CN103950039A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN103950039A CN103950039A CN201410028016.3A CN201410028016A CN103950039A CN 103950039 A CN103950039 A CN 103950039A CN 201410028016 A CN201410028016 A CN 201410028016A CN 103950039 A CN103950039 A CN 103950039A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- base plate
- piezoelectric ceramics
- soleplate
- opposite face
- 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
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Abstract
The invention discloses a mechanical arm. The mechanical arm comprises a plurality of joints which are connected to each other, wherein each joint comprises a soleplate A and a soleplate B, the soleplates A are opposite to the soleplates B, a flexible connection component is arranged at the center position of the opposite face between each soleplate A and the corresponding soleplate B, and a deformation connection component is arranged in an annular array form at the edge of each opposite face between the corresponding soleplate A and the corresponding soleplate B; each deformation connection component comprises a plurality of piezoelectric ceramics columns, each piezoelectric ceramics column comprises a plurality of piezoelectric ceramics bodies which are arranged linearly, and the piezoelectric ceramics bodies are connected through a flexible object. The mechanical arm is a flexible mechanical arm with a snakelike bionic structure and overcomes the rotation limit caused by a rigid connecting rod of the conventional mechanical arm, the mechanical arm can adapt to more complicated work conditions, and the length of the mechanical arm can be freely changed according to the actual requirement.
Description
Technical field
The present invention relates to a kind of mechanical arm, belong to automatic field.
Background technology
Traditional mechanical arm is the reorder structure of turning point of long connecting rod, rotates dead angle large, and the limitation in actual use is also larger.
Summary of the invention
The object of the invention is to: provide a kind of rotating property good, the mechanical arm that adaptability for working condition is strong.
The present invention realizes by the following method:
A kind of mechanical arm, described mechanical arm comprises some interconnected joints;
Described joint comprises base plate A, base plate B, described base plate A and base plate B are oppositely arranged, between described base plate A and base plate B, the center of opposite face is provided with and flexibly connects assembly, and between described base plate A and base plate B, the edge annular array of opposite face is provided with distortion coupling assembling;
Described distortion coupling assembling comprises some piezoelectric ceramics posts, and described piezoelectric ceramics post comprises the piezoelectric ceramic body that some straight lines arrange, and between described piezoelectric ceramic body, connects by flexible thing.
As further innovation of the present invention, described in to flexibly connect assembly be universal ball end assembly, one end of universal ball end assembly is fixedly connected with the central part of base plate A, the other end of universal ball end assembly is fixedly connected with the central part of base plate B.
As further innovation of the present invention, between described joint, connect by colloid.
As further innovation of the present invention, the flexible thing of telling is silica gel.
beneficial effect
The present invention is the flexible mechanical arm of a snakelike biomimetic features, and the present invention has overcome the rotation limitation that the rigidity connecting rod of traditional mechanical arm brings, and this mechanical arm can adapt to more complicated operating mode, also can freely change according to the actual requirements length.
Brief description of the drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is the schematic diagram of circuit connecting plate.
Detailed description of the invention
Be described further below in conjunction with accompanying drawing
As shown in Figure 1 and 2, a kind of mechanical arm, shown in mechanical arm comprise several interconnected joints, between joint, connect by colloid 5;
Joint comprises base plate A1, base plate B1, base plate A1 and base plate B4 are oppositely arranged, between base plate A1 and base plate B4, the center of opposite face is provided with universal ball end assembly 2, one end of universal ball end assembly 2 is fixedly connected with the central part of base plate A1, and the other end of universal ball end assembly 2 is fixedly connected with the central part of base plate B4;
Between base plate A1 and base plate B4, the edge annular array of opposite face is provided with distortion coupling assembling;
Distortion coupling assembling comprises four groups of piezoelectric ceramics posts 3, and piezoelectric ceramics post 3 comprises the piezoelectric ceramic body that four groups of straight lines arrange, and between piezoelectric ceramic body, connects by silica gel.
Piezoelectric ceramics post 3 for middle part be hollow, in base plate A1, be provided with wiring board, the current supply line of piezoelectric ceramics post is connected on wiring board by the hollow part of piezoelectric ceramics post 3, and the piezoelectric ceramics post 3 between each joint is connected on administration of power supply by wiring board.
When operation, by administration of power supply, piezoelectric ceramics is applied to voltage, control the expansion of different piezoelectric ceramics posts 3 or static, thereby each joint is distorted, realize the bending of whole mechanical arm.
Claims (4)
1. a mechanical arm, is characterized in that: described mechanical arm comprises some interconnected joints;
Described joint comprises base plate A, base plate B, described base plate A and base plate B are oppositely arranged, between described base plate A and base plate B, the center of opposite face is provided with and flexibly connects assembly, and between described base plate A and base plate B, the edge annular array of opposite face is provided with distortion coupling assembling;
Described distortion coupling assembling comprises some piezoelectric ceramics posts, and described piezoelectric ceramics post comprises the piezoelectric ceramic body that some straight lines arrange, and between described piezoelectric ceramic body, connects by flexible thing.
2. a kind of mechanical arm as claimed in claim 1, it is characterized in that: described in to flexibly connect assembly be universal ball end assembly, one end of universal ball end assembly is fixedly connected with the central part of base plate A, and the other end of universal ball end assembly is fixedly connected with the central part of base plate B.
3. a kind of mechanical arm as claimed in claim 1, is characterized in that: between described joint, connect by colloid.
4. a kind of mechanical arm as claimed in claim 1, is characterized in that: the flexible thing of telling is silica gel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410028016.3A CN103950039A (en) | 2014-01-22 | 2014-01-22 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410028016.3A CN103950039A (en) | 2014-01-22 | 2014-01-22 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103950039A true CN103950039A (en) | 2014-07-30 |
Family
ID=51327459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410028016.3A Pending CN103950039A (en) | 2014-01-22 | 2014-01-22 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103950039A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150207A (en) * | 2015-10-07 | 2015-12-16 | 陈超 | Tentacle robot |
| CN106514699A (en) * | 2016-12-08 | 2017-03-22 | 南京航空航天大学 | Three-degree-of-freedom manipulator joint and working mode thereof |
| CN107933339A (en) * | 2017-10-31 | 2018-04-20 | 朱森 | A kind of control method of charging line control system for new-energy automobile |
| CN108453722A (en) * | 2018-03-29 | 2018-08-28 | 清华大学深圳研究生院 | A kind of flexible mechanical arm based on elastic tube |
| CN109984806A (en) * | 2017-12-29 | 2019-07-09 | 江苏木偶医疗科技有限公司 | Joint structure, flexible joint and Minimally Invasive Surgery pincers |
| JP7069592B2 (en) | 2017-08-07 | 2022-05-18 | 日本電気株式会社 | Robot arm and robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0017016B1 (en) * | 1979-03-16 | 1983-11-09 | Robotgruppen HB | Flexible arm, particularly a robot arm |
| US4784042A (en) * | 1986-02-12 | 1988-11-15 | Nathaniel A. Hardin | Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams and columns for controlling their movements |
| US5469756A (en) * | 1991-10-10 | 1995-11-28 | Siemens Aktiengesellschaft | Flexible robot arm |
| CN1676289A (en) * | 2005-02-23 | 2005-10-05 | 江南大学 | Combined muscular multi-directional bending flexible joint |
| CN101402201A (en) * | 2008-11-03 | 2009-04-08 | 浙江工业大学 | Side-sway joint based on pneumatic flexible driver |
| JP2010131676A (en) * | 2008-12-02 | 2010-06-17 | Seiko Epson Corp | Robot arm and robot arm device |
| CN101949954A (en) * | 2010-08-10 | 2011-01-19 | 南京航空航天大学 | Redundant parallel six-dimensional acceleration transducer and measuring method thereof |
-
2014
- 2014-01-22 CN CN201410028016.3A patent/CN103950039A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0017016B1 (en) * | 1979-03-16 | 1983-11-09 | Robotgruppen HB | Flexible arm, particularly a robot arm |
| US4784042A (en) * | 1986-02-12 | 1988-11-15 | Nathaniel A. Hardin | Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams and columns for controlling their movements |
| US5469756A (en) * | 1991-10-10 | 1995-11-28 | Siemens Aktiengesellschaft | Flexible robot arm |
| CN1676289A (en) * | 2005-02-23 | 2005-10-05 | 江南大学 | Combined muscular multi-directional bending flexible joint |
| CN101402201A (en) * | 2008-11-03 | 2009-04-08 | 浙江工业大学 | Side-sway joint based on pneumatic flexible driver |
| JP2010131676A (en) * | 2008-12-02 | 2010-06-17 | Seiko Epson Corp | Robot arm and robot arm device |
| CN101949954A (en) * | 2010-08-10 | 2011-01-19 | 南京航空航天大学 | Redundant parallel six-dimensional acceleration transducer and measuring method thereof |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150207A (en) * | 2015-10-07 | 2015-12-16 | 陈超 | Tentacle robot |
| CN106514699A (en) * | 2016-12-08 | 2017-03-22 | 南京航空航天大学 | Three-degree-of-freedom manipulator joint and working mode thereof |
| JP7069592B2 (en) | 2017-08-07 | 2022-05-18 | 日本電気株式会社 | Robot arm and robot |
| CN107933339A (en) * | 2017-10-31 | 2018-04-20 | 朱森 | A kind of control method of charging line control system for new-energy automobile |
| CN109984806A (en) * | 2017-12-29 | 2019-07-09 | 江苏木偶医疗科技有限公司 | Joint structure, flexible joint and Minimally Invasive Surgery pincers |
| CN108453722A (en) * | 2018-03-29 | 2018-08-28 | 清华大学深圳研究生院 | A kind of flexible mechanical arm based on elastic tube |
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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 |
Application publication date: 20140730 |