CN209408486U - A kind of multi-joint parallel connected bionic robot - Google Patents
A kind of multi-joint parallel connected bionic robot Download PDFInfo
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- CN209408486U CN209408486U CN201920012036.XU CN201920012036U CN209408486U CN 209408486 U CN209408486 U CN 209408486U CN 201920012036 U CN201920012036 U CN 201920012036U CN 209408486 U CN209408486 U CN 209408486U
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- ball
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 239000000203 mixture Substances 0.000 claims description 6
- 150000001875 compounds Chemical class 0.000 abstract description 2
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 210000003205 muscle Anatomy 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of multi-joint parallel connected bionic robots, including joint ontology and control cabinet, the joint ontology is by knuckle support, servo linear motor, the first spherical joint, the second spherical joint, ball-screw mould group and connection leg, the knuckle support is equipped with servo linear motor, the quantity of the servo linear motor is, the turning end of the servo linear motor is connected with the nut of ball-screw mould group, and robot is integrally made of several joints with servo linear motor.The connection in joint is the bulb joint of rigidity.Guarantee that failure is living again while rigidity operates, motion profile controllability is strong, can make various compound actions.More traditional spring wire V belt translation or for pneumatic muscles driving discreteness joint.Movement and control are more accurate, and convenient for control, and single joint ontology is easy for installation, convenient for increasing and decreasing the quantity of joint ontology, realize flexible configuration in different occasions.
Description
Technical field
The utility model relates to robotic technology field, specific field is a kind of multi-joint parallel connected bionic robot.
Background technique
Articulated robot is existing operating equipment essential in the industrial production, and traditional articulated robot is mostly machinery
The articulated robot of hand formula, but the movement that traditional hand type robot can be done is less, and existing trunk-type robot energy
The movement made is also limited, and installs extremely complex, maintenance cost height, and maintenance difficult, so needing one kind on the market
New articulated robot.
Utility model content
The purpose of this utility model is to provide a kind of multi-joint parallel connected bionic robots, to solve in above-mentioned background technique
The problem of proposition.
To achieve the above object, the utility model provides the following technical solutions: a kind of multi-joint parallel connected bionic robot, packet
Joint ontology and control cabinet are included, the joint ontology is by knuckle support, servo linear motor, the first spherical joint, the second ball
Shape joint, ball-screw mould group and connection leg, the knuckle support are equipped with servo linear motor, the servo linear motor
Quantity be that the turning end of the servo linear motor is connected with the nut of ball-screw mould group, the ball-screw mould group
The first spherical joint is connected at lead screw, the first spherical joint is made of the first fixed link and the first steel ball, and described first is fixed
Bar is equipped with the first spherical groove, and first steel ball is rotatablely connected by the first spherical groove and the first fixed link, second ball
Shape joint is made of the second fixed link and the second steel ball, and second fixed link is equipped with the second spherical groove, second steel ball
It is rotatablely connected by the second spherical groove and the second fixed link, the lower end of second fixed link is equipped with connection leg, the connection
The quantity of supporting leg is 3, and three connection legs are connected with knuckle support, multiple joint ontology composition composition robots
Articular branches whole, that the previous joint ontology passes through joint ontology described in the first fixed link and the second fixed link and the latter
Frame is connected, and robot is whole to be connected with control cabinet.
Preferably, the control cabinet controls servo linear motor by pulse signal.
Preferably, it is 30mm that the mobile terminal of the ball-screw mould group, which is lead screw its range,.
Preferably, opening is uniformly provided on the knuckle support.
Compared with prior art, the utility model has the beneficial effects that a kind of multi-joint parallel connected bionic robot, robot
It is whole to be made of several joints with servo linear motor.The connection in joint is the bulb joint of rigidity.Guarantee rigidity running
While failure is living again, motion profile controllability is strong, can make various compound actions.More traditional spring wire V belt translation
Or the discreteness joint for pneumatic muscles driving.Movement and control are more accurate, and convenient for controlling, and single joint ontology
It is easy for installation, convenient for increasing and decreasing the quantity of joint ontology, flexible configuration is realized in different occasions.
Detailed description of the invention
Fig. 1 is the structure of the main view of the utility model；
Fig. 2 is the structure enlargement diagram at A；
Fig. 3 is second fixed link of the utility model and the structure of the main view of the second steel ball.
In figure: the joint 1- ontology, 101- knuckle support, 102- servo linear motor, the first spherical joint of 103-, 1031-
First fixed link, the first steel ball of 1032-, the second spherical joint of 104-, the second fixed link of 1041-, the second steel ball of 1042-, 105-
Ball-screw mould group, 106- connection leg, 2- control cabinet.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-3 is please referred to, the utility model provides a kind of technical solution: a kind of multi-joint parallel connected bionic robot, including
Joint ontology 1 and control cabinet 2, the joint ontology is by knuckle support 101, servo linear motor 102, the first spherical joint
103, the second spherical joint 104, ball-screw mould group 105 and connection leg 106, the knuckle support are equipped with servo straight-line electric
The quantity of machine, the servo linear motor is that the turning end of the servo linear motor is connected with the nut of ball-screw mould group,
Ball-screw mould splits is nut and two primary structures of lead screw, nut can be driven to rotate by servo linear motor, thus
So that lead screw is moved along a straight line, be connected with the first spherical joint at the lead screw of the ball-screw mould group, the first spherical joint by
First fixed link 1031 and the first steel ball 1032 composition, first fixed link are equipped with the first spherical groove, first steel ball
It is rotatablely connected by the first spherical groove and the first fixed link, second spherical joint is by the second fixed link 1041 and the second steel ball
1042 compositions, second fixed link are equipped with the second spherical groove, and second steel ball is fixed by the second spherical groove and second
Bar rotation connection, the lower end of second fixed link are equipped with connection leg, and the quantity of the connection leg is 3, three companies
It connects supporting leg to be connected with knuckle support, multiple joint ontology composition robots are whole, and the previous joint ontology passes through
First fixed link and the second fixed link are connected with the knuckle support of joint ontology described in the latter, the first bulb joint and the second ball
Head joint is rigid bulb joint, it is ensured that connection, three servo linear motors are kept fixed between two joint ontologies
Three the first spherical joints of drive it is mobile, so that the second spherical joint be made to move, realize whole flexible of robot
With bending, robot is whole to be connected with control cabinet.
Specifically, the control cabinet controls servo linear motor by pulse signal.
Specifically, it is 30mm that the mobile terminal of the ball-screw mould group, which is lead screw its range,.
Specifically, being uniformly provided with opening on the knuckle support, opening is convenient to threading wiring.
Working principle: it is inclined to joint ontology to realize to take the displacement of linear motor by three privates of control for the utility model
The angle turned is controlled, and control cabinet is Parallel Control to the control mode of joint ontology, to realize each of robot entirety
Kind of movement, and in whole layout, there are vacancy at knuckle support, not only for the weight for mitigating structure, also for
Threading is facilitated to be routed.It is more advantageous to the integrity design of the utility model.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (4)
1. a kind of multi-joint parallel connected bionic robot, including joint ontology (1) and control cabinet (2), it is characterised in that: the pass
Abridged edition body (1) is by knuckle support (101), servo linear motor (102), the first spherical joint (103), the second spherical joint
(104), ball-screw mould group (105) and connection leg (106), the knuckle support (101) are equipped with servo linear motor
(102), the quantity of the servo linear motor (102) is (3), the turning end and ball wire of the servo linear motor (102)
The nut of thick stick mould group (105) is connected, and is connected with the first spherical joint (103) at the lead screw of the ball-screw mould group (105), the
One spherical joint (103) is made of the first fixed link (1031) and the first steel ball (1032), on first fixed link (1031)
Equipped with the first spherical groove, first steel ball (1032) is rotatablely connected by the first spherical groove and the first fixed link (1031), institute
It states the second spherical joint (104) to be made of the second fixed link (1041) and the second steel ball (1042), second fixed link
(1041) it is equipped with the second spherical groove, second steel ball (1042) is rotated by the second spherical groove and the second fixed link (1041)
The lower end of connection, second fixed link (1041) is equipped with connection leg (106), and the quantity of the connection leg (106) is 3,
Three connection legs (106) are connected with knuckle support (101), and multiple joint ontology (1) composition robots are whole,
The previous joint ontology (1) passes through joint sheet described in the first fixed link (1031) and the second fixed link (1041) and the latter
The knuckle support (101) of body (1) is connected, and the robot is whole to be connected with control cabinet (2).
2. a kind of multi-joint parallel connected bionic robot according to claim 1, it is characterised in that: the control cabinet (2)
Servo linear motor (102) are controlled by pulse signal.
3. a kind of multi-joint parallel connected bionic robot according to claim 1, it is characterised in that: the ball-screw mould group
(105) it is 30mm that mobile terminal, which is lead screw its range,.
4. a kind of multi-joint parallel connected bionic robot according to claim 1, it is characterised in that: the knuckle support
(101) opening is uniformly provided on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920012036.XU CN209408486U (en) | 2019-01-04 | 2019-01-04 | A kind of multi-joint parallel connected bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920012036.XU CN209408486U (en) | 2019-01-04 | 2019-01-04 | A kind of multi-joint parallel connected bionic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209408486U true CN209408486U (en) | 2019-09-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920012036.XU Active CN209408486U (en) | 2019-01-04 | 2019-01-04 | A kind of multi-joint parallel connected bionic robot |
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| Country | Link |
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| CN (1) | CN209408486U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590992A (en) * | 2019-01-04 | 2019-04-09 | 杭州龙盛工贸有限公司 | A kind of multi-joint parallel connected bionic robot |
| CN112503065A (en) * | 2020-11-10 | 2021-03-16 | 北京城创新智科技有限公司 | Fixing assembly |
-
2019
- 2019-01-04 CN CN201920012036.XU patent/CN209408486U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590992A (en) * | 2019-01-04 | 2019-04-09 | 杭州龙盛工贸有限公司 | A kind of multi-joint parallel connected bionic robot |
| CN109590992B (en) * | 2019-01-04 | 2024-01-30 | 杭州龙盛工贸有限公司 | Multi-joint parallel bionic robot |
| CN112503065A (en) * | 2020-11-10 | 2021-03-16 | 北京城创新智科技有限公司 | Fixing assembly |
| CN112503065B (en) * | 2020-11-10 | 2022-04-08 | 北京城创新智科技有限公司 | Fixing assembly |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231026 Address after: 311401 No.1, No.3 Road, Dongzhou industrial functional zone, Dongzhou street, Fuyang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Longli Intelligent Technology Co.,Ltd. Address before: 311400 No.1, No.3 Road, Industrial Functional Zone, Dongzhou Street, Fuyang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU LONGSHENG MANUFACTURE CO.,LTD. |