CN106002988A - Variable-length bendable fully-flexible mechanical arm structure - Google Patents

Variable-length bendable fully-flexible mechanical arm structure Download PDF

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Publication number
CN106002988A
CN106002988A CN201610425595.4A CN201610425595A CN106002988A CN 106002988 A CN106002988 A CN 106002988A CN 201610425595 A CN201610425595 A CN 201610425595A CN 106002988 A CN106002988 A CN 106002988A
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China
Prior art keywords
flexible rod
mechanical arm
spring
nodal plate
metal
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Granted
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CN201610425595.4A
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Chinese (zh)
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CN106002988B (en
Inventor
高国华
任晗
王皓
宋明阳
李炼石
董增雅
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Beijing University of Technology
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Beijing University of Technology
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Priority to CN201610425595.4A priority Critical patent/CN106002988B/en
Publication of CN106002988A publication Critical patent/CN106002988A/en
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Publication of CN106002988B publication Critical patent/CN106002988B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/06Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065Snake robots

Abstract

The invention discloses a variable-length bendable fully-flexible mechanical arm structure. The structure is a fully-flexible mechanical arm device having a posture controlled by elastic rods, capable of telescoping, and having a tail-end position capable of achieving any point in 360 degrees. The flexible mechanical arm device is composed of the elastic rods, a base, springs, metal section sheets, binding belts and U-shaped buckles. The four elastic rods are driven through slide tables of servo motors, thus posture control for the flexible mechanical arm and position control for a free end at the top are realized. The structure is reliable in stability and complete in function, and the tail-end position is capable of achieving any position in an outer envelope surface.

Description

A kind of variable length bending Grazing condition mechanical arm structure
Technical field
The present invention relates to control terminal position and the Grazing condition mechanical arm structure of overall attitude, especially It is the Grazing condition mechanical arm structure of a kind of variable length.
Background technology
Flexible mechanical structure was the most once suggested, it is common that in order to adapt to the work of complexity Make environment and operation requirement.Traditional mechanical arm many employings rigid rod is attached, motor process In take up room bigger.The advantage of Grazing condition mechanical arm is, is possible not only to enter terminal position Row operation, can control subjective posture simultaneously, substantially increase the motility of work.The present invention Have employed flexible rod as supporting construction, metal nodal plate limits the stage casing attitude of flexible rod, with Time, utilize the spring put outside flexible rod to separate each nodal plate, improve integrally-built Stability also makes Grazing condition mechanical arm distance after contraction and diastole between each nodal plate keep one Fixed.
Summary of the invention
The present invention is according to solve the technical problem that being to propose a kind of variable length bending Grazing condition machine Mechanical arm structure.Traditional mechanical arm uses rigid structure, due to rigid mechanical arm generally by Heavy material manufactures and designs, it is impossible to avoid there will be load-low from anharmonic ratio, energy consumption is high, knot The problems such as structure is complicated, response speed is slow, positioning precision is low, and flexible mechanical arm has The ability of high speed operation, higher load can be realized from anharmonic ratio, relatively low energy consumption and relatively low life Produce cost and there is the advantages such as bigger work space.Degree of freedom due to Grazing condition mechanical arm Height, its working place can reach broader region, and save equipment occupation space.This knot Structure stability is reliable, and perfect in shape and function, terminal position can reach the optional position in external envelope face.
For achieving the above object, major mechanical difficult point solution is as follows: common mechanical structural wood Material all uses metal material as framework, although rigidity is relatively strong, but toughness is more weak, this Bright have employed flexible rod to add metal nodal plate be agent structure material, substantially increases Grazing condition arm Toughness and flexibility ratio;Between every layer of metal nodal plate, add spring, maintain and have between each nodal plate necessarily Distance, improves stability and prevents between flexible rod and metal nodal plate stuck;
The concrete technical scheme of the present invention: a kind of variable length bending Grazing condition mechanical arm structure, bag Include flexible rod 1, pedestal 2, metal nodal plate 3, spring 4, band 5, U-shaped buckle 6.
Flexible rod 1, pedestal 2, metal nodal plate 3 are the flexible support part of this structure, spring 4 For the plastic deformation part of this structure, band 5, U-shaped buckle 6 be this structure fastening tight lock part Point.
Each metal nodal plate 3 is the circular nodal plate of hollow, and each metal nodal plate 3 is arranged in a vertical direction, The circumference of metal nodal plate 3 is provided with can be through the installing hole of flexible rod 1.
The flexible rod 1 being respectively vertically arranged is each passed through the installing hole on metal nodal plate 3, adjacent metal It is surrounded by spring 4 outside in flexible rod 1 on nodal plate 3;The inner side of the installing hole on metal nodal plate 3 is provided with Arcuate groove, connects fixing by band 5 between adjacent spring 4;Band 5 passes arcuate groove, By neighbouring spring 4 two ends.
The bottom of flexible rod 1 passes from each through hole of pedestal 2, and every flexible rod 1 respectively by under The servomotor slide unit in portion is operated alone.U-shaped button 6 is fixed on flexible rod by U-shaped stud The top of 1.
Flexible rod 1 is Fiber glass rod or carbon fiber rod or steel wire.
The internal diameter of spring 4 is more than the internal diameter of flexible rod 1.
U-shaped button is fixed on the top of flexible rod by U-shaped stud;Four flexible rod are passed through Uniform four aperture and the spring central authorities of each metal nodal plate pass;The lower end of upper strata spring and The upper end of lower floor's spring is tied up fixing by a band passed from metal nodal plate arcuate groove;Four Flexible rod end passes from the four of pedestal holes, and each flexible rod is respectively by the servo electricity of bottom Machine slide unit drives.
Accompanying drawing explanation
Fig. 1 is overall structure figure of the present invention;
Fig. 2 is attachment structure figure of the present invention;
Fig. 3 is telescopic process schematic diagram of the present invention;
In figure: 1, flexible rod, 2, pedestal, 3, metal nodal plate, 4, spring, 5, band, 6, U-shaped button.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings:
As it is shown in figure 1, a kind of variable length bending Grazing condition mechanical arm structure, including flexible rod 1, Pedestal 2, metal nodal plate 3, spring 4, band 5, U-shaped buckle 6.
Flexible rod 1, pedestal 2, metal nodal plate 3 are the flexible support part of this structure, spring 4 For the plastic deformation part of this structure, band 5, U-shaped buckle 6 be this structure fastening tight lock part Point.
Each metal nodal plate 3 is the circular nodal plate of hollow, and each metal nodal plate 3 is arranged in a vertical direction, The circumference of metal nodal plate 3 is provided with can be through the installing hole of flexible rod 1.
The flexible rod 1 being respectively vertically arranged is each passed through the installing hole on metal nodal plate 3, adjacent metal It is surrounded by spring 4 outside in flexible rod 1 on nodal plate 3;The inner side of the installing hole on metal nodal plate 3 is provided with Arcuate groove, connects fixing by band 5 between adjacent spring 4;Band 5 passes arcuate groove, By neighbouring spring 4 two ends.
The bottom of flexible rod 1 passes from each through hole of pedestal 2, and every flexible rod 1 respectively by under The servomotor slide unit in portion is operated alone.U-shaped button 6 is fixed on flexible rod by U-shaped stud The top of 1.
Flexible rod 1 is Fiber glass rod or carbon fiber rod or steel wire.
The internal diameter of spring 4 is more than the internal diameter of flexible rod 1.
As Figure 1-3.U-shaped button 6 is fixed on the top of flexible rod 1 by U-shaped stud; Flexible rod 1 is passed by four apertures uniform on each metal nodal plate 3 and spring 4 central authorities;On The layer lower end of spring 4 and the upper end of lower floor's spring 4 are passed from metal nodal plate 3 arcuate groove by one Band 5 is tied up fixing;Four flexible rod 1 ends pass from four holes of pedestal 2, each bullet Property rod 1 respectively by bottom servomotor slide unit drive.
Metal nodal plate 3 is annular hollow structure, and flexible rod 1 passes from the aperture of surrounding, this knot Structure can add conveyer device or paw in flexible arm central authorities, to increase its use function.Initially Under state, underdriven servomotor slide unit is static, and Grazing condition mechanical arm length is the longest.When The end needing Grazing condition mechanical arm reaches specified point or Grazing condition mechanical arm when needing to be compressed, Four servomotor slide unit motions, drive flexible rod 1 to move downward, the aluminum of Grazing condition mechanical arm Alloy 3 spacing of joint diminish, and spring 4 compresses so that overall structure is compressed.

Claims (4)

1. a variable length bending Grazing condition mechanical arm structure, it is characterised in that: this structure bag Include flexible rod (1), pedestal (2), metal nodal plate (3), spring (4), band (5), U Type buckles (6);
Flexible rod (1), pedestal (2), metal nodal plate (3) are the flexible support portion of this structure Point, spring (4) is the plastic deformation part of this structure, band (5), U-shaped buckles (6) Fastening lock portion for this structure;
Each metal nodal plate (3) is the circular nodal plate of hollow, and each metal nodal plate (3) is along vertically side To layout, the circumference of metal nodal plate (3) is provided with can be through the installing hole of flexible rod 1;
The flexible rod (1) being respectively vertically arranged is each passed through the installing hole on metal nodal plate (3), It is surrounded by spring (4) outside flexible rod (1) on adjacent metal nodal plate (3) is upper;Metal nodal plate (3) On the inner side of installing hole be provided with arcuate groove, by band (5) between adjacent spring (4) Connect fixing;Band (5) passes arcuate groove, by neighbouring spring (4) two ends;
The bottom of flexible rod (1) passes from each through hole of pedestal (2), and every flexible rod (1) It is operated alone by the servomotor slide unit of bottom respectively;U-shaped button (6) passes through U-shaped stud It is fixed on the top of flexible rod (1).
A kind of variable length bending Grazing condition mechanical arm structure the most according to claim 1, its It is characterised by: flexible rod (1) is Fiber glass rod or carbon fiber rod or steel wire.
A kind of variable length bending Grazing condition mechanical arm structure the most according to claim 1, its It is characterised by: the internal diameter of spring (4) is more than the internal diameter of flexible rod (1).
A kind of variable length bending Grazing condition mechanical arm structure the most according to claim 1, its It is characterised by: U-shaped button (6) is fixed on the top of flexible rod 1 by U-shaped stud;Bullet Property rod (1) go up the most uniform four apertures by each metal nodal plate (3) and spring 4 central authorities wear Go out;The lower end of upper strata spring (4) and the upper end of lower floor's spring (4) by one from metal nodal plate The band (5) that 3 arcuate grooves pass is tied up fixing;Four flexible rod 1 ends are from pedestal (2) Four holes pass, and each flexible rod (1) is driven by the servomotor slide unit of bottom respectively;
Metal nodal plate (3) is annular hollow structure, and flexible rod (1) passes from the aperture of surrounding, This structure can add conveyer device or paw in flexible arm central authorities, to increase its use function; Under original state, underdriven servomotor slide unit is static, and Grazing condition mechanical arm length is the longest; Need to be compressed when the end needing Grazing condition mechanical arm reaches specified point or Grazing condition mechanical arm Time, four servomotor slide unit motions, drive flexible rod (1) to move downward, Grazing condition machine Aluminium alloy joint (3) sheet spacing of mechanical arm diminishes, and spring (4) compresses so that overall structure pressure Contracting.
CN201610425595.4A 2016-06-15 2016-06-15 A kind of variable length bending Grazing condition machinery arm configuration Active CN106002988B (en)

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CN201610425595.4A CN106002988B (en) 2016-06-15 2016-06-15 A kind of variable length bending Grazing condition machinery arm configuration

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Application Number Priority Date Filing Date Title
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107433620A (en) * 2017-09-09 2017-12-05 北京工业大学 A kind of thimble tube Grazing condition mechanical arm of Layered driver
CN108214473A (en) * 2018-01-28 2018-06-29 北京工业大学 A kind of adjustable multiple degrees of freedom Grazing condition machinery arm configuration of rigidity
CN108214459A (en) * 2017-08-28 2018-06-29 北京邮电大学 It is a kind of can simultaneous retractable and bending and there are the flexible robots of instrument channel
CN108340363A (en) * 2018-01-26 2018-07-31 深圳市风力源科技有限公司 Flexible mechanical arm and unmanned plane
CN108381515A (en) * 2018-02-10 2018-08-10 北京工业大学 Milk based on Grazing condition structure beats rake device
CN108393924A (en) * 2018-02-10 2018-08-14 北京工业大学 A kind of retractable curved Grazing condition machinery arm configuration of line driving
CN109249407A (en) * 2018-11-01 2019-01-22 合肥工业大学 A kind of hard and soft combination drive spray robot with non-individual body wrist joint
CN109363772A (en) * 2018-11-02 2019-02-22 北京邮电大学 A kind of flexibility single hole micro-wound operation robot

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US4790624A (en) * 1986-10-31 1988-12-13 Identechs Corporation Method and apparatus for spatially orienting movable members using shape memory effect alloy actuator
JPH01140986A (en) * 1987-11-26 1989-06-02 Komatsu Ltd Connecting device of support plate and twisting plate of flexible arm
US4954952A (en) * 1988-02-16 1990-09-04 Trw Inc. Robotic arm systems
JPH033791A (en) * 1989-06-01 1991-01-09 Bridgestone Corp Manipulator using elastic contractional body
US5816769A (en) * 1995-11-07 1998-10-06 Siemens Aktiengesellschaft Flexible manipulator
CN103895012A (en) * 2014-04-25 2014-07-02 清华大学 Trunk-simulating mechanical arm unit device
CN105034019A (en) * 2015-08-21 2015-11-11 昆山硅步机器人技术有限公司 Flexible mechanical arm
CN205111880U (en) * 2015-02-15 2016-03-30 清华大学 Crooked robot arm device of flexible pole spiral drive qxcomm technology

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Publication number Priority date Publication date Assignee Title
US4790624A (en) * 1986-10-31 1988-12-13 Identechs Corporation Method and apparatus for spatially orienting movable members using shape memory effect alloy actuator
JPH01140986A (en) * 1987-11-26 1989-06-02 Komatsu Ltd Connecting device of support plate and twisting plate of flexible arm
US4954952A (en) * 1988-02-16 1990-09-04 Trw Inc. Robotic arm systems
JPH033791A (en) * 1989-06-01 1991-01-09 Bridgestone Corp Manipulator using elastic contractional body
US5816769A (en) * 1995-11-07 1998-10-06 Siemens Aktiengesellschaft Flexible manipulator
CN103895012A (en) * 2014-04-25 2014-07-02 清华大学 Trunk-simulating mechanical arm unit device
CN205111880U (en) * 2015-02-15 2016-03-30 清华大学 Crooked robot arm device of flexible pole spiral drive qxcomm technology
CN105034019A (en) * 2015-08-21 2015-11-11 昆山硅步机器人技术有限公司 Flexible mechanical arm

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108214459A (en) * 2017-08-28 2018-06-29 北京邮电大学 It is a kind of can simultaneous retractable and bending and there are the flexible robots of instrument channel
CN108214459B (en) * 2017-08-28 2019-08-09 北京邮电大学 It is a kind of can simultaneous retractable and bending and there are the flexible robots of instrument channel
CN107433620A (en) * 2017-09-09 2017-12-05 北京工业大学 A kind of thimble tube Grazing condition mechanical arm of Layered driver
CN108340363A (en) * 2018-01-26 2018-07-31 深圳市风力源科技有限公司 Flexible mechanical arm and unmanned plane
CN108214473A (en) * 2018-01-28 2018-06-29 北京工业大学 A kind of adjustable multiple degrees of freedom Grazing condition machinery arm configuration of rigidity
CN108381515A (en) * 2018-02-10 2018-08-10 北京工业大学 Milk based on Grazing condition structure beats rake device
CN108393924A (en) * 2018-02-10 2018-08-14 北京工业大学 A kind of retractable curved Grazing condition machinery arm configuration of line driving
CN108381515B (en) * 2018-02-10 2021-03-16 北京工业大学 Milk rake-making device based on full-flexible structure
CN109249407A (en) * 2018-11-01 2019-01-22 合肥工业大学 A kind of hard and soft combination drive spray robot with non-individual body wrist joint
CN109363772A (en) * 2018-11-02 2019-02-22 北京邮电大学 A kind of flexibility single hole micro-wound operation robot

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