CN100544904C - A robotic elbow joint for flexion and rotation - Google Patents
A robotic elbow joint for flexion and rotation Download PDFInfo
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- CN100544904C CN100544904C CNB2007101852367A CN200710185236A CN100544904C CN 100544904 C CN100544904 C CN 100544904C CN B2007101852367 A CNB2007101852367 A CN B2007101852367A CN 200710185236 A CN200710185236 A CN 200710185236A CN 100544904 C CN100544904 C CN 100544904C
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- coaxial rotation
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Abstract
本发明公开了一种机器人肘关节，其特征是：第一伺服电机(2)、第二伺服电机(3)分别安装在机器人上臂(1)上，U形件(4)的U形底部通过安装孔与第一伺服电机(2)的转动轴固联，U形件(4)的U形上部通过第一组同轴转动副铰链(13、15)与环形件(6)相连；拨杆(8)的中部固联在小臂连接件(5)的一端，拨杆(8)的两端通过第二组同轴转动副铰链(12、14)与环形件(6)相连；小臂连接件(5)通过转动副铰链(10)与小臂基座(7)相连，小臂基座(7)通过第三组同轴转动副铰链(9、11)与机器人上臂(1)相连，小臂基座(7)的一侧通过安装孔与第二伺服电机(3)的转动轴固联。本发明具有结构简单和工艺性好等优点，可模拟人体肘关节的屈曲和旋转运动，适合做人形机器人的肘关节。
The invention discloses a robot elbow joint, which is characterized in that: a first servo motor (2) and a second servo motor (3) are respectively installed on the upper arm (1) of the robot, and the U-shaped bottom of the U-shaped part (4) passes through the The mounting hole is fixedly connected with the rotating shaft of the first servo motor (2), and the U-shaped upper part of the U-shaped part (4) is connected with the ring part (6) by the first group of coaxial rotating pair hinges (13, 15); The middle part of (8) is fixedly connected to one end of the forearm connector (5), and the two ends of the driving rod (8) are connected with the ring member (6) through the second group of coaxial rotating pair hinges (12, 14); the forearm The connecting piece (5) is connected with the forearm base (7) through the rotary joint hinge (10), and the small arm base (7) is connected with the robot upper arm (1) through the third set of coaxial rotary joint hinges (9, 11) , one side of the forearm base (7) is fixedly connected with the rotating shaft of the second servo motor (3) through the mounting hole. The invention has the advantages of simple structure, good manufacturability, etc., can simulate the flexion and rotation motions of human elbow joints, and is suitable for use as elbow joints of humanoid robots.
Description
Technical field
The present invention relates to a kind of Robotics field, particularly relate to a kind of elbow joint of anthropomorphic robot.
Background technology
Anthropomorphic robot is the senior developing stage of Robotics, and it has comprehensively embodied the research and development level of all many-sides such as artificial intelligence, mechanism and machine movement and dynamics, is a very complicated integrated system.Wherein, the robot elbow joint design that can simulate the flexing of human elbow and rotatablely move is one of challenge problem of anthropomorphic robot research field.At present, the robot elbow joint generally can only be simulated the curvature movement of human elbow, yet there are no driver and is installed on the upper arm, and can simulate the flexing of human elbow and the elbow joint structure of the robot that rotatablely moves.
Summary of the invention
Can only simulate the curvature movement of human elbow and can not simulate deficiencies such as human elbow rotatablely moves in order to overcome the existing robots elbow joint, the invention provides a kind of flexing and robot elbow joint that rotatablely moves can realized, this elbow joint has advantages such as simple in structure and good manufacturability, can be applicable to the elbow joint of anthropomorphic robot.
The technical solution adopted in the present invention is: first servomotor 2 and second servomotor 3 are installed in respectively on the robot upper arm 1, the U-shaped bottom of U-shaped spare 4 connects firmly by the turning cylinder of the installing hole and first servomotor 2, and the U-shaped top of U-shaped spare 4 links to each other with annular element 6 with 15 by the secondary hinge 13 of first group of coaxial rotation; The middle part of driving lever 8 connects firmly the end at forearm connector 5, and the two ends of driving lever 8 link to each other with annular element 6 with 14 by the secondary hinge 12 of second group of coaxial rotation; Forearm connector 5 links to each other with forearm pedestal 7 by revolute pair hinge 10, and forearm pedestal 7 links to each other with robot upper arm 1 with 11 by the 3rd group of coaxial rotation pair hinge 9, and a side of forearm pedestal 7 connects firmly by the turning cylinder of the installing hole and second servomotor 3.The other end of the forearm of robot and described forearm connector 5 links.Drive U-shaped spare 4 and forearm pedestal 7 respectively by two servomotors 2 and 3, can realize that forearm connector 5 is around the rotation of the shaft axis of revolute pair hinge 10 with around the rotation of the shaft axis of the secondary hinge 9 of the 3rd group of coaxial rotation and 11, because the forearm of robot is installed in an end of described forearm connector 5, so the present invention can realize the forearm flexing of robot and rotatablely move.
Description of drawings
Fig. 1 is the structural representation of robot elbow joint;
Fig. 2 is the structural representation of elbow joint robot upper arm, forearm connector and forearm pedestal;
Fig. 3 is the structure chart of elbow joint U-shaped spare 4, forearm connector 5, annular element 6 and driving lever 8;
In above-mentioned accompanying drawing, 1. robot upper arm, 2. first servomotor, 3. second servomotor, 4.U shape part, 5. forearm connector, 6. annular element, 7. forearm pedestal, 8. driving lever, 13,15. first groups of secondary hinges of coaxial rotation, 12,14. second groups of secondary hinges of coaxial rotation, 9,11. the 3rd groups of secondary hinges of coaxial rotation.
The specific embodiment
Fig. 1 is an embodiment disclosed by the invention, and this robot elbow joint comprises robot upper arm 1, first servomotor 2 and second servomotor 3, U-shaped spare 4, forearm connector 5, annular element 6, forearm pedestal 7 and driving lever 8.Wherein, first servomotor 2 and second servomotor 3 are installed in respectively on the robot upper arm 1, the U-shaped bottom of U-shaped spare 4 connects firmly by the turning cylinder of the installing hole and first servomotor 2, the U-shaped top of U-shaped spare 4 links to each other with annular element 6 with 15 by the secondary hinge 13 of first group of coaxial rotation, and the shaft axis of the turning cylinder axis of first servomotor 2 and first group of coaxial rotation pair hinge 13 and 15 in the space orthogonal and coplane; The middle part of driving lever 8 connects firmly the end at forearm connector 5, the two ends of driving lever 8 link to each other with annular element 6 with 14 by the secondary hinge 12 of second group of coaxial rotation, and the shaft axis of the shaft axis of first group of secondary hinge 13 of coaxial rotation and 15 and second group of coaxial rotation pair hinge 12 and 14 in the space orthogonal and coplane; Forearm connector 5 links to each other with forearm pedestal 7 by revolute pair hinge 10; forearm pedestal 7 links to each other with robot upper arm 1 with 11 by the secondary hinge 9 of the 3rd group of coaxial rotation, and the shaft axis of the shaft axis of revolute pair hinge 10 and the 3rd group of coaxial rotation pair hinge 9 and 11 in the space orthogonal and coplane; One side of forearm pedestal 7 connects firmly by the turning cylinder of the installing hole and second servomotor 3, and the turning cylinder axis of second servomotor 3 is coaxial with the shaft axis of the secondary hinge 9 of the 3rd group of coaxial rotation and 11.The other end of the forearm of robot and described forearm connector 5 links.
This elbow joint has advantages such as simple in structure and good manufacturability, is applicable to the elbow joint of anthropomorphic robot.
Claims (2)
1. elbow joint of realizing flexing and the robot that rotatablely moves, comprise robot upper arm (1), first servomotor (2), second servomotor (3) and forearm connector (5); a side of forearm pedestal (7) connects firmly by the turning cylinder of installing hole and second servomotor (3); first servomotor (2) and second servomotor (3) are installed in respectively on the robot upper arm (1); the U-shaped bottom of U-shaped spare (4) connects firmly by the turning cylinder of installing hole and first servomotor (2), and it is characterized in that: the U-shaped top of U-shaped spare (4) links to each other with annular element (6) by the secondary hinge of first group of coaxial rotation (13; 15); The middle part of driving lever (8) connects firmly the end at forearm connector (5), and the other end of the forearm of robot and forearm connector (5) links, and the two ends of driving lever (8) link to each other with annular element (6) by the secondary hinge of second group of coaxial rotation (12,14); Forearm connector (5) links to each other with forearm pedestal (7) by revolute pair hinge (10), and forearm pedestal (7) links to each other with robot upper arm (1) by the secondary hinge of the 3rd group of coaxial rotation (9,11).
2. the elbow joint of realization flexing according to claim 1 and the robot that rotatablely moves is characterized in that: the shaft axis of the turning cylinder axis of first servomotor (2) and the secondary hinge of first group of coaxial rotation (13,15) is vertical mutually also coplane in the space; The shaft axis of the shaft axis of the secondary hinge of first group of coaxial rotation (13,15) and the secondary hinge of second group of coaxial rotation (12,14) is vertical mutually also coplane in the space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101852367A CN100544904C (en) | 2007-11-09 | 2007-11-09 | A robotic elbow joint for flexion and rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101852367A CN100544904C (en) | 2007-11-09 | 2007-11-09 | A robotic elbow joint for flexion and rotation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101157219A CN101157219A (en) | 2008-04-09 |
| CN100544904C true CN100544904C (en) | 2009-09-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101852367A Expired - Fee Related CN100544904C (en) | 2007-11-09 | 2007-11-09 | A robotic elbow joint for flexion and rotation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100544904C (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009017581B4 (en) * | 2009-04-18 | 2021-06-24 | Igus Gmbh | Multi-axis joint especially for robotics |
| CN102610116A (en) * | 2012-03-13 | 2012-07-25 | 浙江百新机电科技有限公司 | High-simulation intelligent traffic police robot |
| TW201406508A (en) * | 2012-08-13 | 2014-02-16 | Mirle Automation Corp | Robot with multiple rotation mechanisms |
| JP5772875B2 (en) * | 2013-05-20 | 2015-09-02 | 株式会社安川電機 | Connection member, method for manufacturing connection member, and robot |
| CN105082174B (en) * | 2015-08-14 | 2017-10-10 | 哈尔滨工大服务机器人有限公司 | A kind of clothes Robot model two-freedom active elbow joint drive device |
| CN106313105B (en) * | 2016-11-02 | 2018-08-14 | 中国农业大学 | A kind of two-freedom degree joint structure |
| CN107627322B (en) * | 2017-10-18 | 2019-09-13 | 西安科技大学 | A rotatable axis-rotating pair based on helical motion |
| CN108772825B (en) * | 2018-07-09 | 2020-04-24 | 燕山大学 | Two-branch four-degree-of-freedom mechanical arm |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4073201A (en) * | 1976-10-13 | 1978-02-14 | Spar Aerospace Products Limited | Powered wrist joint |
| US4628765A (en) * | 1985-02-27 | 1986-12-16 | Rensselaer Polytechnic Institute | Spherical robotic wrist joint |
| US4636134A (en) * | 1984-05-18 | 1987-01-13 | Asea Ab | Arrangement in an industrial robot |
-
2007
- 2007-11-09 CN CNB2007101852367A patent/CN100544904C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4073201A (en) * | 1976-10-13 | 1978-02-14 | Spar Aerospace Products Limited | Powered wrist joint |
| US4636134A (en) * | 1984-05-18 | 1987-01-13 | Asea Ab | Arrangement in an industrial robot |
| US4628765A (en) * | 1985-02-27 | 1986-12-16 | Rensselaer Polytechnic Institute | Spherical robotic wrist joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101157219A (en) | 2008-04-09 |
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| PB01 | Publication | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090930 Termination date: 20121109 |