CN105171727A - Three-fulcrum 360-degree rotate-bending extensible spine type articulated arm - Google Patents
Three-fulcrum 360-degree rotate-bending extensible spine type articulated arm Download PDFInfo
- Publication number
- CN105171727A CN105171727A CN201510656685.XA CN201510656685A CN105171727A CN 105171727 A CN105171727 A CN 105171727A CN 201510656685 A CN201510656685 A CN 201510656685A CN 105171727 A CN105171727 A CN 105171727A
- Authority
- CN
- China
- Prior art keywords
- degree
- joint arm
- joint
- articulated arm
- rotoflectors
- 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
Abstract
The invention relates to an articulated arm and discloses a three-fulcrum 360-degree rotate-bending extensible spine type articulated arm. The articulated arm comprises two or more articulated pillars, wherein the articulated pillars form a multi-articulated-pillar-shaped structure; the multi-articulated-pillar-shaped structure has five degrees of freedom, namely the leftward-rightward movement freedom degree in the X-axis direction, the forward-backward movement freedom degree in the Y-axis direction, the up-down movement freedom degree in the Z-axis direction, the rotation freedom degree in the XYZ space, and the bending freedom degree in the XYZ space. By means of the spine type articulated arm with five degrees of freedom and three fulcrums arranged on an articulated arm body provided with a threaded cardan, the articulated arm can extend linearly in any directions and can rotate by any degrees to be bent, the gravity center balancing capacity of the articulated arm is improved greatly, self-locking capacity is realized, and the specific movement locus and all-around application range of the articulated arm are realized. The articulated arm is quite simple in structure and convenient to install and operate.
Description
Technical field
The present invention relates to a kind of joint arm, particularly relate to the extending spine joint arm of a kind of three fulcrum 360 degree of rotoflectors.
Background technology
Mainly there is following shortcoming in existing joint arm: one is that joint arm adopts simple joint to rotate mostly, lack multi-joint, in any direction can linear extension and can the spine joint arm of 360 degree of rotoflectors, make joint arm both be difficult to keep gravity balance, specific movement locus can not be realized; Two is that monarthric joint arm only has one degree of freedom, greatly reduces the scope of application of joint arm.
Summary of the invention
The present invention is directed to existing joint arm in prior art and mainly there is following shortcoming: one is that joint arm adopts simple joint to rotate mostly, lack multi-joint, in any direction can linear extension and can the spine joint arm of 360 degree of rotoflectors, make joint arm both be difficult to keep gravity balance, specific movement locus can not be realized; Two is that monarthric joint arm only has one degree of freedom, greatly reduce the scope of application of joint arm, provide a kind of have five frees degree, in any direction can linear extension and can the extending spine joint arm of three fulcrums, 360 degree of rotoflectors of 360 degree of rotoflectors.
In order to solve the problems of the technologies described above, the present invention is solved by following technical proposals:
The extending spine joint arm of three 360 degree, fulcrum rotoflectors, comprise pass segmented column, pass segmented column is two or more, two or more joint post forms multi-joint column construction, and multi-joint column construction has five frees degree, and five frees degree are respectively: X-direction move left and right as one degree of freedom, Y direction move forward and backward as one degree of freedom, Z-direction move up and down as one degree of freedom, XYZ space rotates to be one degree of freedom, XYZ space is bent into one degree of freedom.
As preferably, close segmented column and comprise power transmission shaft, joint arm body, universal joint, joint arm body is located on power transmission shaft, and universal joint one end is fastened between power transmission shaft and joint arm body.
As preferably, two ends, power transmission shaft left and right are all arranged with universal joint.
As preferably, be flexibly connected by universal joint between adjacent two pass segmented columns.
As preferably, between adjacent two pass segmented columns, comprise portable connection, rotary connection by the flexible connection of universal joint.Close the moving left and right of segmented column, move forward and backward, move up and down and be portable connection, the rotation and the bending motion that close segmented column are rotary connection.
As preferably, the anglec of rotation of the pass segmented column of rotary connection is 0 ~ 360 degree.
As preferably, universal joint is screw thread universal joint.
As preferably, power transmission shaft is three, and the axial connecting line of three power transmission shafts forms three fulcrums of equilateral triangle.
As preferably, outside joint arm body, be arranged with housing.
The present invention is owing to have employed above technical scheme, there is significant technique effect: the spine joint arm adopting five frees degree, by the joint arm main body of threaded universal joint arranges three fulcrums, make joint arm in any direction can linear extension and can 360 degree of rotoflectors, substantially increase the gravity balance ability of joint arm, and there is self-lock ability, achieve the specific movement locus of joint arm and 360 degree of omnibearing scopes of application, this joint arm structure is comparatively simple, installs and operation facility.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention three fulcrum 360 degree of rotoflector extending spine joint arm multi-joint cylindricality embodiments.
The structural representation of embodiment when Fig. 2 is the 360 degree of rotoflector extending spine joint arm multi-joint cylindricalitys elongations of the present invention three fulcrum.
The structural representation of embodiment when Fig. 3 is the present invention three fulcrum 360 degree of rotoflector extending spine joint arm multi-joint cylindricality rotoflectors.
Fig. 4 is the structural representation of the pass segmented column embodiment of band housing of the present invention.
Fig. 5 is the top view of Fig. 4.
The toponym that in accompanying drawing, each number designation refers to is as follows: 1-closes segmented column, 2-housing, 3-equilateral triangle, 11-universal joint, 12-power transmission shaft, 13-joint arm body.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail.
Embodiment 1
The extending spine joint arm of three 360 degree, fulcrum rotoflectors, as Figure 1-5, comprise and close segmented column 1, closing segmented column 1 is two or more, two or more is closed segmented column 1 and is formed multi-joint column construction, multi-joint column construction has five frees degree, five frees degree are respectively: X-direction move left and right as one degree of freedom, Y direction move forward and backward as one degree of freedom, Z-direction move up and down as one degree of freedom, XYZ space rotates to be one degree of freedom, XYZ space is bent into one degree of freedom.
Close segmented column 1 and comprise power transmission shaft 12, joint arm body 13, universal joint 11, joint arm body 13 is located on power transmission shaft 12, and universal joint 11 one end is fastened between power transmission shaft 12 and joint arm body 13.
Power transmission shaft about 12 two ends are all arranged with universal joint 11.
Be flexibly connected by universal joint 11 between adjacent two pass segmented columns 1.
Portable connection, rotary connection is comprised by the flexible connection of universal joint 11 between adjacent two pass segmented columns 1.Close the moving left and right of segmented column 1, move forward and backward, move up and down and be portable connection, the rotation and the bending motion that close segmented column 1 are rotary connection.
The anglec of rotation of the pass segmented column 1 of rotary connection is 0 ~ 360 degree.
Universal joint 11 is screw thread universal joint.
Power transmission shaft 12 is three, and the axial connecting line of three power transmission shafts 12 forms three fulcrums of equilateral triangle 3.
Housing 2 is arranged with outside joint arm body 13.
In a word, the foregoing is only preferred embodiment of the present invention, all equalizations done according to the present patent application the scope of the claims change and modify, and all should belong to the covering scope of patent of the present invention.
Claims (9)
1. the extending spine joint arm of three fulcrums, 360 degree of rotoflectors, comprise and close segmented column (1), it is characterized in that: closing segmented column (1) is two or more, two or more is closed segmented column (1) and is formed multi-joint column construction, multi-joint column construction has five frees degree, five frees degree are respectively: X-direction move left and right as one degree of freedom, Y direction move forward and backward as one degree of freedom, Z-direction move up and down as one degree of freedom, XYZ space rotates to be one degree of freedom, XYZ space is bent into one degree of freedom.
2. the extending spine joint arm of three fulcrum according to claim 1,360 degree of rotoflectors, it is characterized in that: close segmented column (1) and comprise power transmission shaft (12), joint arm body (13), universal joint (11), joint arm body (13) is located on power transmission shaft (12), and universal joint (11) one end is fastened between power transmission shaft (12) and joint arm body (13).
3. the extending spine joint arm of three fulcrum according to claim 2,360 degree of rotoflectors, is characterized in that: power transmission shaft (12) two ends, left and right are all arranged with universal joint (11).
4. the extending spine joint arm of three fulcrum according to claim 1 and 2,360 degree of rotoflectors, is characterized in that: adjacent two close between segmented column (1) by universal joint (11) flexible connection.
5. the extending spine joint arm of three fulcrum according to claim 4,360 degree of rotoflectors, is characterized in that: comprise portable connection, rotary connection by the flexible connection of universal joint (11) between adjacent two passes segmented column (1).
6. the extending spine joint arm of three fulcrum according to claim 5,360 degree of rotoflectors, is characterized in that: the anglec of rotation of the pass segmented column (1) of rotary connection is 0 ~ 360 degree.
7. the extending spine joint arm of three fulcrums, 360 degree of rotoflectors according to Claims 2 or 3 or 5, is characterized in that: universal joint (11) is screw thread universal joint.
8. the extending spine joint arm of three fulcrums, 360 degree of rotoflectors according to Claims 2 or 3, it is characterized in that: power transmission shaft (12) is three, the axial connecting line of three power transmission shafts (12) forms three fulcrums of equilateral triangle (3).
9. the extending spine joint arm of three fulcrum according to claim 2,360 degree of rotoflectors, is characterized in that: be arranged with housing (2) outside joint arm body (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510656685.XA CN105171727A (en) | 2015-10-08 | 2015-10-08 | Three-fulcrum 360-degree rotate-bending extensible spine type articulated arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510656685.XA CN105171727A (en) | 2015-10-08 | 2015-10-08 | Three-fulcrum 360-degree rotate-bending extensible spine type articulated arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105171727A true CN105171727A (en) | 2015-12-23 |
Family
ID=54894394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510656685.XA Pending CN105171727A (en) | 2015-10-08 | 2015-10-08 | Three-fulcrum 360-degree rotate-bending extensible spine type articulated arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105171727A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10225881A (en) * | 1997-02-14 | 1998-08-25 | Natl Aerospace Lab | Offset rotation joint, and articulated robot having same offset rotary joint |
| CN103707296A (en) * | 2013-12-31 | 2014-04-09 | 哈尔滨工业大学 | Four-shaft mechanical arm for grabbing sheet metal parts |
| CN104385265A (en) * | 2014-07-02 | 2015-03-04 | 中国科学院合肥物质科学研究院 | Robot with redundant degree of freedom |
| CN204935674U (en) * | 2015-06-16 | 2016-01-06 | 王胜 | The extending spine joint arm of a kind of three fulcrums, 360 degree of rotoflectors |
-
2015
- 2015-10-08 CN CN201510656685.XA patent/CN105171727A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10225881A (en) * | 1997-02-14 | 1998-08-25 | Natl Aerospace Lab | Offset rotation joint, and articulated robot having same offset rotary joint |
| CN103707296A (en) * | 2013-12-31 | 2014-04-09 | 哈尔滨工业大学 | Four-shaft mechanical arm for grabbing sheet metal parts |
| CN104385265A (en) * | 2014-07-02 | 2015-03-04 | 中国科学院合肥物质科学研究院 | Robot with redundant degree of freedom |
| CN204935674U (en) * | 2015-06-16 | 2016-01-06 | 王胜 | The extending spine joint arm of a kind of three fulcrums, 360 degree of rotoflectors |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202580477U (en) | Spiral pipe robot | |
| CN102962848A (en) | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot | |
| CN101708612B (en) | Parallel mechanism with two-dimensional translation and two-dimensional rotation | |
| CN106346450A (en) | Three-branch-chain three-freedom-degree parallel connection mechanism | |
| CN102431028A (en) | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom | |
| CN101913146A (en) | Concurrent parallelogram-containing three-translational freedom robot mechanism | |
| CN102501243A (en) | Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom | |
| CN104889976A (en) | Three rotating decoupling spherical surface parallel robot mechanism | |
| CN104723357B (en) | Robots arm and robot including the robots arm | |
| CN101850519A (en) | Space five-freedom parallel machine tool | |
| CN201907121U (en) | Three-dimensional translational and one-dimensional rotational parallel mechanism | |
| CN101741039B (en) | Rotating wire clamp for spacer of overhead transmission lines | |
| CN105345770A (en) | Hooke-deviated six-degree-of-freedom platform | |
| CN102729238B (en) | Three-axis intersection type posture main hand mechanism | |
| CN103286777A (en) | Novel spatial three-freedom-degree parallel connection mechanism | |
| CN102431027B (en) | Parallel robot mechanism with spatial three degrees of freedom | |
| CN204935674U (en) | The extending spine joint arm of a kind of three fulcrums, 360 degree of rotoflectors | |
| CN207579452U (en) | A kind of novel damping castor | |
| CN105171727A (en) | Three-fulcrum 360-degree rotate-bending extensible spine type articulated arm | |
| CN103407508A (en) | Twelve-freedom-degree tetrahedron robot | |
| CN203092550U (en) | Three-translation freedom degree robot mechanism with near support parallelogram and far support paralleling rod | |
| CN203348298U (en) | Damping shaft for multi-angle positioning on rotary angle | |
| CN103148089B (en) | Electronic device | |
| CN107351074A (en) | Multi-joint mechanical arm | |
| CN102328313A (en) | Three degree of translation freedom robot mechanism only containing rotating pair |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151223 |
|
| RJ01 | Rejection of invention patent application after publication |