AU2021102583A4 - Robotic Arm - Google Patents
Robotic Arm Download PDFInfo
- Publication number
- AU2021102583A4 AU2021102583A4 AU2021102583A AU2021102583A AU2021102583A4 AU 2021102583 A4 AU2021102583 A4 AU 2021102583A4 AU 2021102583 A AU2021102583 A AU 2021102583A AU 2021102583 A AU2021102583 A AU 2021102583A AU 2021102583 A4 AU2021102583 A4 AU 2021102583A4
- Authority
- AU
- Australia
- Prior art keywords
- sliding
- sliding block
- robotic arm
- driving
- driven working
- 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.)
- Ceased
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 230000033001 locomotion Effects 0.000 claims abstract description 54
- 230000008859 change Effects 0.000 claims abstract description 4
- 230000009471 action Effects 0.000 abstract description 2
- 241000375392 Tana Species 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 5
- 238000013016 damping Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 101100299619 Mus musculus Ptpn18 gene Proteins 0.000 description 1
- 101150040663 PGI1 gene Proteins 0.000 description 1
- 241001275831 Tanais Species 0.000 description 1
- 210000000617 arm Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a robotic arm, which belongs to the technical field of
robotic arm control movement, comprising a robotic arm joint and a telescopic mechanism, the
robotic arm joint comprising a first robotic arm joint and a second robotic arm joint; the first
robotic arm joint is used to fixedly support the telescopic mechanism and the second robotic arm
joint; the second robotic arm joint is used to fix the telescopic mechanism; one end of the
telescopic mechanism is fixedly connected to the first robotic arm joint, and the other end is
fixedly connected to the second robotic arm joint, the telescopic mechanism is used to change
the arm length and angle of the robotic arm; a robotic arm actuator is used to perform related
actions of the robotic arm; the telescopic mechanism comprises at least one set of
pneumatic-controlled pitch-adjustable telescopic mechanism, and the pneumatic-controlled
pitch-adjustable telescopic mechanism comprises a fixed block, a sliding block and a driving
device. The invention provides a robotic arm that can adjust the length of the robotic arm and has
a small joint volume; using a gas bag as a driving force, the robotic arm has high movement
precision, and is environmentally friendly and pollution-free; and the working length and angle
of the robotic arm can be changed, increasing the flexibility of the robotic arm.
1/7
a
10
FIG.1
FIG.2
Description
1/7
a 10
FIG.1
FIG.2
Robotic Arm
The present invention generally relates to the technical field of robotic arm control
movement, and in particular relates to a robotic arm with adjustable arm length.
A robotic arm is a mechanical electronic device that simulates the functions of the human
arms, wrists and hands. Its main function is to move according to the spatial position and
orientation (position and orientation), so as to complete the operation requirements of an
industrial production.
In the prior art, the extending and extracting of robotic arms use electric or hydraulic power
as the driving force, resulting in excessive joint size and poor flexibility; and hydraulic cylinders
or electric cylinders have disadvantages such as inaccurate length adjustment, slow action, and
easy damage, etc.; in addition, when a robotic arm is used for internal processing in a narrow
cavity, there is a problem that the robotic arm joint is too large to enter the narrow cavity for
processing.
Therefore, there is an urgent need for a robotic arm that can adjust the length according to
the specific uses and has a small and flexible joint.
The object of the present invention is to provide a robotic arm that can adjust the length
according to the specific uses and has a small and flexible joint. The present invention adopts the
following technical solutions:
A robotic arm, comprising a robotic arm joint and a telescopic mechanism, the robotic arm
joint comprising a first robotic arm joint and a second robotic arm joint; wherein the first robotic
arm joint is used to fixedly support the telescopic mechanism and the second robotic arm joint;
the second robotic arm joint is used to fix the telescopic mechanism; one end of the telescopic mechanism is fixedly connected to the first robotic arm joint, and the other end is fixedly connected to the second robotic arm joint, the telescopic mechanism is used to change the arm length and angle of the robotic arm; the telescopic mechanism comprises at least one set of pneumatic-controlled pitch-adjustable telescopic mechanism, and the pneumatic-controlled pitch-adjustable telescopic mechanism comprises a fixed block, a sliding block and a driving device, the fixed block is fixedly connected to the robotic arm joint; the sliding block slides relative to the fixed block according to a predetermined movement track, which is used to adjust the distance between the sliding block and the fixed block, thereby changing the arm length of the robotic arm; the driving device is used to provide power to drive the sliding block to slide; a sliding bar is disposed between the driving device and the sliding block, one end of the sliding bar is fixedly connected to the driving device, and the other end is slidingly connected to the sliding block, which is used to drive the sliding block to slide according to the predetermined movement track; the fixed block is provided with a fixed bracket, and the fixed bracket comprises a fixed base and a guide mechanism, the fixed base mates with the sliding bar, which is used to restrict the sliding bar from moving in a direction non-parallel to the predetermined movement track; the guide mechanism mates with the sliding block, which is used to guide the sliding block to slide along the predetermined movement track.
Further, the number of the sliding blocks is N, and N is greater than or equal to 2, the
sliding blocks include a first sliding block, a second sliding block..., a N-1-th sliding block, and a
N-th sliding block respectively; the N-1-th sliding block slides relatively parallel to the N-th
sliding block; the first sliding block is provided with a first driving working surface, a first
driven working surface, and a first sliding surface; the N-1-th sliding block is provided with a
N-1-th driving working surface, a N-1-th driven working surface and a N-1-th sliding surface,
and the N-th sliding block is provided with a N-th driving working surface, a N-th driven
working surface and a N-th sliding surface; a first sliding bar is set between the first sliding
block and the driving device; one end of the first sliding bar is fixedly connected to the driving
device, and the other end is slidingly connected to the first driving working surface, which is
used to drive the first sliding block to slide according to the predetermined movement track; the
N-1-th sliding block provides driving power for the N-th sliding block; a N-th sliding bar is
disposed between the N-1-th sliding block and the N-th sliding block, the N-th sliding bar is
slidingly connected to the N-1-th driven working surface, and the other end is slidingly
connected to the N-th driving working surface, which is used to drive the N-th sliding block to
slide according to the predetermined movement track; the N-1-th driven working surface mates
with the N-th sliding bar and is use to provide a driving opportunity to guide the N-th sliding bar
to drive the N-th sliding block; the fixed block and the first sliding block are connected
elastically, which is used to reset the first sliding block; the N-1-th sliding block and the N-th
sliding block are connected elastically, which is used to reset the N-th sliding block; the guide
mechanism mates with the N-1-th sliding surface and the N-th sliding surface, which is used to
guide the N-1-th sliding block and the N-th sliding block to slide along the predetermined
movement track.
Further, the number of the sliding blocks is three, which are the first sliding block, the
second sliding block and the third sliding block, and the driving device is gas bag; the first
sliding block is provided with a first driving working surface, a first driven working surface and
a first sliding surface; the second sliding block is provided with a second driving working surface,
a second driven working surface and a second sliding surface; the third sliding block is provided
with a third driving working surface and a third sliding surface; the first sliding surface, the
second sliding surface and the third sliding surface slide in parallel according to the
predetermined movement track; the gas bag is used to provide power to drive the sliding block to
slide; a first sliding bar is disposed between the gas bag and the first sliding block; one end of the
first sliding bar is fixedly connected to the gas bag, and the other end is slidingly connected to
-r
the first driving working surface, which is used to drive the first sliding block to slide according
to the predetermined movement track; a second sliding bar is disposed between the first sliding
block and the second sliding block, and the second sliding bar is slidingly connected to the first
driven working surface, and the other end is slidingly connected to the second driving working
surface, which is used to drive the second sliding block to slide according to the predetermined
movement track; the first driven working surface mates with the second sliding bar, which is
used to provide a driving opportunity to guide the second sliding bar to drive the second sliding
block; a third sliding bar is disposed between the second sliding block and the third sliding block;
one end of the third sliding bars slidingly connected to the second driven working plane, and the
other end is slidingly connected to the third driving working plane which is used to drive the
third sliding block to slide according to the predetermined movement track; the second driven
working plane mates with the second sliding bar which is used to provide a driving opportunity
to guide the third sliding bar to drive the third sliding block; the position of the fixed block is
fixed; the fixed block is provided with a fixed bracket, the fixed bracket includes a fixed base
and a guide mechanism; the fixed base mates with the first sliding bar, the second sliding bar,
and the third sliding bar respectively, which is used to restrict the first sliding bar, the second
sliding bar, the third sliding bar to move in a direction perpendicular to the predetermined
movement track; the guide mechanism mates with the first sliding surface, the second sliding
surface, the third sliding surface, which is used to guide the first sliding block, the second sliding
block and the third sliding block to slide along the predetermined movement track;
The fixed block is elastically connected to one end of the second sliding block on the side of
the second driving working surface, and the other end of the second sliding block on the side of
the second driven working surface is elastically connected to the third sliding block, which is
used to reset the second sliding block and the third sliding block when the gas bag is closed; the
movement track is a horizontal straight line.
Further, the length of the first driving working surface is equal to the length of the first
driven working surface; the first sliding surface includes a first sliding upper plane and a first
sliding lower plane; the lengths of the first upper sliding plane and the first sliding lower plane
are both greater than or equal to the length of the first driving working surface.
Further, the first driven working surface includes a first driven working plane and a first
driven working slope, the first driven working slope is divided into a first driven working slope I
and a first driven working slope II; the length of the second driven working surface is equal to
the sum of the length of thefirst driven working slope I and the first driven working slope II; the
second driven working surface includes a second driven working plane and a second driven
working slope; the length of the second driven working surface is greater than or equal to the
sum of the length of the second driven working plane and the second driven working slope.
Further, the length of the first driven working slope I is equal to the length of the second
driven working plane.
Further, the length of the second driven working slope is equal to the length of the first
driven working slope II.
Further, the third driving working surface includes a third driving working plane and a third
driving working slope; the length of the third driving working plane is equal to twice the length
of the second driven working plane, and the length of the third driving working slope is greater
than or equal to twice the length of the second driven working slope;
Further, the length of the third sliding surface is greater than or equal to the length of the
third driving working surface; the first driven working slope is in parallel to the second driven
working surface.
Further, the angle between the second driven working slope and the predetermined
movement track is P2, and the angle between the third driving working slope and the
predetermined movement track is Pl, p2>p l.
Beneficial effects of the present invention
The present invention provides a robotic arm that can adjust the arm length according to the
specific uses and has a small and flexible joint. Compared to the prior art, due to use of gas bag
as a driving force, the present invention has high movement precision, small and flexible joint,
and is environmentally friendly and pollution-free, and the working length and angle of the
robotic arm can be changed according to the specific uses, which increases the flexibility of the
robotic arm; in addition, the robotic arm of the present invention can enter the cavity for
processing.
FIG.1 is a schematic view of a robotic arm with adjustable arm length.
FIG.2 is a schematic view of a pneumatic-controlled pitch-adjustable telescopic mechanism.
FIG.3 is a sectional view of a pneumatic-controlled pitch-adjustable telescopic mechanism.
FIG.4 is a partially enlarged view of a pneumatic-controlled pitch-adjustable telescopic
mechanism.
FIG.5 is a schematic view showing the initial state of a pneumatic-controlled
pitch-adjustable telescopic mechanism.
FIG. 6 is a schematic view of a first sliding block.
FIG. 7 is a schematic view of a second sliding block.
FIG.8 is a schematic view of a third sliding block.
FIG.9 is a schematic view of a second state.
FIG.10 is a schematic view of a third state.
FIG.11 is a schematic view of a final elongation state.
FIG.12 is a schematic view showing the calculation and analysis.
FIG.13 is a schematic view of assembly structure.
Notes: 10-telescopic mechanism, 20-first robotic arm joint, 30-second robotic arm joint,
-transmission sliding shaft, 50-connecting block, 60-pneumatic-controlled pitch-adjustable
telescopic mechanism, 100-gas bag, 110-gas bag tube, 200-first sliding block, 210-first driving
working surface, 220-first driven working surface, 221-first driven working surface, 222-first
driven working slope I, 223-first driven working slope II, 230-first sliding surface, 231-first
sliding upper plane, 232-first sliding lower plane, 300-second sliding block, 310-second driving
working surface, 320-second driven working surface, 321-second driven working surface,
322-second driven working slope, 330-second sliding surface, 331-second sliding upper plane,
332-second sliding lower plane,400-third sliding block, 410-third driving working surface,
411-third driving working plane, 412-third driving working slope, 420-third sliding surface,
500-fixed block, 600-first sliding bar, 700-second sliding bar, 800-third sliding bar, 900-fixed
bracket, 910-fixed base, 920-guide mechanism, 1000-spring
Example 1
A robotic arm comprises a telescopic mechanism 10, a first robotic arm joint 20, and a
second robotic arm joint 30. The first robotic arm joint 20 is fixed in position in at least one
direction and is used to fixedly support the telescopic mechanism 10 and the second robotic arm
joint 30; one end of the telescopic mechanism 10 is fixedly connected to the first robotic arm
joint 20, and the other end is fixedly connected with the second robotic arm joint 30. The
telescopic mechanism 10 is used to change the working arm length and angle of the robotic arm;
the second robotic arm joint 30 is used to fix the telescopic mechanism 10; the other end of the
second robotic arm joint 30 can be fixedly connected to other robotic arm joint, or fixedly
connected to a robotic arm actuator, such as processing tools, etc.; the telescopic mechanism
comprises at least one set of pneumatic-controlled pitch-adjustable telescopic mechanism 60, and
the pneumatic-controlled pitch-adjustable telescopic mechanism 60 comprises a fixed block, a
sliding block and a driving device, the fixed block is fixedly connected to the robotic arm joint
; the sliding block slides relative to thefixed block according to a predetermined movement
track, which is used to adjust the distance between the sliding block and the fixed block, thereby
changing the arm length of the robotic arm; the driving device is used to provide power to drive
the sliding block to slide; a sliding bar is disposed between the driving device and the sliding
block, one end of the sliding bar is fixedly connected to the driving device, and the other end is
slidingly connected to the sliding block, which is used to drive the sliding block to slide
according to the predetermined movement track; the fixed block is provided with afixed bracket,
and the fixed bracket comprises a fixed base and a guide mechanism, the fixed base mates with
the sliding bar, which is used to restrict the sliding bar from moving in a direction non-parallel to
the predetermined movement track; the guide mechanism mates with the sliding block, which is
used to guide the sliding block to slide along the predetermined movement track.
The telescopic mechanism in the robotic arm may be a pneumatic-controlled
pitch-adjustable telescopic mechanism, and the components may be composed of 1, 2, 3, 4, 6 or
8 groups of pneumatic-controlled pitch-adjustable telescopic mechanisms 60, preferably 6
groups. In this embodiment, in order to increase the adjustable arm length of the robotic arm, two
sets of telescopic mechanisms 10 are selected. In this embodiment, the telescopic mechanism 10
near the first robotic arm joint 20 is the first telescopic mechanism, and the other is the second
telescopic mechanism. Each set of telescopic mechanism uses 6 sets of pneumatic-controlled
pitch-adjustable telescopic mechanisms 60. The first telescopic mechanism is fixedly connected
to the second telescopic mechanism by a connecting plate 50; the first robotic arm joint 20 is
fixedly connected to the second robotic arm joint 30 by a transmission sliding shaft 40, wherein
the fixed end of the transmission sliding shaft 40 is fixed on the first robotic arm joint 20, and the
sliding end is fixed on the second robotic arm joint 30, which can ensure that the two sets of
telescopic mechanisms support the second robotic arm joint 30 when sliding relative to the first
robotic arm joint 20 as a whole.
In this embodiment, the pneumatic-controlled pitch-adjustable telescopic mechanism 60
uses a gas bag 100 as the driving device to provide driving power for the sliding of the first
sliding block. The telescopic mechanism 10 of the robotic arm is provided with a gas bag tube
110 to provide gas source; the number of sliding blocks is 3, thereby realizing four different
telescopic states. A linear bearing is used as the fixed position of the fixed base 910 in the middle
of the sliding bar, the sliding bar can only move up and down, and the predetermined movement
track of the sliding block is a horizontal straight line. When the gas bag 100 is closed, due to the
elastic force of the spring 1000, the initial state is restored. The lower part of the figure is an
elastically stretchable skin material (not shown in the figure) to prevent dust from entering the
interior.
The robotic arm in this embodiment comprises a gas bag 100, a first sliding block 200, a
second sliding block 300, a third sliding block 400, and a fixed block 500; the first sliding block
200 is provided with a first driving working surface 210, a first driven working surface 220 and a
first sliding surface 230; the second sliding block 300 is provided with a second driving working
surface 310, a second driven working surface 320 and a second sliding surface 330; the third
sliding block 400 is provided with a third driving working surface 410 and a third sliding surface
420; the first sliding surface 230, the second sliding surface 330 and the third sliding surface 420
slide in parallel according to the predetermined movement track; a first sliding bar 600 is
disposed between the gas bag 100 and the first sliding block 200; one end of the first sliding bar
600 is fixedly connected to the gas bag 100, and the other end is slidingly connected to the first
driving working surface 210, which is used to drive the first sliding block 200 to slide according
to the predetermined movement track; a second sliding bar 700 is disposed between the first
sliding block 200 and the second sliding block 300, and the second sliding bar 700 is slidingly
connected to the first driven working surface 220, and the other end is slidingly connected to the
second driving working surface 310, which is used to drive the second sliding block to slide
according to the predetermined movement track; the first driven working surface 220 mates with
the second sliding bar 700, which is used to provide a driving opportunity to guide the second
sliding bar 700 to drive the second sliding block 300; a third sliding bar 800 is disposed between
the second sliding block 300 and the third sliding block 400; one end of the third sliding bar 800
is slidingly connected to the second driven working plane 320, and the other end is slidingly
connected to the third driving working plane 410 which is used to drive the third sliding block to
slide according to the predetermined movement track; the second driven working plane 320
mates with the second sliding bar 700 which is used to provide a driving opportunity to guide the
third sliding bar 800 to drive the third sliding block 400; the position of the fixed block 500 is
fixed; the fixed block 500 in this embodiment is a linear bearing; the fixed block 500 is provided
with a fixed bracket 900, the fixed bracket 900 includes a fixed base 910 and a guide mechanism
920; the fixed base 910 mates with the first sliding bar 600, the second sliding bar 700, and the
third sliding bar 800 respectively, which is used to restrict the first sliding bar 600, the second
sliding bar 700, the third sliding bar 800 to move in a direction perpendicular to the
predetermined movement track; the guide mechanism 920 mates with the first sliding surface
230, the second sliding surface 330, the third sliding surface 420, which is used to guide the first
sliding block 200, the second sliding block 300 and the third sliding block 400 to slide along the
predetermined movement track; wherein, the role of the guide mechanism 920 is to limit the
movement of the first sliding block 200, the second sliding block 300 and the third sliding block
400 up and down, and to guide the first sliding block 200, the second sliding block 300 and the
third sliding block 400 to slide along the predetermined movement track in parallel and in a
lubricating manner. It can be a ball, a cylinder or a parallel guide rail, preferably a parallel guide
rail; the fixed block 500 is connected to one end of the second sliding block 300 on the side of
the second driving working surface 310 via a spring 1000, and the other end of the second
sliding block 300 on the side of the second driven working surface 320 is connected to the third
sliding block 400 via a spring 1000. The spring 1000 is used to reset the second sliding block
300 and the third sliding block 400 when the gas bag 100 is closed.
In this embodiment, the length of the first driving working surface 210 is equal to the length
of the first driven working surface 220; the first sliding surface 230 includes a first sliding upper
plane 231 and a first sliding lower plane 232; the lengths of thefirst upper sliding plane 231 and
the first sliding lower plane 232 are both greater than or equal to the length of the first driving
working surface 210. The first driven working surface 220 includes a first driven working plane
221 and a first driven working slope, the first driven working slope is divided into a first driven
working slope I 222 and a first driven working slope II 223; the length of the second driven
working surface 320 is equal to the sum of the length of the first driven working slope I222 and
the first driven working slope II223.
The second driven working surface 320 includes a second driven working plane 321 and a
second driven working slope 322; the length of the second driven working surface 310 is greater
than or equal to the sum of the length of the second driven working plane 321 and the second
driven working slope 322.
The length of the first driven working slope I222 is equal to the length of the second driven
working plane 321. The length of the second driven working slope 322 is equal to the length of
the first driven working slope II223.
The third driving working surface 410 includes a third driving working plane 411 and a
third driving working slope 412; the length of the third driving working plane 411 is equal to
twice the length of the second driven working plane 321, and the length of the third driving
working slope 412 is greater than or equal to twice the length of the second driven working slope
322; the length of the third sliding surface 420 is greater than or equal to the length of the third
driving working surface 410.
In this embodiment, the first driven working slope is in parallel to the second driven working surface 320.
In this embodiment, the predetermined sliding track of the first sliding block 200, the
second sliding block 300 and the third sliding block 400 is a horizontal straight line. The angle
between the second driven working slope 322 and the predetermined movement track is P2, and
the angle between the third driving working slope 412 and the predetermined movement track is
PlI, p2>plI.
The working principle (force and motion analysis) of the pneumatic-controlled
pitch-adjustable telescopic mechanism of this embodiment is as follows: In this embodiment, the
spring 1000 is selected as the elastic connection between the second sliding block 300 and the
fixed block 500, between the second sliding block 300 and the third sliding block 400, which
only has a resetting role; it is assumed that the gravity of the first sliding block 200 is G1 and the
damping coefficient is ; the gravity of the second sliding block 300 is G2 and the damping
coefficient is 2; the gravity of the third sliding block 400 is G3 and the damping coefficient is
30; the force in the vertical direction of the first sliding bar 600 is F1; the force in the vertical
direction of the second sliding bar 700 is F2; the force in the vertical direction of the third sliding
bar 800 is F3; the angle of the inclined plane is shown in FIG.8. Since the power source is Fl
determined by air pressure, in order to understand the air pressure required during different
movement states, only F1 needs to be calculated.
When inflated, the gas bag pushes the first sliding bar 600 to move down, such that the first
sliding block 200 slides to the right; in the process I, the gas bag 100 will make the upper part of
the second sliding bar to contact the rolling ball at different positions in FIG.1 according to the
different air pressure ranges. During the process I, the first sliding block 200 and the third sliding
block 300 move one unit distance X to the right, LI remains unchanged, and L2 increases by one
unit distance X to a state as shown in FIG.5;
According to the force analysis, it is obtained Flp1(F1+G1+p tanal 3 3 G simplified to Fl=
pGi1 p3G3 tana1-p1 tana1-p1
When the air pressure rises to the state II, the first sliding block 200, the second sliding
block 300, and the third sliding block 400 move one unit distance X to the right, L2 remains
unchanged, and L Iincreases by one unit distance X to a state as shown in FIG.6;
At this time, according to the force analysis, it is obtained F2= p2 ; similarly, it is tanz-pu2
obtainedFl= 1" + pua + ; tanal -p1 tana1-p1 (tammi-p1)(tana-p2)'
When the air pressure rises to the state III, the first sliding block 200 and the second sliding
block 300 move one unit distance X to the right. Because the second sliding block 200 and the
third sliding block 300 have different working plane angles, the third sliding block 400 moves
two units distance X to the right at this time, such that L1 and L2 each increase by a unit distance
X to the final state as shown in FIG.7;
At this time, according to the force analysis, it is obtained F3= t _p , ;F2=
2 1 p2G2+F3p2+F3tanf -F1-=1G -FZp+F2tana, taa-p2 ;F tana1-p1
After substitution and simplification, it is obtained
F1= plG1 + IG ±aa1Gu2tanp I3 G3 (raniz-g) tanal -pl (tana1-p1)(tana-p2) (taim1-p1)(tana-p2) (tanta1-p1)(tana-p2)(tanfl1-p3)'
In summary, to meet the requirements for structural motion, the following conditions should
be satisfied:
0 < JAG + ju3 ; tanl-l tan1-p1
p1G1 p3G3 p1G1 p3G3 taap2G2 tamm1 -p1 tanix1-p1 tania1-p1 tana1-p1 (tanm-1-pA1)(tana-92)' p1G1 p3G3 + tnp2G2 tana1 -p1 bzal-p1 (anal -pl) (tamix-pA2) p1G1 tainap2G2 p±p2G2 u2tanI2p3G3(tana-91) tanal-p1 (ttna1-p1)(t2nz-p2) (tana1-p1)(tana-p2) (tanal-p1)(tana-g2)(ta~nf1-p3)'
Since pl, GI, p 2 , G2, p3, G3 are all positive numbers, after simplification, it can be
obtained:
tanal > 1 > 0;
tana > p2 > 0;
p3G3(tana- p~2)+ 1p2G2<u2tan 2p3Gr(tana-pl). (tanS1-p3)
When F1< + , the mechanism is in a state as shown in FIG.1; tama1 -p1 tana1-p1
When pm + "u <Fl< pm + "G + t"n"2G the mechanism tana1 -p1 tanMZ1 -p1 tama1-p1 btamf1-p1 (tana1-p1) ( tana -pZ)
moves from the state shown in FIG.1 to the state shown in FIG.5, and then stops.
When 1" tanai-pi + #G tammi -1A + t"""G (tanal -pl) (tana -p2) <F1<
p1 G 1 + anap2G 2G2 G u2tanS2p3G3(tana-p1) the Mal -y1 (tanai -p1)(tana -p2) (tana1-p1)(tana -p2) (tani1-p1)(tana-p2)(tanf1-p3)
mechanism moves from the state shown in FIG.5 to the state shown in FIG.6, and then stops. '
When
2 Fl> ym + tanffp22 _ As$ + u2tae 2pr3tana-p1) tamm1-p1 (tazna1-p1)(tana-p2) (tanal-p1)(tana-p2) (tanal-p1)(tana-p2)(t-nS1-p3)
the mechanism moves from the state shown in FIG.6 to the state shown in FIG.7, and then stops.
The foregoing description is only preferred embodiments of the present invention and is not
intended to limit the technical scope of the present invention. Therefore, any minor amendments,
equivalent changes and modifications made to the above embodiments based on the technical
essence of the present invention will still fall within the scope of the technical solution of the
present invention.
Claims (10)
1. A robotic arm, comprising a robotic arm joint and a telescopic mechanism, the robotic
arm joint comprising a first robotic arm joint and a second robotic arm joint; wherein the first
robotic arm joint is used to fixedly support the telescopic mechanism and the second robotic arm
joint; the second robotic arm joint is used to fix the telescopic mechanism; one end of the
telescopic mechanism is fixedly connected to the first robotic arm joint, and the other end is
fixedly connected to the second robotic arm joint, the telescopic mechanism is used to change
the arm length and angle of the robotic arm; the telescopic mechanism comprises at least one set
of pneumatic-controlled pitch-adjustable telescopic mechanism, and the pneumatic-controlled
pitch-adjustable telescopic mechanism comprises a fixed block, a sliding block and a driving
device, the fixed block is fixedly connected to the robotic arm joint; the sliding block slides
relative to the fixed block according to a predetermined movement track, which is used to adjust
the distance between the sliding block and the fixed block, thereby changing the arm length of
the robotic arm; the driving device is used to provide power to drive the sliding block to slide; a
sliding bar is disposed between the driving device and the sliding block, one end of the sliding
bar is fixedly connected to the driving device, and the other end is slidingly connected to the
sliding block, which is used to drive the sliding block to slide according to the predetermined
movement track; the fixed block is provided with a fixed bracket, and the fixed bracket
comprises a fixed base and a guide mechanism, the fixed base mates with the sliding bar, which
is used to restrict the sliding bar from moving in a direction non-parallel to the predetermined
movement track; the guide mechanism mates with the sliding block, which is used to guide the
sliding block to slide along the predetermined movement track.
2. The robotic arm according to claim 1, wherein the number of the sliding blocks is N, and
N is greater than or equal to 2, the sliding blocks include afirst sliding block, a second sliding
block..., a N-1-th sliding block, and a N-th sliding block respectively; the N-1-th sliding block
IV
slides relatively parallel to the N-th sliding block; the first sliding block is provided with a first
driving working surface, a first driven working surface, and a first sliding surface; the N-1-th
sliding block is provided with a N-I-th driving working surface, a N-I-th driven working surface
and a N-I-th sliding surface, and the N-th sliding block is provided with a N-th driving working
surface, a N-th driven working surface and a N-th sliding surface; a first sliding bar is set
between the first sliding block and the driving device; one end of the first sliding bar is fixedly
connected to the driving device, and the other end is slidingly connected to the first driving
working surface, which is used to drive the first sliding block to slide according to the
predetermined movement track; the N-1-th sliding block provides driving power for the N-th
sliding block; a N-th sliding bar is disposed between the N-1-th sliding block and the N-th
sliding block, the N-th sliding bar is slidingly connected to the N-1-th driven working surface,
and the other end is slidingly connected to the N-th driving working surface, which is used to
drive the N-th sliding block to slide according to the predetermined movement track; the N-1-th
driven working surface mates with the N-th sliding bar and is use to provide a driving
opportunity to guide the N-th sliding bar to drive the N-th sliding block; the fixed block and the
first sliding block are connected elastically, which is used to reset the first sliding block; the
N-1-th sliding block and the N-th sliding block are connected elastically, which is used to reset
the N-th sliding block; the guide mechanism mates with the N-1-th sliding surface and the N-th
sliding surface, which is used to guide the N-1-th sliding block and the N-th sliding block to
slide along the predetermined movement track.
3. The robotic arm according to claim 2, wherein the number of the sliding blocks is three,
which are the first sliding block (200), the second sliding block (300) and the third sliding block
(400), and the driving device is gas bag (100); the first sliding block (200) is provided with a first
driving working surface (210), a first driven working surface (220) and a first sliding surface
(230); the second sliding block (300) is provided with a second driving working surface (310), a
I
/ second driven working surface (320) and a second sliding surface (330); the third sliding block
(400) is provided with a third driving working surface (410) and a third sliding surface (420); the
first sliding surface (230), the second sliding surface (330) and the third sliding surface (420)
slide in parallel according to the predetermined movement track; the gas bag (100) is used to
provide power to drive the sliding block to slide; a first sliding bar (600) is disposed between the
gas bag (100) and the first sliding block (200); one end of the first sliding bar (600) isfixedly
connected to the gas bag (100), and the other end is slidingly connected to the first driving
working surface (210), which is used to drive the first sliding block (200) to slide according to
the predetermined movement track; a second sliding bar (700) is disposed between the first
sliding block (200) and the second sliding block (300), and the second sliding bar (700) is
slidingly connected to the first driven working surface (220), and the other end is slidingly
connected to the second driving working surface (310), which is used to drive the second sliding
block to slide according to the predetermined movement track; the first driven working surface
(220) mates with the second sliding bar (700), which is used to provide a driving opportunity to
guide the second sliding bar (700) to drive the second sliding block (300); a third sliding bar
(800) is disposed between the second sliding block (300) and the third sliding block (400); one
end of the third sliding bar (800) is slidingly connected to the second driven working plane (320),
and the other end is slidingly connected to the third driving working plane (410) which is used to
drive the third sliding block to slide according to the predetermined movement track; the second
driven working plane (320) mates with the second sliding bar (700) which is used to provide a
driving opportunity to guide the third sliding bar (800) to drive the third sliding block (400); the
position of the fixed block (500) is fixed; the fixed block (500) is provided with afixed bracket
(900), the fixed bracket (900) includes a fixed base (910) and a guide mechanism (920); the fixed
base (910) mates with the first sliding bar (600), the second sliding bar (700), and the third
sliding bar (800) respectively, which is used to restrict the first sliding bar (600), the second sliding bar (700), the third sliding bar (800) to move in a direction perpendicular to the predetermined movement track; the guide mechanism (920) mates with the first sliding surface
(230), the second sliding surface (330), the third sliding surface (420), which is used to guide the
first sliding block (200), the second sliding block (300) and the third sliding block (400) to slide
along the predetermined movement track; the fixed block (500) is elastically connected to one
end of the second sliding block (300) on the side of the second driving working surface (310),
and the other end of the second sliding block (300) on the side of the second driven working
surface(320) is elastically connected to the third sliding block (400), which is used to reset the
second sliding block (300) and the third sliding block (400) when the gas bag (100) is closed; the
movement track is a horizontal straight line.
4. The robotic arm according to claim 3, wherein the length of the first driving working
surface (210) is equal to the length of the first driven working surface (220); the first sliding
surface (230) includes a first sliding upper plane (231) and a first sliding lower plane (232); the
lengths of the first upper sliding plane (231) and the first sliding lower plane (232) are both
greater than or equal to the length of thefirst driving working surface (210).
5. The robotic arm according to claim 4, wherein the first driven working surface (220)
includes a first driven working plane (221) and a first driven working slope, the first driven
working slope is divided into a first driven working slope I (222) and afirst driven working slope
11 (223); the length of the second driven working surface (320) is equal to the sum of the length
of the first driven working slope I (222) and the first driven working slope 11 (223) ; the second
driven working surface (320) includes a second driven working plane (321) and a second driven
working slope (322); the length of the second driven working surface (310) is greater than or
equal to the sum of the length of the second driven working plane (321) and the second driven
working slope (322).
6. The robotic arm according to claim 5, wherein the length of the first driven working slope 1 (222) is equal to the length of the second driven working plane (321).
7. The robotic arm according to claim 6, wherein the length of the second driven working
slope (322) is equal to the length of the first driven working slope11 (223).
8. The robotic arm according to claim 7, wherein the third driving working surface (410)
includes a third driving working plane (411) and a third driving working slope (412); the length
of the third driving working plane (411) is equal to twice the length of the second driven working
plane (321), and the length of the third driving working slope (412) is greater than or equal to
twice the length of the second driven working slope (322).
9. The robotic arm according to claim 8, wherein the length of the third sliding surface (420)
is greater than or equal to the length of the third driving working surface (410); the first driven
working slope is in parallel to the second driven working surface (320).
10. The robotic arm according to claim 9, wherein the angle between the second driven
working slope (322) and the predetermined movement track is P2, and the angle between the
third driving working slope (412) and the predetermined movement track is P 1, p2>p1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2021102583A AU2021102583A4 (en) | 2021-05-14 | 2021-05-14 | Robotic Arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2021102583A AU2021102583A4 (en) | 2021-05-14 | 2021-05-14 | Robotic Arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| AU2021102583A4 true AU2021102583A4 (en) | 2021-07-15 |
Family
ID=76785327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2021102583A Ceased AU2021102583A4 (en) | 2021-05-14 | 2021-05-14 | Robotic Arm |
Country Status (1)
| Country | Link |
|---|---|
| AU (1) | AU2021102583A4 (en) |
-
2021
- 2021-05-14 AU AU2021102583A patent/AU2021102583A4/en not_active Ceased
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203251240U (en) | Positive pressure adjustable micro nano stick slip inertia drive platform | |
| WO2021196439A1 (en) | Mechanical arm | |
| CN101204812A (en) | Three degrees of freedom right angle coordinate manipulator | |
| CN105328711A (en) | Modular rigidity-changing joint | |
| CN204712050U (en) | A kind of redundant drive three-dimensional translating parallel structure | |
| CN101190527A (en) | Two freedom mobile parallel connection decoupling mechanism | |
| CN100344418C (en) | Two-freedom parallel-connecting mechanism with passive constrained branch | |
| CN205211424U (en) | Two -dimentional nanometer displacement table of flexible hinge direction | |
| US12017354B2 (en) | Pneumatic-controlled pitch-adjustable telescopic mechanism used for robotic arm | |
| CN103846928A (en) | Limit and slide mechanism | |
| CN107932482B (en) | Five-freedom-degree parallel mechanism capable of realizing three-dimensional rotation and two-dimensional movement | |
| CN111571636A (en) | Variable-rigidity flexible driver | |
| CN101786269B (en) | Micrometer-nanometer transmission platform | |
| AU2021102583A4 (en) | Robotic Arm | |
| CN102941571B (en) | Low-space dual-rod guide type three-degree of freedom moving platform | |
| CN101190526A (en) | Two freedom mobile parallel connection mechanism with buffering ability | |
| CN101362337A (en) | Two-degree of freedom translational redundant parallel manipulator | |
| CN110497389B (en) | Three-degree-of-freedom parallel bionic eye actuating mechanism driven by rope spring | |
| CN104154200A (en) | Mechanical device for achieving two-dimension closed motion trail through single power source | |
| CN111220343A (en) | Five-degree-of-freedom motion mechanism | |
| CN201000769Y (en) | Precision positioning flat base based on plane electric motor and ultra-magnetostriction driver | |
| CN109291043A (en) | A kind of lifting device and robot | |
| AU2021102584A4 (en) | Pneumatic-controlled pitch-adjustable telescopic mechanism used for robotic arm | |
| CN114031023B (en) | Mechanical driver system | |
| CN101708609A (en) | Space three degree-of-freedom pure-translation parallel robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FGI | Letters patent sealed or granted (innovation patent) | ||
| MK22 | Patent ceased section 143a(d), or expired - non payment of renewal fee or expiry |