CN108656136A - mechanical arm and law enforcement robot - Google Patents
mechanical arm and law enforcement robot Download PDFInfo
- Publication number
- CN108656136A CN108656136A CN201810940622.0A CN201810940622A CN108656136A CN 108656136 A CN108656136 A CN 108656136A CN 201810940622 A CN201810940622 A CN 201810940622A CN 108656136 A CN108656136 A CN 108656136A
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- CN
- China
- Prior art keywords
- steering engine
- mechanical
- engine assembly
- arm
- shoulder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The mechanical arm and law enforcement robot that the disclosure provides, are related to robotic technology field.The mechanical arm includes the first steering engine assembly, mechanical shoulder, the second steering engine assembly, mechanical upper arm, third steering engine assembly, mechanical underarm, the 4th steering engine assembly and manipulator.Mechanical shoulder is rotatably connected with the first steering engine assembly, and the first steering engine assembly is for driving mechanical shoulder to rotate；Second steering engine assembly is installed in mechanical shoulder, and mechanical upper arm is connect with the second steering engine assembly, and the second steering engine assembly is for driving mechanical upper arm relative mechanical shoulder to swing.Third steering engine assembly is installed in mechanical upper arm, and mechanical underarm is connect with third steering engine assembly, and third steering engine assembly is for driving mechanical underarm relative mechanical upper arm to rotate.4th steering engine assembly is installed in mechanical underarm, and manipulator is connect with the 4th steering engine assembly, and the 4th steering engine assembly is used for arm swing under driving manipulator relative mechanical.The mechanical arm is compact-sized, high sensitivity, and flexibility ratio is high.
Description
Technical field
This disclosure relates to robotic technology field, in particular to a kind of mechanical arm and law enforcement robot.
Background technology
Simultaneously with the continuous rising of human cost, by the way of " fixing camera+Central Control Room+robot patrol " at
For the main trend of development：Robot replaces security personnel, executes 24 hours patrol missions and preliminary scene inspection.
Robot can simulate staff to guiding direction the personnel that inquire.Due to spatial variable, robot is patrolling
Also some specific location accurately to be guided to need that there is flexible mechanical arm during patrolling, to realize different angle different height
The guide of position.
Invention content
The purpose of the disclosure includes providing a kind of mechanical arm, compact-sized, high sensitivity, and flexibility ratio height.
The purpose of the disclosure further includes providing a kind of law enforcement robot, the mechanical arm for using the disclosure to provide, Neng Gougen
It is needed according to user, precisely guides direction.
The disclosure solves its technical problem using technical solution below to realize：
A kind of mechanical arm that the disclosure provides, including the first steering engine assembly, mechanical shoulder, the second steering engine assembly, mechanically
Arm, third steering engine assembly, mechanical underarm, the 4th steering engine assembly and manipulator；
The machinery shoulder is rotatably connected with the first steering engine assembly, and the first steering engine assembly is for driving the machine
Tool shoulder rotates；The second steering engine assembly is installed in the mechanical shoulder, and the machinery upper arm and second steering engine are total
At connection, the second steering engine assembly is for driving the relatively described mechanical shoulder of the mechanical upper arm to swing；The third steering engine
Assembly is installed in the mechanical upper arm, and the machinery underarm is connect with the third steering engine assembly, the third steering engine assembly
For driving the mechanical underarm to be rotated relative to the mechanical upper arm；The 4th steering engine assembly is installed on the mechanical underarm
Interior, the manipulator is connect with the 4th steering engine assembly, and the 4th steering engine assembly is for driving the manipulator with respect to institute
State arm swing under machinery.
Further, the first steering engine assembly is solid including the first actuator, cursor disk, the first main shaft, the first steering engine
Fixed board and the first steering engine mounting base；
First actuator passes through the first steering engine fixed plate and is connect with the cursor disk, the cursor disk
It is connect with first main shaft, first main shaft passes through the first steering engine mounting base and connect with the mechanical shoulder, institute
It states the first steering engine fixed plate to connect with the first steering engine mounting base, and forms accommodating cavity therebetween, the cursor disk
It is set in the accommodating cavity.
Further, first actuator includes connected driving portion and rotation axis, and the driving portion is installed on described
The section of first steering engine fixed plate, the rotation axis is in abnormity, offers irregularly-shaped hole on the cursor disk, the rotation axis is worn
It crosses the first steering engine fixed plate and coordinates with the irregularly-shaped hole.
Further, it is provided with the first slide guide part between the rotation axis and the first steering engine fixed plate, described first
The second slide guide part is provided between main shaft and the first steering engine mounting base.
Further, the second steering engine assembly includes the second steering engine mounting base, the second actuator and transmission component；It is described
Second steering engine mounting base includes fixed seat and is relatively arranged on the first installation panel of the fixed seat both sides and the second mounting surface
Plate, second actuator are installed in the fixed seat, and are sequentially connected with the transmission component, and the one of the machinery upper arm
Panel rotation connection is installed in side with described second, and the other side is connect with the transmission component, described in the second actuator driving
Transmission component acts, to drive the relatively described second steering engine mounting base of mechanical upper arm to swing.
Further, the transmission component includes the first driving wheel, the second driving wheel, third driving wheel and conveyer belt, institute
It states the first driving wheel to be driven with second actuator, second driving wheel is rotatably connected with the fixed seat, the third
Driving wheel is connect with the side of the mechanical upper arm, and the conveyer belt is sheathed on first driving wheel, second driving wheel
And third driving wheel periphery, to be passed respectively with first driving wheel, second driving wheel and the third driving wheel
It is dynamic.
Further, the mechanical shoulder is hollow structure, the second steering engine mounting base, second actuator and institute
It states transmission component to may be contained in the mechanical shoulder, one end of the machinery shoulder offers first through hole, the machinery shoulder
The side in portion offers the second through-hole, and the first through hole is connected to second through-hole, and the machinery upper arm is described first
It is swung between through-hole and second through-hole.
Further, the third steering engine assembly includes third actuator, rotating disk, bearing block and third slide guide part；Institute
It states third actuator to be installed on the bearing block, and is connect with the rotating disk, the rotating disk passes through the third slide guide
Part is connect with the bearing block, and the rotating disk is connect with the end face of the mechanical underarm, and the bearing block is installed on the machine
The internal perisporium of tool upper arm.
Further, the 4th steering engine assembly includes mounting seat and fourth drive member, and the fourth drive member includes
Main driving and two shafts for being set to the main driving both ends, the manipulator are connect with two shafts；
The machinery underarm is hollow structure, and the mounting seat and the fourth drive member may be contained within the mechanical shoulder
In portion, one end of the machinery underarm offers third through-hole, and the side of the machinery underarm offers fourth hole, and described the
Three through-holes are connected to the fourth hole, and the manipulator is swung between the third through-hole and the fourth hole.
The law enforcement robot that the disclosure provides includes chassis, trunk shell, the mechanical arm described in head construction and two, institute
The downside that chassis is connected to the trunk shell is stated, the head construction is connected to the upside of the trunk shell, described in two
The mechanical shoulder both sides rotatable engagement with the trunk shell respectively.
The advantageous effect of the embodiment of the present disclosure is：
Its second steering engine assembly of the mechanical arm of disclosure offer is installed in mechanical shoulder, and third steering engine assembly is installed on machine
In tool upper arm, the 4th steering engine assembly is installed in mechanical underarm so that the mechanical shoulder of mechanical arm, mechanical upper arm, mechanical underarm
It is compact with robot manipulator structure, also, the first steering engine assembly can drive mechanical shoulder to rotate, and the second steering engine assembly being capable of driving machine
Tool upper arm relative mechanical shoulder is swung, and third steering engine assembly can drive mechanical underarm relative mechanical upper arm to rotate, the 4th steering engine
Assembly being capable of arm swing under driving manipulator relative mechanical.Therefore realize level Four movement so that the sensitivity of mechanical arm and flexibly
Degree is higher.
The disclosure provide law enforcement robot its use the disclosure offer sensitivity and the higher mechanical arm of flexibility ratio,
When for guiding direction to user, direction can be precisely guided according to user's needs.
Description of the drawings
It, below will be to needed in the embodiment attached in order to illustrate more clearly of the technical solution of the embodiment of the present disclosure
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiment of the disclosure, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the decomposition texture schematic diagram for the mechanical arm that disclosure specific embodiment provides.
Fig. 2 is the decomposition texture schematic diagram of the first steering engine assembly of the mechanical arm that disclosure specific embodiment provides.
Fig. 3 is the structural schematic diagram of the first actuator of the mechanical arm that disclosure specific embodiment provides.
Fig. 4 is the structural schematic diagram of the cursor disk for the mechanical arm that disclosure specific embodiment provides.
Fig. 5 is that the second steering engine assembly of the mechanical arm that disclosure specific embodiment provides and the decomposition texture of mechanical upper arm show
It is intended to.
Fig. 6 is the decomposition texture schematic diagram of the third steering engine assembly for the mechanical arm that disclosure specific embodiment provides.
Fig. 7 is the decomposition texture signal of the 4th steering engine assembly and manipulator for the mechanical arm that disclosure specific embodiment provides
Figure.
Fig. 8 is the structural schematic diagram for the law enforcement robot that disclosure specific embodiment provides.
Fig. 9 is the structural schematic diagram for the mechanical arm that disclosure specific embodiment provides.
Icon：100- mechanical arms；110- the first steering engine assemblies；The first actuators of 112-；1121- driving portions；1123- is rotated
Axis；113- cursor disks；1131- irregularly-shaped holes；The first main shafts of 114-；115- the first steering engine fixed plates；The first steering engines of 116- are installed
Seat；117- the first slide guide parts；118- the second slide guide parts；119- steering engine transfer panels；120- machinery shoulders；121- first through hole；
The second through-holes of 122-；130- the second steering engine assemblies；131- the second steering engine mounting bases；1311- fixed seats；The first mounting surfaces of 1312-
Plate；1313- second installs panel；The second actuators of 132-；133- transmission components；The first driving wheels of 1331-；1332- second is passed
Driving wheel；1333- third driving wheels；1334- conveyer belts；The 4th slide guide parts of 134-；135- hoods；140- machinery upper arm；150-
Three steering engine assemblies；151- third actuators；152- rotating disks；153- bearing blocks；154- third slide guide parts；160- machinery underarms；
161- third through-holes；162- fourth holes；The 4th steering engine assemblies of 170-；171- mounting seats；172- fourth drive members；1721-
Main driving；1722- shafts；180- manipulators；200- law enforcements robot；The chassis 210-；220- trunk shells；It ties on the heads 230-
Structure.
Specific implementation mode
To keep the purpose, technical scheme and advantage of the embodiment of the present disclosure clearer, below in conjunction with the embodiment of the present disclosure
In attached drawing, the technical solution in the embodiment of the present disclosure is clearly and completely described, it is clear that described embodiment is
Disclosure a part of the embodiment, instead of all the embodiments.The disclosure being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the disclosure to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present disclosure, but be merely representative of the selected embodiment of the disclosure.Based on the embodiment in the disclosure, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model of disclosure protection
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the disclosure, it should be noted that the orientation or positional relationship of the instructions such as term "upper" is based on attached
Orientation or positional relationship shown in figure or the disclosure product using when the orientation or positional relationship usually put, be only for
It is described convenient for the description disclosure and simplifying, specific side must be had by not indicating or implying the indicated device or element
Position, with specific azimuth configuration and operation, therefore should not be understood as the limitation to the disclosure.
In addition, term " first ", " second ", " third " and " the 4th " etc. is only used for distinguishing description, and should not be understood as referring to
Show or imply relative importance.
In the description of the disclosure, it is also necessary to which explanation, unless in addition having more specific regulation and limiting, term " is set
Set ", " connection " more broadly understanding should be done, for example, " connection " may be a fixed connection, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the disclosure.
Below in conjunction with the accompanying drawings, it elaborates to an embodiment of the disclosure, it is in the absence of conflict, following
Feature in embodiment can be combined with each other.
Fig. 1 is the decomposition texture schematic diagram of mechanical arm 100 provided in this embodiment.Fig. 1 is please referred to, present disclose provides one
Kind mechanical arm 100, the mechanical arm 100 can be used for being installed in robot.The mechanical arm 100 include the first steering engine assembly 110,
Mechanical shoulder 120, the second steering engine assembly 130, mechanical upper arm 140, third steering engine assembly 150, mechanical underarm 160, the 4th steering engine
Assembly 170 and manipulator 180.
Wherein, mechanical shoulder 120, mechanical upper arm 140 and mechanical underarm 160 are hollow structure, to facilitate installation to fix
Second steering engine assembly 130, third steering engine assembly 150 and the 4th steering engine assembly 170.
In the present embodiment, mechanical shoulder 120 is rotatably connected with the first steering engine assembly 110, and the first steering engine assembly 110 is for driving
Motivation tool shoulder 120 rotates.Second steering engine assembly 130 is installed in mechanical shoulder 120, and mechanical upper arm 140 and the second steering engine are total
At 130 connections, the second steering engine assembly 130 is for driving 140 relative mechanical shoulder 120 of mechanical upper arm to swing.Third steering engine assembly
150 are installed in mechanical upper arm 140, and mechanical underarm 160 is connect with third steering engine assembly 150, and third steering engine assembly 150 is for driving
160 relative mechanical upper arm 140 of motivation tool underarm rotates.4th steering engine assembly 170 is installed in mechanical underarm 160, manipulator 180
It is connect with the 4th steering engine assembly 170, the 4th steering engine assembly 170 is swung for 180 relative mechanical underarm 160 of driving manipulator.
Fig. 2 is the decomposition texture schematic diagram of the first steering engine assembly 110 of mechanical arm 100 provided in this embodiment.It please refers to
Fig. 2, in the present embodiment, the first steering engine assembly 110 includes the first actuator 112, cursor disk 113, the first main shaft 114, first
Steering engine fixed plate 115 and the first steering engine mounting base 116.
Wherein, the first steering engine mounting base 116 can be used for being fixed in robot.
In the present embodiment, the first actuator 112 passes through the first steering engine fixed plate 115 and is connect with cursor disk 113, rotates
Arm disk 113 is connect with the first main shaft 114, and the first main shaft 114 passes through the first steering engine mounting base 116 and connect with mechanical shoulder 120,
First steering engine fixed plate 115 and the connection of the first steering engine mounting base 116, and accommodating cavity (figure is not marked), rotation are formed therebetween
Arm disk 113 is set in accommodating cavity.This structure can make the first steering engine assembly 110 compact-sized.
It should be noted that the first steering engine mounting base 116 can be ring flange.
Fig. 3 is the structural schematic diagram of the first actuator 112 of mechanical arm 100 provided in this embodiment.Fig. 3 is please referred to, the
One actuator 112 includes that connected driving portion 1121 and rotation axis 1123, driving portion 1121 are installed on the first steering engine fixed plate
115, in abnormity, rotation axis 1123 passes through the first steering engine fixed plate 115 to connect with cursor disk 113 in the section of rotation axis 1123
It connects.
It should be noted that the first actuator 112 can select servo motor.
Fig. 4 is the structural schematic diagram of the cursor disk 113 of mechanical arm 100 provided in this embodiment.Please refer to Fig. 4, this reality
It applies in example, irregularly-shaped hole 1131 is offered on cursor disk 113, rotation axis 1123 and the irregularly-shaped hole 1131 of the first actuator 112 are matched
It closes.It is understood that this structure is convenient for assembly, and it can facilitate driving portion 1121 that cursor disk 113 is driven to rotate.
Cursor disk 113 and the first main shaft 114 can be bolted.
In order to ensure working efficiency, in the present embodiment, is provided between rotation axis 1123 and the first steering engine fixed plate 115
One slide guide part 117 is provided with the second slide guide part 118 between first main shaft 114 and the first steering engine mounting base 116.
Wherein, the first slide guide part 117 and the second slide guide part 118 are bearing.The peace of second slide guide part 118 for convenience
It fills, the first steering engine assembly 110 further includes that bearing fixes disk in the present embodiment, and bearing fixes disk and the first steering engine mounting base 116 can
To be bolted, and the second slide guide part 118 is held on therebetween.
In order to ensure the connective stability of the first steering engine assembly 110 and mechanical shoulder 120, ensure the first steering engine assembly 110
The precision that the mechanical shoulder 120 of driving rotates, in the present embodiment, the first steering engine assembly 110 further includes steering engine transfer panel 119, steering engine
Transfer panel 119 is used for and mechanical upper arm 140 connects.
Fig. 5 is the decomposition texture of the second steering engine assembly 130 and mechanical upper arm 140 of mechanical arm 100 provided in this embodiment
Schematic diagram.Please refer to Fig. 5, in the present embodiment, the second steering engine assembly 130 includes the second steering engine mounting base 131, the second actuator
132 and transmission component 133.Second steering engine mounting base 131, the second actuator 132 and transmission component 133 may be contained within hollow machine
In tool shoulder 120.
Second steering engine mounting base 131 includes fixed seat 1311 and the first mounting surface for being relatively arranged on 1311 both sides of fixed seat
Plate 1312 and second installs panel 1313, and the second actuator 132 is installed in fixed seat 1311, and is driven with transmission component 133
Connection, the side of mechanical upper arm 140 are rotatablely connected with the second installation panel 1313, and the other side is connect with transmission component 133, and second
Actuator 132 drives transmission component 133 to act, to drive 140 opposite second steering engine mounting base 131 of mechanical upper arm to swing.
In the present embodiment, transmission component 133 includes the first driving wheel 1331, the second driving wheel 1332, third driving wheel
1333 and conveyer belt 1334, the first driving wheel 1331 and the second actuator 132 are driven, the second driving wheel 1332 and fixed seat 1311
Rotatable connection, third driving wheel 1333 are connect with the side of mechanical upper arm 140, and conveyer belt 1334 is sheathed on the first driving wheel
1331,1333 periphery of the second driving wheel 1332 and third driving wheel, with respectively with the first driving wheel 1331, the second driving wheel 1332
And third driving wheel 1333 is driven.
It should be noted that the second actuator 132 can select servo motor.It should be noted that in order to ensure machinery
The sensitivity of the rotation of upper arm 140, in the present embodiment, the second steering engine assembly 130 further includes the 4th slide guide part 134, mechanical upper arm
140 and second installation panel 1313 pass through the 4th slide guide part 134 connect.4th slide guide part 134 can be bearing.
It should be noted that ensure sensitivity in order to facilitate the installation of and as much as possible, and in the present embodiment, fixed seat 1311
In the form of annular discs, fixed seat 1311 is installed on mechanical shoulder 120, and fixed seat 1311 is connect with steering engine transfer panel 119.
In order to ensure with the good fit relationship of mechanical 120 inner wall of shoulder, the second steering engine assembly 130 further includes two hoods
135, two hoods 135 are respectively arranged at the both sides of the first installation panel 1312 and second installation panel 1313.
It should be noted that in order to which limit mechanical upper arm 140 is excessively swung, in the present embodiment, one end of mechanical shoulder 120
First through hole 121 is offered, the side of mechanical shoulder 120 offers the second through-hole 122, first through hole 121 and the second through-hole 122
Connection, mechanical upper arm 140 are swung between first through hole 121 and the second through-hole 122.
Fig. 6 is the decomposition texture schematic diagram of the third steering engine assembly 150 of mechanical arm 100 provided in this embodiment.It please refers to
Fig. 6, in the present embodiment, third steering engine assembly 150 includes third actuator 151, rotating disk 152, bearing block 153 and third slide guide
Part 154.
Third actuator 151 is installed on bearing block 153, and is connect with rotating disk 152, and rotating disk 152 is led by third
Saddle 154 is connect with bearing block 153, and rotating disk 152 is connect with the end face of mechanical underarm 160, and bearing block 153 is installed on mechanically
The internal perisporium of arm 140.
It is understood that in the present embodiment, rotating disk 152 is connected with the end face of mechanical underarm 160, can be as much as possible
Increase contact area, ensures the stability that mechanical underarm 160 is run.
In the present embodiment, it can be bearing that third actuator 151, which can select servo motor, third slide guide part 154,.
Fig. 7 is that the 4th steering engine assembly 170 of mechanical arm 100 provided in this embodiment and the decomposition texture of manipulator 180 show
It is intended to.Please refer to Fig. 7, in the present embodiment, the 4th steering engine assembly 170 includes mounting seat 171 and fourth drive member 172, installation
Pedestal 171 and fourth drive member 172 may be contained in hollow mechanical shoulder 120.
Fourth drive member 172 includes main driving 1721 and two shafts 1722 for being set to 1721 both ends of main driving, machinery
Hand 180 is connect with two shafts 1722.It is understood that the fourth drive member 172 of this Two axle drive enables to machinery
Hand 180 swings highly stable.
It should be noted that in order to which limit mechanical hand 180 is excessively swung, in the present embodiment, one end of mechanical underarm 160 is opened
Equipped with third through-hole 161, the side of mechanical underarm 160 offers fourth hole 162, and third through-hole 161 connects with fourth hole 162
Logical, manipulator 180 is swung between third through-hole 161 and fourth hole 162.
Fig. 8 is the structural schematic diagram of law enforcement robot 200 provided in this embodiment.Fig. 8 is please referred to, above-mentioned mechanical arm is based on
100, the present embodiment additionally provides a kind of law enforcement robot 200 comprising chassis 210, trunk shell 220,230 and of head construction
Two mechanical arms 100.
Chassis 210 is connected to the downside of trunk shell 220, and head construction 230 is connected to the upside of trunk shell 220, and two
A machinery shoulder 120 respectively with the both sides rotatable engagement of trunk shell 220.
Fig. 9 is the structural schematic diagram of mechanical arm 100 provided in this embodiment.Incorporated by reference to referring to Fig.1 and Fig. 9, it is possible to understand that
, mechanical arm 100 its second steering engine assembly 130 that the disclosure provides is installed in mechanical shoulder 120, third steering engine assembly
150 are installed in mechanical upper arm 140, and the 4th steering engine assembly 170 is installed in mechanical underarm 160 so that the machinery of mechanical arm 100
Shoulder 120, mechanical upper arm 140, mechanical underarm 160 and manipulator 180 are compact-sized, also, the first steering engine assembly 110 can drive
Motivation tool shoulder 120 rotates, and the second steering engine assembly 130 can drive 140 relative mechanical shoulder 120 of mechanical upper arm to swing, third
Steering engine assembly 150 can drive 160 relative mechanical upper arm 140 of mechanical underarm to rotate, and the 4th steering engine assembly 170 can drive machinery
180 relative mechanical underarm 160 of hand is swung.Therefore realize level Four movement so that the sensitivity of mechanical arm 100 and flexibility ratio compared with
It is high.
The disclosure provide law enforcement robot 200 its use the disclosure offer sensitivity and the higher machinery of flexibility ratio
Arm 100 can precisely guide direction when for guiding direction to user according to user's needs.
The foregoing is merely preferred embodiment of the present disclosure, are not limited to the disclosure, for the skill of this field
For art personnel, the disclosure can have various modifications and variations.It is all within the spirit and principle of the disclosure, made by any repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the disclosure.
Claims (10)
1. a kind of mechanical arm, which is characterized in that including the first steering engine assembly, mechanical shoulder, the second steering engine assembly, mechanical upper arm,
Third steering engine assembly, mechanical underarm, the 4th steering engine assembly and manipulator；
The machinery shoulder is rotatably connected with the first steering engine assembly, and the first steering engine assembly is for driving the mechanical shoulder
Portion rotates；The second steering engine assembly is installed in the mechanical shoulder, and the machinery upper arm connects with the second steering engine assembly
It connects, the second steering engine assembly is for driving the relatively described mechanical shoulder of the mechanical upper arm to swing；The third steering engine assembly
It is installed in the mechanical upper arm, the machinery underarm is connect with the third steering engine assembly, and the third steering engine assembly is used for
The mechanical underarm is driven to be rotated relative to the mechanical upper arm；The 4th steering engine assembly is installed in the mechanical underarm, institute
It states manipulator to connect with the 4th steering engine assembly, the 4th steering engine assembly is for driving the relatively described machinery of the manipulator
Lower arm swing.
2. mechanical arm as described in claim 1, which is characterized in that the first steering engine assembly includes the first actuator, rotation
Arm disk, the first main shaft, the first steering engine fixed plate and the first steering engine mounting base；
First actuator passes through the first steering engine fixed plate and is connect with the cursor disk, the cursor disk and institute
The connection of the first main shaft is stated, first main shaft passes through the first steering engine mounting base and is connect with the mechanical shoulder, and described the
One steering engine fixed plate is connected with the first steering engine mounting base, and forms accommodating cavity therebetween, the cursor disk setting
In in the accommodating cavity.
3. mechanical arm as claimed in claim 2, which is characterized in that first actuator includes connected driving portion and rotation
Axis, the driving portion are installed on the first steering engine fixed plate, and the section of the rotation axis is in abnormity, is opened on the cursor disk
Equipped with irregularly-shaped hole, the rotation axis passes through the first steering engine fixed plate and coordinates with the irregularly-shaped hole.
4. mechanical arm as claimed in claim 3, which is characterized in that set between the rotation axis and the first steering engine fixed plate
It is equipped with the first slide guide part, the second slide guide part is provided between first main shaft and the first steering engine mounting base.
5. mechanical arm as described in claim 1, which is characterized in that the second steering engine assembly include the second steering engine mounting base,
Second actuator and transmission component；The second steering engine mounting base includes fixed seat and is relatively arranged on the fixed seat both sides
First installation panel and the second installation panel, second actuator is installed in the fixed seat, and with the transmission component
It is sequentially connected, panel rotation connection is installed in the side of the machinery upper arm with described second, and the other side connects with the transmission component
It connects, second actuator drives the transmission component action, to drive relatively described second steering engine of mechanical upper arm to install
Seat is swung.
6. mechanical arm as claimed in claim 5, which is characterized in that the transmission component includes the first driving wheel, the second transmission
Wheel, third driving wheel and conveyer belt, first driving wheel are driven with second actuator, second driving wheel with it is described
Fixed seat is rotatably connected, and the third driving wheel is connect with the side of the machinery upper arm, and the conveyer belt is sheathed on described the
One driving wheel, second driving wheel and third driving wheel periphery, to be passed respectively with first driving wheel, described second
Driving wheel and third driving wheel transmission.
7. mechanical arm as claimed in claim 5, which is characterized in that the machinery shoulder is hollow structure, second steering engine
Mounting base, second actuator and the transmission component may be contained in the mechanical shoulder, one end of the machinery shoulder
First through hole is offered, the side of the machinery shoulder offers the second through-hole, and the first through hole connects with second through-hole
Logical, the machinery upper arm is swung between the first through hole and second through-hole.
8. mechanical arm as described in claim 1, which is characterized in that the third steering engine assembly includes third actuator, rotation
Disk, bearing block and third slide guide part；The third actuator is installed on the bearing block, and is connect with the rotating disk, institute
It states rotating disk to connect with the bearing block by the third slide guide part, the rotating disk and the end face of the mechanical underarm connect
It connects, the bearing block is installed on the internal perisporium of the mechanical upper arm.
9. mechanical arm as described in claim 1, which is characterized in that the 4th steering engine assembly includes mounting seat and 4 wheel driven
Moving part, the fourth drive member include main driving and two shafts for being set to the main driving both ends, the manipulator and two
A shaft connection；
The machinery underarm is hollow structure, and the mounting seat and the fourth drive member may be contained within the mechanical shoulder
Interior, one end of the machinery underarm offers third through-hole, and the side of the machinery underarm offers fourth hole, the third
Through-hole is connected to the fourth hole, and the manipulator is swung between the third through-hole and the fourth hole.
10. a kind of law enforcement robot, which is characterized in that including chassis, trunk shell, head construction and two such as claim 1-
Mechanical arm described in 9 any one, the chassis are connected to the downside of the trunk shell, and the head construction is connected to described
The upside of trunk shell, two mechanical shoulders both sides rotatable engagement with the trunk shell respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810940622.0A CN108656136B (en) | 2018-08-17 | 2018-08-17 | Mechanical arm and law enforcement robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810940622.0A CN108656136B (en) | 2018-08-17 | 2018-08-17 | Mechanical arm and law enforcement robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108656136A true CN108656136A (en) | 2018-10-16 |
| CN108656136B CN108656136B (en) | 2024-09-20 |
Family
ID=63788433
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810940622.0A Active CN108656136B (en) | 2018-08-17 | 2018-08-17 | Mechanical arm and law enforcement robot |
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| CN113910293A (en) * | 2021-11-25 | 2022-01-11 | 深圳市优必选科技股份有限公司 | Mechanical arm connecting assembly and robot |
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| CN110053071B (en) * | 2019-04-15 | 2022-06-28 | 山东科技大学 | Shoulder joint working method based on bionic structure |
| CN113910293A (en) * | 2021-11-25 | 2022-01-11 | 深圳市优必选科技股份有限公司 | Mechanical arm connecting assembly and robot |
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| CN108656136B (en) | 2024-09-20 |
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