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Robot arm device

A robot arm and finger technology, applied in the field of robotics, can solve problems such as increased complexity, small work space, and poor attitude ability, and achieve the effects of facilitating relative kinematics analysis, large work space, and high flexibility

Inactive Publication Date: 2014-12-17
董挺挺
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The characteristics of series connection are simple structure, flexible mechanism, large working space and good attitude performance, but the robot has small rigidity and low carrying capacity; on the contrary, the characteristics of parallel connection robot are large rigidity and high carrying capacity, but the working space Small, poor posture ability; mixed connection contains the advantages and disadvantages of both, but increases its own complexity

Method used

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  • Robot arm device

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Effect test

Embodiment 1

[0023] figure 1 A schematic structural diagram of a robot arm device according to an embodiment of the present invention is shown. Such as figure 1 The shown robot arm device includes a base 101, on which a lumbar joint driving motor 102 and a supporting part 103 are arranged, and a body 104 is arranged on the supporting part 103, and the lumbar joint driving motor 102 passes through the first A piston rod 105 is connected with the support part 103, and one end of the body 104 is rotatably connected with a big arm 106; the support part 103 is rotatably connected with an elbow joint driving motor 107, and the elbow joint driving motor 107 is driven by the second piston. The rod 108 is rotationally connected with the forearm 109; the other end of the body 104 is provided with a shoulder joint drive motor 110, the shoulder joint drive motor 110 is rotationally connected with the body 104, and the shoulder joint drive motor 110 is connected with the third piston rod 111 The big ...

Embodiment 2

[0030] The performance parameters of the robot arm device include the opening angle of the fingers, the rotation angle and bending angle of the wrist joint, the swing angle of the upper arm along the shoulder, and the upper and lower swing angle of the forearm along the upper arm. These joints are determined by the mechanical structure and physical properties of the multi-DOF robotic arm device. The maximum joint angle determines the flexibility and working ability of the multi-degree-of-freedom robotic arm device, which can open or rotate or swing.

[0031] Each joint part of the robot arm assembly can rotate or swing between zero degrees and a maximum angle.

[0032] Among them, the waist joint can realize the rotation of all mechanisms of the robot arm device except the base; the shoulder joint can make the upper arm, forearm and fingers swing as a whole; the elbow joint can make the forearm and fingers swing; the wrist joint can rotate and swing, and the fingers Can grab ...

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Abstract

The invention discloses a robot arm device which comprises a base. A waist joint driving motor and a supporting part are arranged on the base. A body is arranged on the supporting part. The waist joint driving motor is connected with the supporting part through a first piston rod. One end of the body is rotatably connected with a big arm. An elbow joint driving motor is rotatably connected to the supporting part and is rotatably connected with a small arm through a second piston rod. A shoulder joint driving motor is arranged at the other end of the body, is rotatably connected with the body, and is rotatably connected with the big arm through a third piston rod. The big arm is rotatably connected with the small arm. The robot arm device is simple in structure, and has higher flexibility and large working space, and relevant kinematics analysis can be carried out conveniently.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot arm device. Background technique [0002] According to the characteristics of the mechanism, the robot arm device can be divided into series, parallel and hybrid. The characteristics of series connection are simple structure, flexible mechanism, large working space and good attitude performance, but the robot has small rigidity and low carrying capacity; on the contrary, the characteristics of parallel connection robot are large rigidity and high carrying capacity, but the working space Small, poor posture ability; mixed connection contains the advantages and disadvantages of both, but increases its own complexity. Contents of the invention [0003] The invention overcomes the shortcomings of the prior art and provides a robot arm device with high flexibility and large working space. [0004] Considering the above-mentioned problems of the prior art, according to one a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/12
Inventor 董挺挺
Owner 董挺挺
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