CN105729498B - Modularization cotton rope drives non-individual body mechanical arm - Google Patents

Modularization cotton rope drives non-individual body mechanical arm Download PDF

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Publication number
CN105729498B
CN105729498B CN201610270200.8A CN201610270200A CN105729498B CN 105729498 B CN105729498 B CN 105729498B CN 201610270200 A CN201610270200 A CN 201610270200A CN 105729498 B CN105729498 B CN 105729498B
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modularization
monomer
mechanical arm
individual
cotton rope
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CN105729498A (en
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谷国迎
汤磊
朱向阳
朱利民
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • B25J18/06Arms flexible

Abstract

The present invention provides a kind of modularization cotton ropes to drive non-individual body mechanical arm, including multiple modularization monomers;Wherein, the first articulation piece, the second articulation piece is respectively set in the opposite face of any two adjacent modularization monomer;Described the first of one modularization monomer hingedly forms articulated structure with second articulation piece of another modularization monomer;Multiple modularization monomers pass sequentially through the articulated structure and hingedly form mechanical arm joint;The cable-through hole for being provided with functional hole on the modularization monomer and being circumferentially arranged successively.Different connections and locking mode, the available flexibility non-individual body mechanical arm different with load capacity are used in the present invention between two adjacent modular monomers.

Description

Modularization cotton rope drives non-individual body mechanical arm
Technical field
The present invention relates to mechanical arms, and in particular, to a kind of modularization cotton rope driving non-individual body mechanical arm.
Background technique
Tradition machinery shoulder joint is directly driven in joint using mechanisms such as motors, although mechanism simply increases Mechanical arm loads and structure is not compact, low efficiency.Generally it is difficult to meet the job requirements of narrow deep chamber or adverse circumstances.Continuously Body robot refers to that there are multiple continuously distributed bendings, flexible or torsional freedom flexible robot.Since it is intrinsic Hyper-redundant characteristic, movement and operational capacity of the non-individual body robot in restricted clearance rigidly connect much higher than traditional multi-joint Bar robot detects and the deep chamber in the fields such as maintenance, rescue and relief work and aerospace manufacture and danger in nuclear plant Large-Scale Equipment There is important application value in environment work.
It is found by being retrieved to existing technical literature, China Patent Publication No. CN101653353A and publication No. CN103948435A is described respectively for a kind of endoscope robot and a kind of single-port laparoscopic minimally-invasive surgery system.Both Mechanical arm in operating robot belongs to the non-individual body mechanical arm of cotton rope driving.Due to the mechanical arm outer diameter for body operation It is smaller, thus it is softer flexibly, but can bear to load and smaller not be suitable for loading biggish industrial occasions.Publication number The non-individual body mechanical arm being discussed in detail in CN105014689A patent passes through increase joint number using the Hooke's hinge structure of rigidity It realizes that flexible movement and deformability, load and end precision are significantly increased, but due to using rigid structure, can not achieve Continuous modification is therefore inflexible.In fact flexibility and high rigidity high load capability are the performance indicators of conflict, in order to Guarantee that flexibility may sacrifice part-load capability, vice versa.In order to solve the contradiction between flexible and rigid load, this Invention proposes four kinds of modularization cotton rope driving non-individual body mechanical arms,
Summary of the invention
For the defects in the prior art, in order to solve the contradiction between flexible and rigid load, the purpose of the present invention is A kind of modularization cotton rope driving non-individual body mechanical arm is provided, an equalization point can be sought between flexibility and load, thus Different designs can be selected according to different working condition requirements.
The modularization cotton rope driving non-individual body mechanical arm provided according to the present invention, including multiple modularization monomers;
Wherein, the first articulation piece, the second articulation piece is respectively set in the opposite face of any two adjacent modularization monomer;One mould Described the first of block monomer hingedly forms articulated structure with second articulation piece of another modularization monomer;
Multiple modularization monomers pass sequentially through the articulated structure and hingedly form mechanical arm joint;
The cable-through hole for being provided with functional hole on the modularization monomer and being circumferentially arranged successively.
Preferably, the quantity of the cable-through hole is at least three;
Driving cotton rope is provided in the cable-through hole.
Preferably, upper surface, the lower end surface of the modularization monomer are respectively provided with that there are two the symmetrical slopes that are oppositely arranged;Two The upper hopper chute extended radially through is provided between a symmetrical slope being oppositely arranged;
The lower end surface of the upper surface of the modularization monomer is provided with the lower rotary shaft to match with the upper hopper chute;
The lower rotary shaft of the upper hopper chute of one modularization monomer and another modularization monomer forms articulated structure.
Preferably, the upper surface of the modularization monomer is provided with flexural pivot face and upper circular arc sweeping face, lower end surface setting There are lower flexural pivot face and lower circular arc sweeping face;
Articulated structure is formed between the upper flexural pivot face of one modularization monomer and the lower flexural pivot face of another modularization monomer.
Preferably, the upper surface of the modularization monomer is provided with the blind hole channel being circumferentially arranged successively, and lower end surface is set It is equipped with the flexible link to match with the blind hole channel;
The end of the flexible link is provided with fixed hinge;The bottom in the blind hole channel is provided with and the fixed hinge The spherical groove to match;
The flexible link of one modularization monomer, which passes through, forms hinge between fixed hinge and the blind hole channel of another modularization monomer Binding structure.
It preferably, further include hinge centre circle and screw thread spring;
Articulated structure is formed by the hinge centre circle between first articulation piece and second articulation piece;
Multiple screw thread springs are provided between two neighboring modularization monomer.
Preferably, multiple screw thread springs are arranged successively along the circumferential direction of the modularization monomer;
Described first hingedly between an opposite sides face of the hinge centre circle, described second hingedly and in the hinge It is connected between another opposite sides face of circle by stepped screw.
Preferably, elastic skeleton is provided in the pipeline of the functional hole composition on multiple modularization monomers.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, in the present invention two adjacent modular monomer relative symmetry inclined-planes be equivalent to after contacting with each other it is locked cannot move, because This can provide relatively large load;
2, adjacent modular monomer of the present invention is connected using flexural pivot, therefore upper and lower two adjacent modular monomers can be around any Direction rotation, moves very flexible;
3, the configuration of the present invention is simple, it is rationally distributed, it is easy to spread.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention, Objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of middle line rope drive non-individual body robot of the present invention;
Fig. 2 is the structural schematic diagram that modularization cotton rope drives non-individual body mechanical arm in the first embodiment;
Fig. 3 is the structural schematic diagram of modularization monomer in the first embodiment;
Fig. 4 is the structural schematic diagram that modularization cotton rope drives non-individual body mechanical arm in a second embodiment;
Fig. 5 is the structural schematic diagram of modularization monomer in a second embodiment;
Fig. 6 is the structural schematic diagram that modularization cotton rope drives non-individual body mechanical arm in the third embodiment;
Fig. 7 is the structural schematic diagram of modularization monomer in the third embodiment;
Fig. 8 is the structural schematic diagram that modularization cotton rope drives non-individual body mechanical arm in the fourth embodiment;
Fig. 9 is the structural schematic diagram of modularization monomer in the fourth embodiment;
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention Protection scope.
Embodiment 1
In the present embodiment, as shown in Figure 1, the overall structure for being driven non-individual body robot for cotton rope provided by the invention is shown It is intended to.Mainly it is made of non-individual body robot driving device 1 and non-individual body robot arm 2.Wherein 1 is non-individual body machine People's driving device, the design content are discussed in detail in publication number CN105058423A.Fig. 2 has a kind of rope of mobile decoupling Driving non-individual body robot arm is discussed in detail in publication number CN105014689A patent.Publication number CN105058423A The mechanical arm that the non-individual body robot driving device introduced in patent is driven cotton rope has certain versatility, such as can drive specially The mechanical arm introduced in sharp CN105014689A.The mechanical arm that this kind of cotton ropes are driven can there are many design scheme, structures Feature and advantage is had nothing in common with each other.
Modularization cotton rope provided by the invention drives non-individual body mechanical arm, including multiple modularization monomers;
Wherein, the first articulation piece, the second articulation piece is respectively set in the opposite face of any two adjacent modularization monomer;One mould Described the first of block monomer hingedly forms articulated structure with second articulation piece of another modularization monomer;
Multiple modularization monomers pass sequentially through the articulated structure and hingedly form mechanical arm joint;
The cable-through hole for being provided with functional hole on the modularization monomer and being circumferentially arranged successively.
The quantity of the cable-through hole is at least three;Driving cotton rope is provided in the cable-through hole.
In the present embodiment, 4 modularization monomer composition one mechanical arm joints, each machinery arm joint is by 3 driving cotton ropes Control, driving cotton rope are drawn by the non-individual body robot driving device 1, and driving cotton rope passes through the robotically-driven dress of non-individual body It sets the motor in 1, lead screw and guide rail to be connected on the terminus module monomer of each mechanical arm joint, and is circumferentially spaced 120 Equidistantly distributed is spent, every driving cotton rope is locked with set coil in the end of each mechanical arm joint.Driving cotton rope is in drawing always Tight state can drive the length of cotton rope by changing.It will drive when driving the rope length of cotton rope to change in each mechanical arm joint Each modularization monomer with respect to the movement of another modularization monomer, change the location and shape of mechanical arm joint with this, from And it manipulates mechanical arm tail end and reaches scheduled position completion corresponding operation.
The pipeline composed by the centre bore of modularization monomer 4 has elastic skeleton of the continuous spring as every trifle.Institute State that the upper surface of modularization monomer, there are two the symmetrical slopes 6 that are oppositely arranged for lower end surface setting;Two symmetrical inclineds being oppositely arranged The upper hopper chute 8 extended radially through is provided between face 6;The lower end surface of the upper surface of the modularization monomer be provided with it is described on The lower rotary shaft 10 that sliding slot 8 matches;The lower rotary shaft 10 of the upper hopper chute 8 of one modularization monomer and another modularization monomer is formed hingedly Structure.
Elastic skeleton is provided in the pipeline that functional hole 7 on multiple modularization monomers forms.The elastic skeleton Using spring, mechanical arm joint, which combines, simulates vertebra skeleton, draws skeleton motion by driving cotton rope and spring, and provide one Fixed flexibility, so that manipulator motion is relatively flexible, in addition the processing is simple for this structure, and load bearing capabilities are big.
The ontology of modularization monomer is cylindrical body 5, and many for assembling, wiring and tool fortune are processed on cylindrical body 5 Send the structure feature in channel.Two symmetrical slopes 6 being oppositely arranged are with a diameter symmetry of cylindrical body 5, symmetrical slope 6 and water The angle of plane can be chosen according to motion range, and 10 degree are selected in this example.
The symmetrical center line of two symmetrical slopes 6 of the symmetrical center line and lower end surface of two symmetrical slopes 6 of upper surface It can be overlapped, can also there is certain angle.
When the symmetrical centre of both ends of the surface is overlapped, the mechanical arm joint being assembled into can only swing around the center line.When When the center line in degree face has certain angle up and down, there are four swaying directions in mechanical arm joint, and the resultant motion of mechanical arm joint can To be considered as rotation in space.The effect of symmetrical slope 6 is that certain relative motion space is provided for adjacent modular monomer 4, It is equivalent to after two adjacent modular monomers 4 contact with each other and locks and cannot move, therefore relatively large load can be provided.Functional hole 7 is On the one hand the through-hole beaten on cylindrical body 5, the through-hole can mitigate weight, on the other hand can arrange spring or flexible link etc. Flexible member, or the tools such as some communications cables are placed, it is convenient on entire mechanical arm tail end i.e. the last one part to be used to Actuator such as drill bit of end etc. is installed and completes some particular jobs.
Upper hopper chute 8 is the cylindrical chute in upper top surface symmetrical centre.Lower rotary shaft 10 be located at bottom surface it is symmetrical in Shaft in the heart, upper hopper chute 8 and the corresponding central angle of lower rotary shaft 10 are greater than 180 degree and are gap-matched, in this way when one The lower rotary shaft 10 of modularization monomer 4 be fitted into the upper hopper chute 8 of another modularization monomer 4 just complete it is circumferentially positioned.Then make two Cylindrical center's line of modularization monomer 4 is overlapped or intersection, then lower rotary shaft 10 is locked in upper hopper chute 8 with pin and just completes axis To positioning.Such two adjacent modulars monomer, 4 civilian dress prepares and can flexibly free relative motion.It finally will be from non-individual body Every three one group of the driving cotton rope drawn in robot driving device 1, successively pass through every section modularization monomer 4 for 120 degree at equal intervals In cable-through hole 9, and driving cotton rope is locked on every mechanical arm joint end one modularization monomer 4, so repeatedly successively into Row, until all modularization monomers 4 are installed.The quantity of cable-through hole 9 can calculate institute according to the number of modularization monomer 4 Cotton rope number need to be driven to obtain.
Embodiment 2
Second embodiment is the change case of first embodiment, and the difference of second embodiment and first embodiment essentially consists in, In a second embodiment, the upper surface of the modularization monomer is provided with flexural pivot face 18 and upper circular arc sweeping face, and lower end surface is set It is equipped with lower flexural pivot face 15 and lower circular arc sweeping face 14;
Articulated structure is formed between the upper flexural pivot face 18 of one modularization monomer and the lower flexural pivot face 15 of another modularization monomer, Specially spherical hinge structure.
As shown in figure 4, mechanical arm joint 3 can be around multiple when upper and lower end faces symmetrical center line is not parallel in embodiment 1 Direction rotation, but its rotation direction is discrete finite number, cannot be rotated always around any direction.Second of modularization line Rope driving non-individual body mechanical arm is obtained two bottom surfaces up and down using circular arc sweeping, and adjacent modular monomer 4 is connected using flexural pivot, therefore on Lower two modularization monomers can be rotated around any direction.It moves very flexible.But it is transported since two adjacent modular monomers reach It is contacted when moving to greatest extent for line, and adjacent modular monomer 4 is face contact in embodiment 1, therefore locking function is without first Kind mechanical arm is good, therefore load capacity does not have modularization cotton rope in embodiment 1 to drive the big of non-individual body mechanical arm.
Upper and lower end face provides certain relative motion space for adjacent two modularizations monomer, when two adjacent modular monomers, 12 phase Mutual connection is equivalent to after touch to be locked and cannot move.The upper flexural pivot face 18 of another modularization monomer 12 in lower flexural pivot face 15 cooperates so that two-phase Adjacent modularization monomer can be rotated around any direction, and movement can very flexibly.
Embodiment 3
3rd embodiment is the change case of first embodiment, and the difference of 3rd embodiment and first embodiment essentially consists in, In the third embodiment, the upper surface of the modularization monomer is provided with the blind hole channel 23 being circumferentially arranged successively, lower end surface It is provided with the flexible link 26 to match with the blind hole channel 23;
The end of the flexible link 26 is provided with fixed hinge 25;The bottom in the blind hole channel 23 be provided with it is described solid Determine the spherical groove that hinge 25 matches;
The flexible link 26 of one modularization monomer passes through between fixed hinge 25 and the blind hole channel 23 of another modularization monomer Form articulated structure.
As shown in fig. 6, in embodiment 1 and embodiment 2, since modularization monomer itself is larger, and between modularization monomer Motion range is larger, and according to motion range and the demand of flexibility, 4 or so one machinery of modularization monomer composition may be selected Arm joint.But in the present embodiment, since the modularization monomer of mechanical arm is smaller, and the limited deformation that single flexible bar 26 provides, Therefore it can be with several one sections of modularization monomer composition of multiselect.10 one sections of modularization monomer composition are selected more to approach in the present embodiment The case where flexible body deforms.The basic thought of first two mechanical arm forms the skeleton of mechanical arm using modularization monomer 4, utilizes machine Rotation or flexural pivot joint motions between the skeleton of tool arm, the flexibilities such as access arrangements spring formed using the functional hole of mechanical arm Joint provides certain flexibility for mechanical arm.In the present embodiment, it is not both directly to utilize flexible material that mechanical arm is most important Adjacent modularization monomer 4 is connected, and using the deformation of flexible material so that mechanical arm occurs change in shape and moves.Its In the material of flexible link can choose Nitinol etc., due to nickel-titanium alloy material flexible pole length very in short-term rigidity compared with By force, deformation is little.When its length increases, deformation is easy to, and can both be provided pulling force or be provided thrust, therefore institute The flexible mechanical arm flexibility of formation is very good.But since flexibility is big, it is easily deformed in particular directions by when relatively large load, Therefore it can be used for needing the ambidextrous operating condition occasion of large deformation.
As shown in fig. 7, modularization monomer 4 includes the rigid support 21 as ontology, flexible link 26 and fixed hinge 25 Composition.Rigid support 21 is a cylindrical component, and the upper and lower end face of rigid support 21 is parallel, and centre is provided with functional hole.Just Property the arrangement of 21 periphery of bracket one enclosed line three-way hole 24;21 inner circumferential of rigid support arrangement, one circle is matched with flexible link 26, fixed hinge 25 The blind hole channel 23 of conjunction.The bottom in blind hole channel 23 is provided with spherical groove, and the spherical groove and motion hinge 25 cooperate, make When obtaining 26 amoeboid movement of flexible link, relative motions occur for two modularization monomers 4.The material selection of flexible link 26, size design It is very crucial, such as maximum deflection angle between two modularization monomers 4 is by the length and rigid support 21 of flexible link 26 Radius determines.Maximum deflection angle influences the movenent performance of entire mechanical arm.Due to there is a circle blind hole channel 23, in every two mould Block monomer 4 can have different selections when assembling, and select the mechanical arm of the available different performance of different installation directions.
Embodiment 4
Fourth embodiment is the change case of first embodiment, and the difference of fourth embodiment and first embodiment essentially consists in, In the fourth embodiment, modularization cotton rope provided by the invention drives non-individual body mechanical arm, further includes hinge centre circle 32 and screw thread Spring;Described first hingedly forms articulated structure by the hinge centre circle 32 between second articulation piece;It is two neighboring Multiple screw thread springs 29 are provided between modularization monomer.The hinge centre circle 32 has central through hole 33.
Multiple screw thread springs 29 are arranged successively along the circumferential direction of the modularization monomer;Described first hingedly with the hinge Between one opposite sides face of chain centre circle 32, described second hingedly between another opposite sides face of the hinge centre circle 32 lead to Cross the connection of stepped screw 31.
As shown in figure 8, modularization cotton rope driving non-individual body mechanical arm provided by the invention includes single-ended bracket 28, both-end branch Frame 30, stepped screw 31, hinge centre circle 32 and screw thread spring 29.Single-ended bracket 28, both-end bracket 30 are modularization monomer Ontology;
Single-ended bracket 28 and both-end bracket 30 are assemblied by two stepped screws 31 and hinge centre circle 32 respectively can be with In the gimbal suspension of spatial movement.There are a circle threaded hole, three screw thread springs in the periphery of single-ended bracket 28 and both-end bracket 30 29 120 are mounted in the threaded hole of single-ended bracket 28 and both-end bracket 30 and connect at equal intervals respectively.According to movement model It encloses and the demand of flexibility, 4 or so modularization monomer composition one mechanical arm joints may be selected.Since it uses universal pass Section, therefore it is higher to move flexible and relative accuracy, while using spring members, so that entire mechanism flexibility enhancing, deformation And movement has the characteristics that flexible body.
Fig. 9, mechanical arm use gimbal suspension and the structure of screw thread spring are added to make its movement flexibly, and precision is relatively high, together When improve its compliance.But since the general shared space of screw thread spring 29 is larger and arranges along mechanical arm excircle.Some Operating condition such as operating robot etc., it is desirable that the diameter of mechanical arm is very small, and this structure may not reach requirement, therefore can use Its a kind of variant, as shown in figure 9, a mistake line of screw thread spring 29, single-ended bracket and both-end bracket periphery is omitted in deformation Hole only needs to make that cotton rope is driven to pass through, and can effectively reduce mechanical arm diameter in this way.Since its building block is all functional Hole, it is possible to the elastic original part such as spring is arranged in central through hole and be formed by functional hole, so that mechanical arm has flexibility.
Mechanical arm flexibility and high rigidity high load capability are the performance indicators of conflict, in order to guarantee that flexibility may Part-load capability can be sacrificed, vice versa.In order to solve the contradiction between flexible and rigid load, the invention proposes four kinds Modularization cotton rope drives non-individual body mechanical arm, seeks an equalization point between flexibility and load, can be according to different works Condition requires to select different designs.It includes on upper and lower end face that the first modularization cotton rope, which drives non-individual body mechanical arm main feature, Symmetrical slope 6, functional hole, upper hopper chute, cable-through hole, lower rotary shaft.When two adjacent modular monomer adjacent symmetric inclined-planes contact with each other After be equivalent to it is locked cannot move, therefore relatively large load can be provided;Second of modularization cotton rope driving non-individual body mechanical arm is main Feature includes upper and lower circular arc sweeping face, lower flexural pivot face, cable-through hole, functional hole, upper flexural pivot face.Adjacent modular monomer uses ball It is hinged, therefore upper and lower two adjacent modular monomers can be rotated around any direction.It moves very flexible.But due to two adjacent moulds Block monomer contacts when reaching movement to greatest extent for line, and is face contact in the first mechanical arm, therefore locking function does not have The first mechanical arm is good, therefore load capacity is big without the first mechanical arm;The third modularization cotton rope drives non-individual body mechanical arm Main feature includes rigid support, function through-hole, blind hole channel, cable-through hole, fixed hinge and flexible link.Directly using flexible Material connects adjacent modularization monomer, and using the deformation of flexible material so that mechanical arm occurs change in shape and transports It is dynamic.The flexible arm flexibility of formation is very good, can be used for needing the ambidextrous operating condition occasion of large deformation;4th kind of modularization line Rope driving non-individual body mechanical arm main feature includes in single-ended bracket, screw thread spring, both-end bracket, stepped screw and hinge Circle.Make its movement flexibly using the structure of gimbal suspension plus screw thread spring, precision is relatively high, while it is soft to improve mechanical arm Compliance.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow Ring substantive content of the invention.

Claims (5)

1. a kind of modularization cotton rope drives non-individual body mechanical arm, which is characterized in that including multiple modularization monomers;
Wherein, the first articulation piece, the second articulation piece is respectively set in the opposite face of any two adjacent modularization monomer;One modularization First articulation piece of monomer and second articulation piece of another modularization monomer form articulated structure;
Multiple modularization monomers pass sequentially through the articulated structure and hingedly form mechanical arm joint;
The cable-through hole for being provided with functional hole on the modularization monomer and being circumferentially arranged successively;
The upper surface of the modularization monomer is provided with the blind hole channel (23) being circumferentially arranged successively, and lower end surface is provided with and institute State the flexible link (26) that blind hole channel (23) matches;
The end of the flexible link (26) is provided with fixed hinge (25);The bottom of the blind hole channel (23) be provided with it is described The spherical groove that fixed hinge (25) matches;
The flexible link (26) of one modularization monomer by the blind hole channel (23) of fixed hinge (25) and another modularization monomer it Between form articulated structure;
Upper surface, the lower end surface of the modularization monomer are respectively provided with that there are two the symmetrical slopes (6) that are oppositely arranged;Two set relatively The upper hopper chute (8) extended radially through is provided between the symmetrical slope (6) set;
Upper surface, the lower end surface of the modularization monomer are provided with the lower rotary shaft (10) to match with the upper hopper chute (8);
The upper hopper chute (8) of one modularization monomer and the lower rotary shaft (10) of another modularization monomer form articulated structure.
2. modularization cotton rope according to claim 1 drives non-individual body mechanical arm, which is characterized in that the number of the cable-through hole Amount is at least three;
Driving cotton rope is provided in the cable-through hole.
3. modularization cotton rope according to claim 1 drives non-individual body mechanical arm, which is characterized in that further include hinge centre circle (32) and screw thread spring;
Articulated structure is formed by the hinge centre circle (32) between first articulation piece and second articulation piece;
Multiple screw thread springs (29) are provided between two neighboring modularization monomer.
4. modularization cotton rope according to claim 3 drives non-individual body mechanical arm, which is characterized in that multiple thread bullets Spring (29) is arranged successively along the circumferential direction of the modularization monomer;
Between first articulation piece and an opposite sides face of the hinge centre circle (32), second articulation piece and the hinge It is connected between another opposite sides face of chain centre circle (32) by stepped screw (31).
5. modularization cotton rope according to claim 1 drives non-individual body mechanical arm, which is characterized in that multiple modularizations Elastic skeleton is provided in the pipeline of functional hole composition on monomer.
CN201610270200.8A 2016-04-27 2016-04-27 Modularization cotton rope drives non-individual body mechanical arm Active CN105729498B (en)

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