is offered on second electric limit switch 92,
The second electronic limit catch 33 can pass through second slot 93.
This utility model have the advantage that including：
(1) power is all transmitted by rack-and-pinion according to the arm motion system in the robot of this utility model offer,
Its elevating movement is more steady, safety, can also allow for external force and move robot arm being moved；
(2) electronic limit portion and mechanical position limitation are had according to the arm motion system in the robot of this utility model offer
Portion, can either precise control roll over angle, additionally it is possible to fully ensure that the degree that arm rotates so that even if occur it is unexpected
In the case of, the anglec of rotation of robot arm is not more than the warning value of maximum, so as to substantially ensure that robot arm
Safety and stability.
(4) dexterously placement of mechanical is spacing and electronics for the arm motion system in robot for being provided according to this utility model
The position of limit component, can save robot interior space, improve its space efficiency utilization.
Description of the drawings
Fig. 1 is illustrated according to the arm motion overall system architecture in a kind of robot of preferred implementation of this utility model
Schematic diagram；
Fig. 2 is illustrated according to the main shaft of arm motion system second in a kind of robot of preferred implementation of this utility model
And its neighbouring element structure schematic diagram；
Fig. 3 illustrate according to the chute of the arm motion system in a kind of robot of preferred implementation of this utility model and
Its neighbouring component sectional view；
Fig. 4 illustrate according to the chute of the arm motion system in a kind of robot of preferred implementation of this utility model and
Its neighbouring component overall structure diagram；
Fig. 5 is illustrated outside the main shaft according to the arm motion system in a kind of robot of preferred implementation of this utility model
Shell and shell slot structural representation thereon；
Fig. 6 illustrates flat according to the rotation of the arm motion system in a kind of robot of preferred implementation of this utility model
Platform and the first electronic limit catch thereon and the second electronic limit baffle structure schematic diagram；
Fig. 7 is illustrated outside the arm according to the arm motion system in a kind of robot of preferred implementation of this utility model
The structural representation of shell and its internals.
Drawing reference numeral explanation：
1- supports
11- chutes
The electric limit switchs of 12- first
The slots of 13- first
The main shafts of 2- first
3- rotatable platforms
31- mechanical position limitation pins
32- the first electronic limit catch
33- the second electronic limit catch
The main shafts of 4- second
The motors of 5- second
The motors of 6- first
7- mainshaft gears
8- gears
9- main shaft shells
91- shell slots
The electric limit switchs of 92- second
The slots of 93- second
10- arm shells
Specific embodiment
This utility model is further described below by drawings and Examples.By these explanations, this practicality is new
The characteristics of type and advantage will become more apparent from clearly.
Here special word " exemplary " means " being used as example, embodiment or illustrative ".Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.Although each of embodiment is shown in the drawings
In terms of kind, but unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.
According to the arm motion system in the robot that this utility model is provided, as shown in Figure 1, Figure 2 with shown in Fig. 7, this is
System include i.e. can swing, the arm shell 10 that can also swing up and down, specifically, the system includes being arranged on support
The first main shaft 2 on 1；The rotatable platform 3 rotated with the first main shaft 2 is provided with the first main shaft 2, on rotatable platform 3
It is provided with the second main shaft 4 and arm shell 10, arm shell 10 and is provided with the second motor 5, the second motor 5 drives arm shell
10 rotate around second main shaft 4, and the arm shell is specifically arranged on the gear-box corresponding to the second main shaft, so that
Overall appearance more coordinate, it is attractive in appearance.
Wherein, the support is arranged on the trunk of robot, is motionless, this utility model for robot
In the direction that faced with robot as front, that is, the Y-axis positive direction in Fig. 1, the axis direction of first main shaft 2 with
X-direction is consistent, i.e. the first main shaft drives arm shell to swing in Y-Z plane；
The axis direction of second main shaft 4 is vertical with X-direction, i.e. the second main shaft drives arm shell in X-Z plane
Interior swing, due to the swing starting point the machine person sidepiece, the terminal of swing for robot sidepiece higher position, institute
Also referred to as swung up and down with the swing；Above two swings and is combined together, i.e., two motors work simultaneously, two degree of freedom
Combination on direction, is capable of achieving the Multi-stage transmission of robot arm, makes and such as embraces more complicated action.
In one preferred embodiment, as shown in fig. 1, the arm motion system also includes driving the first main shaft
2 the first motors 6 for rotating, are connected between the main shaft 2 of first motor 6 and first by gear.Power is provided by motor, is led to
Gear transmission power is crossed, the motion for enabling to arm shell is more steady, it is also possible to allow external force to act on arm so that
Arm drive motor rotates.
In one preferred embodiment, as shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 4, the direction on the rotatable platform 3
The side of main shaft is provided with mechanical position limitation pin 31, and chute 11 is offered on the support 1, and the chute semicircular in shape is described
Mechanical position limitation pin 31 is extend in chute 11, and as being rotated in the chute for rotatable platform 3 is moved, the mechanical position limitation
Pin 31 can have one or more, and its length causes it to move back and forth in the region of the chute, it is impossible to beyond chute
The region of restriction, so that chute defines the limit anglec of rotation of rotatable platform 3, and then defines the pole of robot arm
Limit pendulum angle, specific angle can have the shapes such as the length of chute to determine.
In one preferred embodiment, as shown in Figures 1 and 2, towards the one of main shaft on the rotatable platform 3
Side is provided with the first electronic limit catch 32, and the first electric limit switch 12, first electronics are provided with the support 1
Limit switch 12 can have multiple, preferably there is two or three in this utility model, open in each described first electronic limit
Close and offer the first slot 13 passed through for the first electronic limit catch 32 on 12, the first electronic limit catch 32 is through institute
When stating the first slot 13, the rotational angle of the first electronic limit catch 32 and its place rotatable platform 3 is would know that, and then can be right
The rotation of arm is done and accurately, automatically, is intelligently controlled.
Specifically, signal, such as infrared signal, the signal of telecommunication, magnetic signal, sound wave are transmitted in real time in the both sides of first slot
Signal etc., when the first electronic limit catch passes through the slot, the catch blocks the signal of the real-time transmission, so as to
So that there is fluctuation in the signal that the receiving terminal of signal is received, such that it is able to know that electronic limit catch has arrived at electronic limit
At switch.
In one preferred embodiment, it is provided with master on second main shaft 4 with shown in Fig. 5 as shown in Figure 1, Figure 2
Shaft gear 7, is provided with multiple gears 8 between the second motor 5 and the second main shaft 4, second motor 5 with moving gear 8 around
Mainshaft gear 7 on second main shaft 4 rotates.Power is provided by motor, power is transmitted by gear, enable to arm
The motion of shell is more steady, it is also possible to allow external force to act on arm so that arm drive motor rotates.
In one preferred embodiment, as shown in Figure 1, Figure 2 with shown in Fig. 5, be provided with the arm shell with
Arm shell 10 is together had mercy on the main shaft shell 9 of the rotation of the second main shaft 4, and the main shaft shell 9 is set in outside the second main shaft, main
The shell slot 91 for accommodating rotatable platform 3 is offered on shaft housing 9, the main shaft shell rotates with the second main shaft 4, its shell
Gap between the wall and rotatable platform 3 at slot edge changes therewith, when second main shaft 4 is rotated to mechanicalness extreme position
When, the wall at the shell slot edge is abutted with rotatable platform 3, so as to realize the mechanical position limitation that arm shell rotates, prevents handss
The rotation amount of arm exceeds preset range.
In one preferred embodiment, as shown in Figure 1, Figure 2, shown in Fig. 5 and Fig. 6, also set in the main shaft shell 9
The second electric limit switch 92 is equipped with, the second electronic limit catch 33 is additionally provided with the rotatable platform 3, described second is electric
Sub- limit switch can have multiple, preferably there is two or three in this utility model,
Second passed through for the second electronic limit catch 33 is offered on each described second electric limit switch 92
Slot 93, the second electronic limit catch 33 when second slot 93, would know that the second electric limit switch 92 and
The rotational angle of its place main shaft shell 9, and then the rotation of arm can be done and accurately, automatically, intelligently control.Specifically
For, signal is transmitted in real time in the both sides of second slot, such as infrared signal, the signal of telecommunication, magnetic signal, acoustic signals, works as institute
When stating the second electronic limit catch by the slot, the catch blocks the signal of the real-time transmission, so that signal
There is fluctuation in the signal that receiving terminal is received, such that it is able to know that electronic limit catch is had arrived at electric limit switch.
Inside arm shell 10 described in this utility model as shown in Figure 7, comprising the second main shaft, the second motor, tooth
The component such as wheel and main shaft shell.
In description of the present utility model, it should be noted that term " on ", D score, " interior ", " outward " " front " " afterwards " etc. refer to
The orientation or position relationship for showing is, based on the orientation or position relationship under utility model works state, to be for only for ease of description
This utility model and simplified description, rather than indicate or imply that the device or element of indication must have specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " first ", " second ",
" the 3rd ", " the 4th " are only used for describing purpose, and it is not intended that indicating or implying relative importance.
Above in association with being preferred embodiment illustrated to this utility model, but these embodiments are only models
Example property, only play illustrative effect.On this basis, various replacements and improvement can be carried out to this utility model, these
Each fall within protection domain of the present utility model.
Claims (8)
1. the arm motion system in a kind of robot, it is characterised in that the system includes：
The first main shaft (2) on support (1)；It is provided with the first main shaft (2) with turning that the first main shaft (2) is rotated
Moving platform (3),
Second main shaft (4) and arm shell (10) are installed on rotatable platform (3), in arm shell (10) second is provided with
Motor (5), the second motor (5) drives arm shell (10) to rotate around second main shaft (4).
2. arm motion system according to claim 1, it is characterised in that
The axis direction of first main shaft (2) is identical with X-direction,
The axis direction of second main shaft (4) is vertical with X-direction.
3. arm motion system according to claim 1, it is characterised in that
The arm motion system also include drive the first main shaft (2) rotate the first motor (6), first motor (6) and
It is connected by gear between first main shaft (2).
4. arm motion system according to claim 1, it is characterised in that
Side towards main shaft on the rotatable platform (3) is provided with mechanical position limitation pin (31),
Chute (11) is offered on the support (1), the chute semicircular in shape, the mechanical position limitation pin (31) extend into cunning
In groove (11), and as being rotated in the chute for rotatable platform (3) is moved.
5. arm motion system according to claim 1, it is characterised in that
Side towards main shaft on the rotatable platform (3) is provided with the first electronic limit catch (32),
The first electric limit switch (12) is provided with the support (1),
The first slot passed through for the first electronic limit catch (32) is offered on first electric limit switch (12)
(13), the first electronic limit catch (32) can pass through first slot (13).
6. arm motion system according to claim 1, it is characterised in that
Mainshaft gear (7) is provided with second main shaft (4),
Multiple gears (8) are provided between the second motor (5) and the second main shaft (4),
Mainshaft gear (7) rotation of second motor (5) with moving gear (8) on second main shaft (4).
7. arm motion system according to claim 6, it is characterised in that
Be additionally provided with the arm shell (10) with arm shell (10) together have mercy on the second main shaft (4) rotation main shaft outside
Shell (9),
The shell slot (91) for accommodating rotatable platform (3) is offered in main shaft shell (9), the main shaft shell is with the second main shaft
(4) rotate, the gap between the wall and rotatable platform (3) at its shell slot edge changes therewith, when second main shaft (4) rotation
When going to mechanicalness extreme position, the wall at the shell slot edge is abutted with rotatable platform (3).
8. arm motion system according to claim 7, it is characterised in that
The second electric limit switch (92) is additionally provided with the main shaft shell (9),
The second electronic limit catch (33) is additionally provided with the rotatable platform (3),
The second slot passed through for the second electronic limit catch (33) is offered on second electric limit switch (92)
(93), the second electronic limit catch (33) can pass through second slot (93).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621032782.8U CN206105854U (en) | 2016-08-31 | 2016-08-31 | Arm moving system in robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621032782.8U CN206105854U (en) | 2016-08-31 | 2016-08-31 | Arm moving system in robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206105854U true CN206105854U (en) | 2017-04-19 |
Family
ID=58519417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621032782.8U Active CN206105854U (en) | 2016-08-31 | 2016-08-31 | Arm moving system in robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206105854U (en) |
-
2016
- 2016-08-31 CN CN201621032782.8U patent/CN206105854U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180423 Address after: 250101 Ji'nan high tech Zone, Shandong Road, No. 2350 Patentee after: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY CO., LTD. Address before: 100079 room 1309, Nanfu building, Fengtai District, Beijing Co-patentee before: Ran Xiaolin Patentee before: Wang Wei |
|
| TR01 | Transfer of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Arm moving system in robot Effective date of registration: 20190328 Granted publication date: 20170419 Pledgee: Ji'nan finance Company limited by guarantee Pledgor: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY CO., LTD. Registration number: 2019370000057 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20200103 Granted publication date: 20170419 Pledgee: Ji'nan finance Company limited by guarantee Pledgor: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY CO., LTD. Registration number: 2019370000057 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Arm moving system in robot Effective date of registration: 20200323 Granted publication date: 20170419 Pledgee: Ji'nan finance Company limited by guarantee Pledgor: ROBOT PHOENIX Inc. Registration number: Y2020980000924 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210329 Granted publication date: 20170419 Pledgee: Ji'nan finance Company limited by guarantee Pledgor: Jinan Yifei Automation Technology Co.,Ltd. Registration number: Y2020980000924 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |