CN101670583A - Multi-joint synchronous bending mechanical arm based on transmission of connecting rods - Google Patents
Multi-joint synchronous bending mechanical arm based on transmission of connecting rods Download PDFInfo
- Publication number
- CN101670583A CN101670583A CN200910196510A CN200910196510A CN101670583A CN 101670583 A CN101670583 A CN 101670583A CN 200910196510 A CN200910196510 A CN 200910196510A CN 200910196510 A CN200910196510 A CN 200910196510A CN 101670583 A CN101670583 A CN 101670583A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- hinged
- mechanical arm
- joint synchronous
- synchronous bending
- 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.)
- Pending
Links
Images
Landscapes
- Toys (AREA)
Abstract
The invention relates to a multi-joint synchronous bending mechanical arm based on the transmission of connecting rods, which comprises n connecting rods, wherein n is a natural number except for zero. The multi-joint synchronous bending mechanical arm based on the transmission of the connecting rods is characterized in that the n connecting rods are sequentially connected as follows: the front middle part of each connecting rod and the back middle part of the previous connecting rod are hinged by a fixed point, the back middle part thereof and the front middle part of the posterior connectingrod are hinged by a fixed point, and the back end of the previous connecting rod and the front end of the posterior connecting rod are hinged in a slippage way. The invention is applicable for different places, such as the arms of toy robots, the tails of mechanical monkeys and the like. The invention has simple structure, flexible use, single freedom degree and low price due to adoption of universal parts, can meet different action requirements by different combination and dispenses with a driving source.
Description
Technical field
The present invention relates to a kind of multi-joint synchronous bending mechanical mechanism, particularly a kind of multi-joint synchronous bending mechanical arm based on the connecting rod transmission.
Technical background
Along with the continuous maturation and the development of Robotics, the application of robot not only is confined to industrial circle, and increasing robot is applied to different fields such as anthropomorphic robot, toy robot etc.Mechanical arm is wherein to use wider a kind of frame for movement, but the complex structure of most of mechanical arms, and require to have a plurality of drive sources.And very not high for the free degree requirement of mechanical arm in many occasions, re-use the mechanical arm with multiple degrees of freedom and complex mechanical structure this moment will be lost more than gain.
Summary of the invention
The objective of the invention is to defective, a kind of multi-joint synchronous bending mechanical arm based on the connecting rod transmission is provided at the prior art existence, simple in structure, only need single drive source.
For reaching above-mentioned purpose, design of the present invention is:
The present invention is composed in series by several linkage components, and the quantity of connecting rod can increase and decrease arbitrarily according to different design requirements.Can be by first connecting rod of motor-driven so that rotational angle constantly transmit, the rotational angle of the connecting rod of each joint is all identical, with the required rotational angle of the final acquisition of each rotational angle addition.The present invention has set up a general multi-joint synchronous bending mechanical mechanism based on the connecting rod transmission, can be applicable to different occasions, as the arm of toy robot, tail of machine monkey or the like.It is simple in structure, use is flexible, can satisfy different action requests by different combinations, and is single-degree-of-freedom, has saved drive source, and owing to adopts general purpose accessory to make price and so on cheap.
According to the foregoing invention design, the present invention adopts following technical proposals:
A kind of multi-joint synchronous bending mechanical arm based on the connecting rod transmission, comprise n root connecting rod, n is the natural number except that zero, it is characterized in that described n root connecting rod is successively as lower link: the back middle part fixed point of the front middle part of each root connecting rod and last connecting rod is hinged, thereafter the middle part is hinged with the front middle part fixed point of a back connecting rod, is hinged with slippage between the front end of the rear end of described last connecting rod and a described back connecting rod.
In the above-mentioned mechanical arm, the mechanism that described fixed point is hinged is: determine to rotate connection mutually by pin then by hinge point on two connecting rods that are hinged.
In the above-mentioned mechanical arm, the structure that described slippage is hinged is: in the connecting rod that two butt heads are hinged, the end machining of a connecting rod has become fork head, and a pin is installed, slide block of suit on the pin, and the end machining of another root connecting rod becomes flat bar and described fork head slip inserting, has mounting hole and described slide block to slide on this flat bar and mates.
In the above-mentioned mechanical arm, the identical or mutual difference of the length of described n root connecting rod.
In the above-mentioned mechanical arm, the connection of n root connecting rod can be rotated with different rotation directions, changes and change its rotation direction by initial connecting rod rotation direction, and use flexible period.
The present invention compared with prior art, characteristics and remarkable advantage with following conspicuous outstanding essence: the present invention is simple in structure, used part is identical mostly, only need single drive source just can finish required transmission requirement, use flexibly, can arbitrarily increase and decrease linkage component, change the working range and the driving angle of connecting rod drive disk assembly, and because use is that identical part makes price very cheap mostly.
Description of drawings
Fig. 1 is the overall structure schematic diagram of an example of the present invention.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is a connecting rod and adjacent two connecting rod johning knot compositions in Fig. 2 example.
Fig. 4 is the left view of Fig. 3.
Fig. 5 is the structural representation of a connecting rod in Fig. 1 example.
Fig. 6 is the left view of Fig. 5.
Specific implementation method
A preferred embodiment accompanying drawings of the present invention is as follows;
Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, this is based on the multi-joint synchronous bending mechanical arm of connecting rod transmission, comprise n root connecting rod 1,2,3 ... n, n is the natural number except that zero, it is characterized in that described n root connecting rod 1,2,3 ... n is successively as lower link: the back middle part fixed point of the front middle part of each root connecting rod 3 and last connecting rod 2 is hinged, thereafter the middle part is hinged with the front middle part fixed point of a back connecting rod 4, is hinged with slippage between the front end of the rear end of described last connecting rod 2 and a described back connecting rod 4.
The structure that described fixed point is hinged is: determine hinge point on two connecting rods that are hinged, connect by pin 7,8 mutual rotations then.
The structure that described slippage is hinged is: in the connecting rod 2,4 that two butt heads are hinged, the end machining of a connecting rod 2 has become fork head, and a pin 9 is installed, slide block 6 of suit on the pin 9, and the end machining of another root connecting rod 4 becomes flat bar and described fork head slip inserting, has mounting hole and described slide block 6 to slide on this flat bar and mates.
Described n root connecting rod 1,2,3 ... identical or the mutual difference of the length of n.
The connection of n root connecting rod can be rotated with different rotation directions, changes and change its rotation direction by initial connecting rod rotation direction, and use flexible period.
This invention has been set up a general multi-joint synchronous bending mechanical arm based on the connecting rod transmission and has been overcome complex structure, the multi-power source of existing robotic arm and the shortcoming that involves great expense.
Claims (5)
1. multi-joint synchronous bending mechanical arm based on the connecting rod transmission, comprise n root connecting rod (1,2,3 ... n), n is the natural number except that zero, it is characterized in that described n root connecting rod (1,2,3 ... n) successively as lower link: the back middle part fixed point of the front middle part of each root connecting rod (3) and last connecting rod (2) is hinged, thereafter the middle part is hinged with the front middle part fixed point of a back connecting rod (4), is hinged with slippage between the front end of the rear end of described last connecting rod (2) and a described back connecting rod (4).
2. according to claim 1 in the multi-joint synchronous bending mechanical arm of connecting rod transmission, it is characterized in that the structure that described fixed point is hinged is: on two connecting rods that are hinged, determine hinge point, connect by mutual rotation of pin (7,8) then.
3. the multi-joint synchronous bending mechanical arm based on the connecting rod transmission according to claim 1, it is characterized in that the structure that described slippage is hinged is: in the connecting rod (2,4) that two butt heads are hinged, the end machining of a connecting rod (2) has become fork head, and a pin (9) is installed, pin (9) is gone up a slide block of suit (6), and the end machining of another root connecting rod (4) becomes flat bar and described fork head slip inserting, has mounting hole and described slide block (6) to slide on this flat bar and mates.
4. the multi-joint synchronous bending mechanical arm based on the connecting rod transmission according to claim 1 is characterized in that described n root connecting rod (1,2,3 ... n) the identical or mutual difference of length.
5. the multi-joint synchronous bending mechanical arm based on the connecting rod transmission according to claim 1 is characterized in that the connection of n root connecting rod can be rotated with different rotation directions, changes and change its rotation direction by initial connecting rod rotation direction, and use flexible period.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910196510A CN101670583A (en) | 2009-09-25 | 2009-09-25 | Multi-joint synchronous bending mechanical arm based on transmission of connecting rods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910196510A CN101670583A (en) | 2009-09-25 | 2009-09-25 | Multi-joint synchronous bending mechanical arm based on transmission of connecting rods |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101670583A true CN101670583A (en) | 2010-03-17 |
Family
ID=42018107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910196510A Pending CN101670583A (en) | 2009-09-25 | 2009-09-25 | Multi-joint synchronous bending mechanical arm based on transmission of connecting rods |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101670583A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890714A (en) * | 2010-06-23 | 2010-11-24 | 北京交通大学 | Connecting rod moving robot with one degree of freedom and control method thereof |
-
2009
- 2009-09-25 CN CN200910196510A patent/CN101670583A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890714A (en) * | 2010-06-23 | 2010-11-24 | 北京交通大学 | Connecting rod moving robot with one degree of freedom and control method thereof |
| CN101890714B (en) * | 2010-06-23 | 2012-04-25 | 北京交通大学 | Connecting rod moving robot with one degree of freedom and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101722511B (en) | Fully decoupled three-degree-of-freedom parallel robot mechanism | |
| CN102303313B (en) | Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism | |
| CN101875198A (en) | Overconstraint parallel robot mechanism with three degrees of freedom | |
| CN109605404B (en) | Sliding chute parallel connection connecting rod linear parallel clamping self-adaptive robot finger device | |
| CN201979513U (en) | 2-PRR (Planning Release Record) and PPRR (Persistent Programming Research Report) three-degree-of-freedom spatial parallel robot mechanism | |
| CN105415392A (en) | Wide-range grabbing under-actuated multi-adaptive manipulator | |
| CN107309895B (en) | Under-actuated end effector for envelope grabbing and parallel clamping | |
| CN108818577B (en) | Self-adaptive robot finger device for linearly and parallelly clamping oscillating bar and sliding groove | |
| CN108189018B (en) | Flexible arm section and flexible mechanical arm based on differential gear | |
| CN110253555A (en) | Bionic mechanical hand | |
| CN104511906A (en) | Multi-joint manipulator | |
| CN109129530B (en) | Multi-mode grabbing parallel connection rod composite self-adaptive robot finger device | |
| CN106363655A (en) | Bionic mechanical arm and bionic robot | |
| CN203471788U (en) | Multi-joint mechanical arm | |
| CN101670583A (en) | Multi-joint synchronous bending mechanical arm based on transmission of connecting rods | |
| CN205266301U (en) | Strawberry picking manipulator device | |
| CN212553906U (en) | Micro-motion mechanical clamping jaw | |
| CN110370305A (en) | Mechanical finger and mechanical arm | |
| CN210850328U (en) | Three-finger under-actuated dexterous hand | |
| CN206484590U (en) | A kind of superelastic alloy piece mechanical arm | |
| CN102069505A (en) | Buffering mechanism | |
| CN101664933B (en) | Iso-curvature bent mechanical arm based on gear drive | |
| CN101704243B (en) | 2-PPT and PPS spatial parallel robotic mechanism with three degrees of freedom (DOF) | |
| CN202241271U (en) | Asymmetric full isotropy three degree-of-freedom space parallel robot mechanism | |
| CN211491585U (en) | Flexible bionic manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20100317 |