CN206748410U - A kind of multi-functional mechanical arm suitable for rugged topography leg-wheel robot - Google Patents
A kind of multi-functional mechanical arm suitable for rugged topography leg-wheel robot Download PDFInfo
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- CN206748410U CN206748410U CN201720417100.3U CN201720417100U CN206748410U CN 206748410 U CN206748410 U CN 206748410U CN 201720417100 U CN201720417100 U CN 201720417100U CN 206748410 U CN206748410 U CN 206748410U
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- mechanical arm
- robot
- arm
- leg
- information gathering
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Abstract
It the utility model is related to a kind of mechanical arm, more particularly to a kind of multi-functional mechanical arm suitable for rugged topography leg-wheel robot.The mechanical arm includes mechanical arm bottom driving part, mechanical arm section, robot section, mechanical arm information gathering part and processor part, wherein processor is miniature PC or single-chip microcomputer, for calculating the data that are obtained from information gathering part and analyzing and processing is used for controlled motor, further control machinery arm various pieces and robot section co-ordination, smooth control machinery hand reaches target location, obtains mission bit stream data, reaches the purpose of aiding overpass obstacle and moving obstacle.
Description
Technical field
It the utility model is related to robotic technology field, and in particular to a kind of suitable for rugged topography leg-wheel robot
Multi-functional mechanical arm.
Background technology
With the continuous progress of science and technology, the application of robot is more and more extensive, has almost penetrated into every field.For
The robot is preferably interacted with the environment around it, complete to need performing for task, reach the set goal requirement,
The importance of the operation terminal mechanical arm of robot becomes more and more significant.
Mechanical arm is can be with a few thing feature of apish arm, for capturing object according to fixed routine, moving
Animal body and the automatic pilot for completing some specific demand actions.It can receive the instruction of system, position exactly
It is operated to the certain point of two dimension or three dimensions.Mechanical arm can replace people to complete some onerous toils to realize
The mechanization and automation of production work, it can work to avoid people in work under some operating environments being harmful to human body
Body of mediating is damaged safely, thus mechanical arm be widely applied to industrial manufacture, service entertainment, semiconductor manufacturing and
The fields such as space probation.Common civilian rugged topography leg-wheel robot mechanical arm function is relatively simple, can only carry out
The simple function such as take pictures, and rotary motion trace of the manipulator in space has certain limitation, and mechanical arm sensitivity is not high, work
It is low to make efficiency comparison.
The content of the invention
The utility model is directed to many weak points existing for prior art, there is provided one kind is applied to rugged topography wheel leg
The multi-functional mechanical arm of formula robot.The mechanical arm includes mechanical arm bottom driving part, mechanical arm section, robot arm
Point, mechanical arm information gathering part and processor part, wherein processor be miniature PC or single-chip microcomputer, for calculating from letter
Obtained data and analyzing and processing are used for controlled motor, further control machinery arm various pieces and machinery in breath collecting part
Hand portion co-ordination, smooth control machinery hand reach target location, obtain mission bit stream data, reach aiding overpass obstacle and shifting
The purpose of dynamic barrier.
Concrete technical scheme of the present utility model is：
A kind of multi-functional mechanical arm suitable for rugged topography leg-wheel robot, including mechanical arm bottom driving portion
Point, mechanical arm section, robot section, mechanical arm information gathering part and processor part；
Wherein described mechanical arm bottom driving part, mechanical arm section, robot section are sequentially connected with, described machinery
Arm information gathering part is set on the robotic arm, and described processor is arranged in mechanical arm or mechanical arm bottom；
Described mechanical arm is respectively underarm, middle arm and the forearm being sequentially connected with from bottom to top, and passes through underarm and machinery
Arm bottom driving part connects；
Described mechanical arm information gathering part is set on the robotic arm, before being further arranged on by sliding bottom
On arm；
Described mechanical arm information gathering part is by infrared camera, optical inductor, range sensor, supersonic sensing
Device forms；
Using the mechanical arm of this structure, because mechanical arm information gathering part is arranged on mechanical arm forearm, and
While can be moved forward and backward with 360 degree of rotations by sliding bottom, in use can collection machinery arm at any time work
Make state and periphery complaint message, the visual field is openr, and catching range is wider；Information gathering part is by infrared camera, photoinduction
Device, range sensor, ultrasonic sensor composition, and be integrated in together, wherein optical inductor can sensitively perceive work
Make ambient brightness；Range sensor, auxiliary manipulator are accurate to up to specified coordinate；Ultrasonic sensor, it can detect not removable
The desirable signal such as dynamic sample thickness；Summary information can be preferably adjusted to mechanical arm；
The mechanical arm bottom driving part, mechanical arm section, robot section sequentially connect according to routine techniques, and whole
Individual mechanical arm can be also attached with other equipment again by lower rotation part.
In summary, can further control machinery arm various pieces and robot arm using the mechanical arm of this structure
Divide co-ordination, smooth control machinery hand reaches target location, acquisition mission bit stream data, reaches aiding overpass obstacle and mobile barrier
Hinder the purpose of thing.
Brief description of the drawings
Fig. 1 is mechanical arm control system schematic diagram described in the utility model；
Fig. 2 is mechanical arm overall structure diagram described in the utility model；
Fig. 3 is mechanical arm bottom driving part-structure schematic diagram described in the utility model；
Fig. 4 is mechanical arm underarm part-structure schematic diagram described in the utility model；
Fig. 5 is arm section structural representation in mechanical arm described in the utility model；
Fig. 6 is mechanical arm forearm described in the utility model and end robot section structural representation；
In figure：1st, mechanical arm base support, 2, servomotor a, 3, timing belt steamboat, 4, timing belt bull wheel, 5, cog belt,
6th, rotary table top, 7, timing belt bull wheel baffle ring, 8, mechanical arm mounting seat, 9, underarm, 10, large U type connector a, 11, servo electricity
Machine b, 12, mechanical arm motor shaft a, 13, motor rotation axis bearing a, 14, motor rotation axis hold a, 15, sleeve a, 16, small U-shaped company
Fitting a, 17, middle arm, 18, large U type connector b, 19, servomotor c, 20, mechanical arm motor shaft b, 21, motor rotation axis hold b,
22nd, motor rotation axis bearing b, 23, sleeve b, 24, small U-shaped connector b, 25, forearm, 26, sliding bottom, 27, mechanical arm letter
Cease collecting part, 28, the pushing U supports of machinery, 29, manipulator servomotor a, 30, manipulator servomotor b, 31, manipulator folder
Holder, 32, manipulator servomotor c.
Embodiment
In the embodiment unless otherwise specified, what other were used is techniques known；
A kind of multi-functional mechanical arm suitable for rugged topography leg-wheel robot, mechanical arm are followed successively by from bottom to top
Arm, mechanical arm forearm, manipulator in mechanical arm base support, mechanical arm underarm, mechanical arm.
As shown in Fig. 3 mechanical arm bottom driving part-structure schematic diagrams, servomotor a passes through thread connection and mechanical arm bottom
Seat support is fixed, and servomotor a output shaft is fixed through mechanical arm base support with timing belt steamboat, timing belt bull wheel rotating disk
It is bolted and is installed on rotary table top, rotary table top, which is bolted, is fixed on mechanical arm base support, synchronous
Band steamboat realizes that servomotor a drives timing belt bull wheel rotating disk to rotate with servomotor a by key connection.
As shown in Fig. 4 mechanical arm underarm part-structure schematic diagrams, mechanical arm underarm lower end is special by industrial aluminum profile
Four T-bolts be installed in mechanical arm mounting seat, upper end is similarly attached on large U type connector a.Servo
Motor b, which is bolted, to be installed on the stud of large U type connector a sides, and opposite side holds a, sleeve a equipped with motor rotation axis
Pass through key connection between servomotor b.Motor rotation axis hold a and select deep groove ball bearing.
As shown in arm section structural representation in Fig. 5 mechanical arms, sleeve a and small U-shaped connector a front end sleeve pass through
The two middle part screwed hole in holding screw realize it is circumferentially fixed, on small U-shaped connector install mechanical arm in arm, servomotor b
Realize the function of arm in synchrodrive tool arm.The arm other end is connected with large U type connector b in mechanical arm, in mechanical arm arm with
Between mechanical arm forearm connection be driven using and top it is same by the way of carry out.
As shown in Fig. 6 mechanical arms forearm and end robot section structural representation, sliding bottom is arranged on mechanical arm
Forearm, sliding pair is formed, can be slided on forearm.Mechanical arm information gathering part is by infrared camera, optical inductor, distance
Sensor, ultrasonic sensor composition, above- mentioned information harvester set as one and are arranged on sliding bottom, can be around fixation
360 degree of rotations of axle.The long U supports of mechanical arm front arm tip and robot section are fixed, and manipulator servomotor a and c are fixed to
On manipulator electric machine support, manipulator servomotor b is fixed on mechanical arm holder.
Such as Fig. 1 mechanical arm control system schematic diagrames, the image information of acquisition is passed to processor by infrared camera.Away from
Individually it is connected and the manipulator required for robot with processor from sensor, optical sensor, ultrasonic sensor
Range data, light data, signal data pass to processor in real time.The image that processor is obtained by analyzing infrared camera
Information and the range data of current robot manipulator, light data, acoustic data signal, pass through each joint servo electricity of mechanical arm
Machine driver and manipulator Serve Motor Control plate are respectively to corresponding joint of mechanical arm servomotor, manipulator servomotor
Different pulse signals is sent, is adjusted in real time according to the feedback signal of each servomotor, so as to which control machinery arm is each
Part and robot section co-ordination, smooth control machinery hand reach target location, obtain task data information.
Claims (4)
- A kind of 1. multi-functional mechanical arm suitable for rugged topography leg-wheel robot, it is characterised in that：Including mechanical arm bottom Portion's running part, mechanical arm section, robot section, mechanical arm information gathering part and processor part；Wherein described mechanical arm bottom driving part, mechanical arm section, robot section are sequentially connected with, described mechanical arm Information gathering part is set on the robotic arm, and described processor is arranged in mechanical arm or mechanical arm bottom；Described mechanical arm is respectively underarm, middle arm and the forearm being sequentially connected with from bottom to top, and passes through underarm and mechanical arm bottom Portion's running part connection.
- 2. the multi-functional mechanical arm according to claim 1 suitable for rugged topography leg-wheel robot, its feature exists In：Described mechanical arm information gathering part is set on the robotic arm by sliding bottom.
- 3. the multi-functional mechanical arm according to claim 2 suitable for rugged topography leg-wheel robot, its feature exists In：Described mechanical arm information gathering part is arranged on forearm by sliding bottom.
- 4. the multi-functional mechanical arm according to claim 1 suitable for rugged topography leg-wheel robot, its feature exists In：Described mechanical arm information gathering part is by infrared camera, optical inductor, range sensor, ultrasonic sensor group Into.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720417100.3U CN206748410U (en) | 2017-04-20 | 2017-04-20 | A kind of multi-functional mechanical arm suitable for rugged topography leg-wheel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720417100.3U CN206748410U (en) | 2017-04-20 | 2017-04-20 | A kind of multi-functional mechanical arm suitable for rugged topography leg-wheel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206748410U true CN206748410U (en) | 2017-12-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720417100.3U Expired - Fee Related CN206748410U (en) | 2017-04-20 | 2017-04-20 | A kind of multi-functional mechanical arm suitable for rugged topography leg-wheel robot |
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| Country | Link |
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| CN (1) | CN206748410U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621119A (en) * | 2018-07-09 | 2018-10-09 | 薛敏强 | A kind of rotation displacement material carrying machine arm and its working method |
| CN108621120A (en) * | 2018-07-09 | 2018-10-09 | 薛敏强 | A kind of conveying machinery arm of Multifunctional rotary displacement that capableing of branch's feeding |
| CN109205332A (en) * | 2018-10-24 | 2019-01-15 | 山东科技大学 | A kind of packaged type tire stacker crane tool hand and method |
| CN115592668A (en) * | 2022-10-31 | 2023-01-13 | 西北工业大学太仓长三角研究院（Cn） | Multidimensional verification type industrial robot precision positioning system |
-
2017
- 2017-04-20 CN CN201720417100.3U patent/CN206748410U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621119A (en) * | 2018-07-09 | 2018-10-09 | 薛敏强 | A kind of rotation displacement material carrying machine arm and its working method |
| CN108621120A (en) * | 2018-07-09 | 2018-10-09 | 薛敏强 | A kind of conveying machinery arm of Multifunctional rotary displacement that capableing of branch's feeding |
| CN109205332A (en) * | 2018-10-24 | 2019-01-15 | 山东科技大学 | A kind of packaged type tire stacker crane tool hand and method |
| CN115592668A (en) * | 2022-10-31 | 2023-01-13 | 西北工业大学太仓长三角研究院（Cn） | Multidimensional verification type industrial robot precision positioning system |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171215 Termination date: 20190420 |
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| CF01 | Termination of patent right due to non-payment of annual fee |