Robot mechanical arm

A technology of mechanical arms and robots, applied in the field of robotics, can solve the problems of restricting the application of mobile robots, hidden dangers in operation, and affecting aesthetics, etc., and achieve the effects of compact structure, reasonable center of gravity distribution, and low cost

Inactive Publication Date: 2019-10-22
SHANDONG ACAD OF SCI INST OF AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The inventors found that most of the existing mechanical arms place the power input mechanism (motor + reducer) outside the joints, the motor cables are exposed outside the mechanical arm, and the motor cables are led out through the cable tube clamp, which affects the appearance It also brings hidden dangers to the operation in non-structural environments. A few robotic arms with internal wiring adopt the method of harmonic reducer + frameless motor, which is expensive and limits the wider application of mobile robots.

Method used

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Embodiment Construction

[0037] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0038] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0039] For the convenience of description, if the words "up", "down", "left" and "right" appear in the present i...

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Abstract

The invention relates to a robot mechanical arm. The robot mechanical arm comprises a rotating platform base, a large arm, a small arm and a gripper mechanism. A first driving mechanism and a second driving mechanism are arranged in the large arm, the first driving mechanism is connected with a first conical gear arranged at one end in the large arm, the first conical gear is engaged with a secondconical gear, the second conical gear is fixedly connected with the rotating platform base through a first connecting mechanism, the small arm is connected with a fourth conical gear through a secondconnecting mechanism, the fourth conical gear is engaged with a third conical gear on the other end of the large arm, the third conical gear is connected with the second driving mechanism, a third driving mechanism is arranged in the small arm, the third driving mechanism is connected with a fourth driving mechanism in the small arm, and the fourth driving mechanism is driven to rotate around theaxis of the third driving mechanism. The gripper mechanism is connected with the fourth driving mechanism, and the fourth driving mechanism can drive a gripper to move. The robot mechanical arm is reasonable in gravity center distribution, compact in structure and low in cost.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot arm. Background technique [0002] With the rapid development of mobile robot applications, the manipulator arm with grabbing function has been widely used on the mobile car body. The inventors found that most of the existing mechanical arms place the power input mechanism (motor + reducer) outside the joints, the motor cables are exposed outside the mechanical arm, and the motor cables are led out through the cable tube clamp, which affects the appearance It also brings hidden dangers to the operation in the non-structural environment. A few robotic arms with internal wiring adopt the method of harmonic reducer + frameless motor, which is expensive and limits the wider application of mobile robots. At the same time, the power input mechanism is placed at the joint, so that the weight is concentrated on the joint, which not only increases the overall size of the robot arm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00B25J15/02
CPCB25J15/0206B25J18/00
Inventor 孙洁门兴朱琳刘广亮赵永国
Owner SHANDONG ACAD OF SCI INST OF AUTOMATION
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