CN106003112A - Three-dimensional combined steady-motion muscle bone mechanical mechanism - Google Patents
Three-dimensional combined steady-motion muscle bone mechanical mechanism Download PDFInfo
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- CN106003112A CN106003112A CN201610444022.6A CN201610444022A CN106003112A CN 106003112 A CN106003112 A CN 106003112A CN 201610444022 A CN201610444022 A CN 201610444022A CN 106003112 A CN106003112 A CN 106003112A
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- direction joint
- joint
- contracting body
- swollen contracting
- flesh
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
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Abstract
The invention relates to a three-dimensional combined steady-motion muscle bone mechanical mechanism. The three-dimensional combined steady-motion muscle bone mechanical mechanism comprises a main rod (1) and an expansion and retraction mechanism (10) which is used for enabling a movable end to move on the main rod, wherein the main rod (1) has a tail part and a head part; a fixed end and the movable end are arranged on the main rod (1); the fixed end is positioned at the tail part of the main rod; the movable end is positioned between the fixed end and the head part of the main rod; the expansion and retraction mechanism (10) is positioned between the fixed end and the movable end; and the two ends of the expansion and retraction mechanism are respectively connected with the fixed end and the movable end. The three-dimensional combined steady-motion muscle bone mechanical mechanism has the beneficial effects that the telescopic transmission design is adopted, the telescopic control is achieved, a steady-motion and controllable mechanical device used for grabbing objects inconvenient to take by hands or grabbing objects which can only be taken with auxiliary tools is formed, the structure is reasonable, and the utilization is convenient.
Description
Technical field
The present invention relates to mechanical arm field, be specifically related to a kind of mechanical mechanism.
Background technology
Today of mechanical industry high speed development, heavy physical labour is replaced by machinery greatly, the development of bionic mechanical
In the routine work of people, in daily life and commercial production, it is provided that a kind of novel, flexibly, more
Function, the mechanical hand that more general reality should be changed.People may take some dangerous materials with greater need for this mechanical hand, or from
Dell, Shen Dongzhong take article, and environmental sanitation is when clearing up the big block rubbish in river course, these situations, it is impossible to direct with hands
Take or be not easy to take, it is therefore desirable to use the instrument conveniently taken.
Existing mechanical arm and machinery mouth, modal application major part is the operation machinery on tooling platform, for capture
Purposes, but the dynamic structure of this kind equipment is the control modes such as pneumatic, electronic, and each mechanical branch also needs individually to control,
During use, the power of a certain branch breaks down, and can affect the duty of integral device, affect work efficiency；Meanwhile,
This type of plant equipment the most only can be suitably used for the operation of tooling platform and is used, it is impossible to cover the application of other field widely.
Summary of the invention
In conjunction with the deficiencies in the prior art, it is an object of the invention to provide a kind of three-dimensional arrangement and surely move flesh bone machinery, solve in day
What article and conventional mechanical means were conveniently taken and cannot be taken in normal free-hand portion drives single problem.
It is an object of the invention to be achieved through the following technical solutions:
A kind of three-dimensional arrangement surely moves flesh bone mechanical mechanism, including:
Mobile jib, described mobile jib has afterbody and head, and mobile jib is provided with fixing end and movable end, and fixing end is positioned at the afterbody of mobile jib,
Movable end between fixing end and the head of mobile jib,
For making movable end Peng Suo mechanism of activity on mobile jib, described Peng Suo mechanism is between fixing end and movable end, and they are two years old
End connects fixing end and movable end respectively.
Optionally, the sidewall of described movable end and fixing end is equipped with one or more connection end.
Optionally, Peng Suo mechanism includes the first swollen contracting body and the second swollen contracting body being hingedly connected to one another, wherein said first swollen contracting body
Being made up of the first rod member and the second rod member, the half of the length of a length of first rod member of the second rod member, in described first rod member
Between position be articulated and connected one end of the second rod member, the rod member of described first swollen contracting body has three can be hinged with other parts
End, its be respectively the first rod member two ends and, the other end of the second rod member；Described second swollen contracting body is mutual by two centers
Be articulated and connected first rod member composition, the rod member of described second swollen contracting body has four can be hinged with other parts end,
It is respectively same first rod member two ends, and another the first rod member two ends.
Described first sliding sleeve is provided with the first adapter sleeve, and described first adapter sleeve is provided with first direction joint；The week of first direction joint
Wall is provided with two end portion, and two ends are relative to mobile jib axisymmetrical, and its angle is 60 °；
Also include that at least one flesh skeleton, described flesh skeleton include that sliding guide, one end of described sliding guide are provided with the 7th direction
Joint, described 7th direction joint sidewall is provided with multiple end, and the other end of described sliding guide is provided with loop bar, solid on described loop bar
Surely being provided with third direction joint, third direction joint sidewall is provided with multiple end；
Described first direction joint, flesh skeleton and the second adapter sleeve are attached by Peng Suo mechanism.
Optionally, described flesh skeleton is three, and the flesh skeleton being respectively positioned at the setting of mobile jib axial lateral symmetry is set in being positioned at
Flesh skeleton on second adapter sleeve, wherein
The 7th direction joint being set in the flesh skeleton on the second adapter sleeve is connected with the second adapter sleeve；Two ends of the 7th direction joint
Angle between two ends of portion and third direction joint is 60 °；
Two are formed between three ends and adjacent two that flesh skeleton saves with the 7th direction joint in flesh skeleton, third direction
The angle of 60 °；
The first swollen contracting body in Peng Suo mechanism is positioned at the both sides of mobile jib axis, including the first symmetrical swollen contracting body and the first swollen contracting
Body；Described second swollen contracting body, including be perpendicular to mobile jib axial direction second swollen contracting body, is positioned at mobile jib the most monosymmetric
Two swollen contracting bodies and the second swollen contracting body, described second swollen contracting body and the second swollen contracting body contracting body swollen with homonymy first respectively and the first swollen contracting body
It is hinged；
First direction joint is in same side with the 7th direction joint in flesh skeleton, and the angle that its end is formed is relative；
One of them of first direction joint connects end and is articulated and connected the end points of first swollen contracting body the first rod member, the end points of the first swollen contracting body
Another end points of first rod member is articulated and connected the connection end of third direction joint, and the end points of first swollen contracting body the second rod member is articulated and connected the
The connection end of seven direction joints；Another of 7th direction joint connects end, the connection of third direction joint, the connection end of the 7th direction joint
It is hingedly connected four end points of the second swollen contracting body with the end that connects of third direction joint；
Opposite side first swollen contracting body, the second swollen contracting body are identical with above-mentioned annexation with the annexation of mobile jib, and, described flesh
Skeleton and between annexation be: flesh skeleton the 7th direction joint end, third direction joint, flesh skeleton the 7th direction joint,
Third direction saves, and four ends with the second swollen contracting body are articulated and connected respectively,
Form a crawl mouth being perpendicular on mobile jib direction.
Optionally, described fixing end is second direction joint, and the sidewall of second direction joint is provided with multiple connection end, described movable end
Including the first adapter sleeve, the sidewall of described first adapter sleeve is provided with first direction joint；First direction joint is provided with multiple connection end,
Form a crawl mouth extended along mobile jib direction.
Optionally, described movable end also includes that the second sliding sleeve being arranged on mobile jib, the second sliding sleeve sidewall are provided with fourth direction joint,
The sidewall of fourth direction joint is provided with multiple connection end, and described fourth direction joint, first direction joint and second direction joint are positioned at same
End on straight line is hinged with the end of two the first swollen contracting bodies respectively, and the 6th direction is passed through in the end of said two first swollen contracting body
Joint is articulated and connected；It is articulated and connected by multiple second swollen contracting bodies between 6th direction joint and the 5th direction joint,
Wherein the 5th direction joint is at netted crawl mouth mouth rim, and the coupling part of the second swollen contracting body is from left to right provided with two
End, forms the angle of 60 ° between two ends；6th direction joint is for constituting the first swollen contracting body of netted crawl mouth and second swollen
Coupling part between contracting body, and the second swollen contracting body, is from left to right provided with three ends, forms two 30 between three ends
° angle.
Optionally, the sidewall of first direction joint, second direction joint, fourth direction joint is respectively provided with three connections the most successively
End, adjacent two angles connected between end are 120 °；
The end of fourth direction joint is hinged with the end of the first swollen contracting body, the end hinge that the end of the first swollen contracting body and the 6th direction are saved
Connecing, the end of the first swollen contracting body is hinged with the end that first direction saves；The end of the first swollen contracting body is hinged with the end in the 6th direction,
The end of the first swollen contracting body is hinged with the end that second direction saves, and the end of the first swollen contracting body is hinged with the end that first direction saves；
The end of the 6th direction joint is hinged with the end of the second swollen contracting body respectively, the end of the 6th direction joint and the end hinge of second direction joint
Connect；The end of two the 6th direction joints that the end of the second swollen contracting body is adjacent is hinged, the end of the second swollen contracting body and the 5th side
Hinged to the end of joint, the connected mode of remaining end is identical.
Optionally, first direction joint, second direction joint, the sidewall of fourth direction joint are provided with 6 and connect end, and each direction is saved
On the angle connected between end be 60 °.
Optionally, between the 5th direction joint and the 6th direction joint, on the direction that mobile jib afterbody extends, it is provided with multilamellar by the 5th side
To the direction ganglionic layer of joint composition, it is articulated and connected by the second swollen contracting body between adjacent direction, both sides ganglionic layer, is formed along mobile jib afterbody
The netted crawl mouth that direction extends.
Optionally, described 5th direction joint and the 6th direction joint can be replaced flesh skeleton.
Optionally, in multiple third directions joint of described flesh skeleton, connect loop bar one end and can be replaced the 6th direction joint, and along main
Bar axial direction connects multiple directions ganglionic layer.
Optionally, between the 5th direction joint and the 6th direction joint, on the direction that mobile jib afterbody extends, it is provided with multilamellar by the 5th side
To the direction ganglionic layer of joint composition, it is articulated and connected by the second swollen contracting body between adjacent direction, both sides ganglionic layer, is formed along mobile jib afterbody
The netted crawl mouth that direction extends.
Optionally, one end that described loop bar is not provided with saving in direction is fixedly connected with phalanges part.
The invention have the benefit that the present invention uses expansion type driven Design, extension and contraction control, form steady dynamic controlled machinery dress
Putting, for capturing the free-hand article be inconvenient to and take, or crawl must use the article that aid just can be taken, and structure is closed
Reason, easy to use, a kind of mechanism with swollen contracting function carry out the main body of dynamic deformation, connect related bone frame member and form one
The steady dynamic flesh bone mechanism of dynamic deformation；As long as by a dynamic Control, many mechanical hands or machinery mouth just can be made to pick up or catch
Various difform objects, control simple, and cost is low, strong adaptability.
Accompanying drawing explanation
Below according to accompanying drawing, the present invention is described in further detail.
Fig. 1 is the structure chart that the three-dimensional arrangement of the present invention surely moves the first embodiment of flesh bone mechanical mechanism；
Fig. 2 is the top view that the three-dimensional arrangement of the present invention surely moves the first embodiment of flesh bone mechanical mechanism；
Fig. 3 is the structure chart that the three-dimensional arrangement of the present invention surely moves the Peng Suo mechanism of flesh bone mechanical mechanism；
Fig. 4 is the structure chart that the three-dimensional arrangement of the present invention surely moves the another embodiment of the Peng Suo mechanism of flesh bone mechanical mechanism；
Fig. 5 is the structure chart that the three-dimensional arrangement of the present invention surely moves the flesh skeleton of flesh bone mechanical mechanism；
Fig. 6 is the structure chart that the three-dimensional arrangement of the present invention surely moves the second embodiment of flesh bone mechanical mechanism；
Fig. 7 is the top view that the three-dimensional arrangement of the present invention surely moves the second embodiment of flesh bone mechanical mechanism；
Fig. 8 is the structure chart that the three-dimensional arrangement of the present invention surely moves the 3rd embodiment of flesh bone mechanical mechanism；
Fig. 9 is the top view that the three-dimensional arrangement of the present invention surely moves the 3rd embodiment of flesh bone mechanical mechanism；
Figure 10 is the structure chart that the three-dimensional arrangement of the present invention surely moves the second view of the 3rd embodiment of flesh bone mechanical mechanism；
Figure 11 is the top view that the three-dimensional arrangement of the present invention surely moves the second view of the 3rd embodiment of flesh bone mechanical mechanism；
Figure 12 is that the three-dimensional arrangement of the present invention surely moves the structure chart that the first direction of flesh bone mechanical mechanism saves；
Figure 13 is the structure chart that the three-dimensional arrangement of the present invention surely moves the another embodiment of the first direction joint of flesh bone mechanical mechanism；
Figure 14 is the structure chart that the three-dimensional arrangement of the present invention surely moves the another embodiment of the first direction joint of flesh bone mechanical mechanism；
Figure 15 is that the three-dimensional arrangement of the present invention surely moves the structure chart that the second direction of flesh bone mechanical mechanism saves；
Figure 16 is the structure chart that the three-dimensional arrangement of the present invention surely moves the another embodiment of the second direction joint of flesh bone mechanical mechanism；
Figure 17 is the structure chart that the three-dimensional arrangement of the present invention surely moves the another embodiment of the second direction joint of flesh bone mechanical mechanism；
Figure 18 is the structure chart that the three-dimensional arrangement of the present invention surely moves another embodiment of the second direction joint of flesh bone mechanical mechanism；
Figure 19 is that the three-dimensional arrangement of the present invention surely moves the structure chart that the third direction of flesh bone mechanical mechanism saves；
Figure 20 is the structure chart that the three-dimensional arrangement of the present invention surely moves the another embodiment of the third direction joint of flesh bone mechanical mechanism；
Figure 21 is the structure chart that the three-dimensional arrangement of the present invention surely moves the another embodiment of the third direction joint of flesh bone mechanical mechanism；
Figure 22 is the structure chart that the three-dimensional arrangement of the present invention surely moves the still another embodiment of the third direction joint of flesh bone mechanical mechanism；
Figure 23 is the structure chart that the three-dimensional arrangement of the present invention surely moves another embodiment of the third direction joint of flesh bone mechanical mechanism；
Figure 24 is the structure chart that the three-dimensional arrangement of the present invention surely moves the another embodiment of the third direction joint of flesh bone mechanical mechanism；
Figure 25 is that the three-dimensional arrangement of the present invention surely moves the structure chart that the fourth direction of flesh bone mechanical mechanism saves；
Figure 26 is the structure chart that the three-dimensional arrangement of the present invention surely moves the another embodiment of the fourth direction joint of flesh bone mechanical mechanism；
Figure 27 is the structure chart that the three-dimensional arrangement of the present invention surely moves the second embodiment of the second embodiment of flesh bone mechanical mechanism；
Figure 28 is the top view that the three-dimensional arrangement of the present invention surely moves the second embodiment of the second embodiment of flesh bone mechanical mechanism；
Figure 29 is the structure chart that the three-dimensional arrangement of the present invention surely moves the second embodiment of the 3rd embodiment of flesh bone mechanical mechanism；
Figure 30 is the top view that the three-dimensional arrangement of the present invention surely moves the second embodiment of the 3rd embodiment of flesh bone mechanical mechanism；
Figure 31 is the structure chart that the three-dimensional arrangement of the present invention surely moves the 4th embodiment of flesh bone mechanical mechanism；
Figure 32 is the top view that the three-dimensional arrangement of the present invention surely moves the 4th embodiment of flesh bone mechanical mechanism.
Figure 33 is the another kind of deformation pattern that the three-dimensional arrangement of the present invention surely moves the second embodiment of flesh bone mechanical mechanism.
In figure: 1, mobile jib；2, the first adapter sleeve；3, the second adapter sleeve；4, the first sliding sleeve；5, the second sliding sleeve；6,
One direction joint；7, second direction joint；8, third direction joint；9 fourth direction joints；10, Peng Suo mechanism；11, the first swollen contracting
Body；12, the second swollen contracting body；13, the first rod member；14, the second rod member；15, flesh skeleton；16, sliding guide；17, set
Bar；18, end；19, phalanges part；20. the 7th direction joints；21. the 5th direction joints；22. the 6th direction joints.
Detailed description of the invention
For the ease of being better understood from embodiment of the present utility model, below the parts related in the present embodiment are explained in detail
Description:
Peng Suo mechanism: Peng Suo mechanism 10 includes the first swollen contracting body 11 and the second swollen contracting body 12 being hingedly connected to one another.Wherein said
First swollen contracting body 11 is made up of the first rod member 13 and the second rod member 14, the length of a length of first rod member 13 of the second rod member 14
The half of degree, described first swollen contracting body 11 includes the first rod member 13 and the second rod member 14, the interposition of described first rod member 13
Putting the one end of second rod member 14 that is articulated and connected, the rod member of described first swollen contracting body 11 has three can be hinged with other parts
End, it is respectively two ends 13f1 and 13f2 of the first rod member 13, the other end 14f1 of the second rod member 14.Described second
The first rod member 13 that swollen contracting body 12 is hingedly connected to one another by two centers forms, and the rod member of described second swollen contracting body 12 has
Have four can be hinged with other parts end, it is respectively 13k1 and 13k2, Yi Jiling at same first rod member 13 two ends
13k3 and 13k4 at one first rod member 13 two ends.
Flesh skeleton 15: flesh skeleton 15 includes sliding guide 16, one end sidewall of sliding guide 16 is provided with the 7th direction joint 20,
It is socketed with loop bar 17 on the other end of sliding guide 16, loop bar 17 is fixed with third direction joint 8.
Second direction joint 7: second direction joint 7 is to be positioned at one end that mobile jib 1 Handheld Division is relative, and described second direction joint 7 is the most solid
It is scheduled on the afterbody of mobile jib 1；
First direction joint 6 and fourth direction joint 9: first direction joint 6 and fourth direction joint 9, described first direction joint 6 and the
Four direction joints 9 save between 7 at mobile jib 1 and second direction；
5th joint 21: the five direction, direction joint 21 is positioned at the netted crawl mouth mouth rim formed, and typically has 2 ends.
The crawl that 6th joint 22: the six direction, direction joint 22 is positioned at the netted crawl mouth formed is online, is used for connecting its other party
Xiang Jie.
Embodiment 1:
As it is shown in figure 1, Fig. 1 shows that three-dimensional arrangement of the present invention surely moves the structure chart of the first embodiment of flesh bone mechanical mechanism, shape
Become three-dimensional arrangement surely to move flesh bone machinery mouth, specifically include:,
Mobile jib 1, wherein has head and afterbody, which is provided with the first sliding sleeve 4 and the second adapter sleeve 3, and the second adapter sleeve 3 is solid
Surely being arranged on the afterbody of mobile jib 1, the first sliding sleeve 4 is provided with first even on the head of mobile jib 1, the sidewall of the first sliding sleeve 4
Female connector 2, the first adapter sleeve 2 is fixedly connected with first direction joint 6.
The purpose of adapter sleeve 2,3 is: horizontally disposed crawl mouth, and stress point is all in the same side, for ensureing the firm of device
Property, utilize adapter sleeve to reinforce the connection, prevent from coming off.
Shown in Figure 12, the perisporium of first direction joint 6 is provided with two ends and is respectively end 18a1, end 18a2, and two
Individual end is relative to mobile jib 1 axisymmetrical, and its angle is 60 °.
Peng Suo mechanism 10, in conjunction with Fig. 2, Fig. 3 and Fig. 4, Fig. 3 shows that the three-dimensional arrangement of the present invention surely moves flesh bone mechanical mechanism
Peng Suo mechanism 10, Peng Suo mechanism 10 includes the first swollen contracting body 11 and the second swollen contracting body 12 being hingedly connected to one another.Described swollen
Contracting mechanism 10 is between the first adapter sleeve 2 and the second adapter sleeve 3, and wherein the first swollen contracting body 11 is positioned at the two of mobile jib 1 axis
Side, including the first symmetrical swollen contracting body 11e1With the first swollen contracting body 11e2.Described second swollen contracting body 12, main including being perpendicular to
Second swollen contracting body 12h1 of bar 1 axial direction, it is positioned at the most monosymmetric second swollen contracting body 12h2 and the second swollen contracting of mobile jib 1
Body 12h3, described second swollen contracting body 12h2 and the second swollen contracting body 12h3 contracting body 11e swollen with homonymy first respectively1With the first swollen contracting body
11e2It is hinged.
Flesh skeleton 15, as in figure 2 it is shown, described mechanical arm has includes three flesh skeletons 15, is respectively positioned at mobile jib 1 axle
To lateral symmetry arrange flesh skeleton 15g1, flesh skeleton 15g2 be positioned at the flesh skeleton 15g3 being set on the second adapter sleeve 3,
Wherein the 7th direction joint 20bg3 in flesh skeleton 15g3 and the second adapter sleeve 13 connect, wherein；
Flesh skeleton 15g1 includes sliding guide 161, and one end sidewall of sliding guide 161 is provided with the 7th direction joint 20bg1, sliding
It is socketed with loop bar 171 on the other end of dynamic guide rod 161, loop bar 171 is fixed with third direction joint 8cg1；In conjunction with Figure 15
Shown in, three ends of the 7th direction joint 20bg1 are respectively bg1, bg2 and bg3, are formed between adjacent two in three ends
The angle of two 60 °；Shown in Fig. 9, three ends of third direction joint 8cg1 are respectively cg11, cg12 and cg13；
The angle of two 60 ° is formed between adjacent two in three ends.
Flesh skeleton 15g2 includes sliding guide 162, and one end sidewall of sliding guide 162 is provided with the 7th direction joint 20bg2, left
It is socketed with loop bar 172 on the other end of sliding guide 162, loop bar 172 is fixed with third direction joint 8cg2；In conjunction with Figure 15
Shown in, three ends of the 7th direction joint 20bg2 are respectively bg21, bg22 and bg23, between adjacent two in three ends
Form the angle of two 60 °；Shown in Figure 19, third direction joint 8cg2 three ends be respectively cg21, cg22 with
cg23；The angle of two 60 ° is formed between adjacent two in three ends.
Flesh skeleton 15g3 includes sliding guide 163, and one end sidewall of sliding guide 163 is provided with the 7th direction joint 20bg3, sliding
It is socketed with loop bar 173 on the other end of dynamic guide rod 163, loop bar 173 is fixed with third direction joint 8cg3, the 7th direction joint
Two ends of 20bg3 are respectively bg31 and bg32, and two ends of third direction joint 8cg3 are respectively cg31 and cg32,
Wherein the angle between bg31 and bg32, cg31 and cg32 is 60 °.
As further preferred embodiment, one end being not provided with direction joint of loop bar 17 is fixed with phalanges part 19, and it is main
Syllabus is that the three-dimensional arrangement of the present invention surely moves flesh bone mechanical mechanism and tightens up by forming machinery mouth closely, it is possible to when making crawl object
More fasten.
The overall structure of the present invention is further illustrated below in conjunction with each end annexation each other:
The afterbody of mobile jib 1 is fixed with the second adapter sleeve 3, is provided with the first sliding sleeve 4 near mobile jib 1 head one Slideslip, and first
Being fixed with the first adapter sleeve 2 on sliding sleeve 4, the first adapter sleeve 2 side sidewall is fixed with first direction joint 6, second even
The 7th direction joint 20bg3 of female connector 3 sheathed flesh skeleton 15g3, first direction joint 6 and the 7th direction joint 20bg3 are in the same side
Face, and the angle that its end is formed is relative.
Wherein, described Peng Suo mechanism 10 is between the first adapter sleeve 2 and the second adapter sleeve 3, and relative to the axle of mobile jib 1
Line is symmetrical, as a example by side Peng Suo mechanism 10, to the present embodiment Zhong Pengsuo mechanism 10, and Peng Pengsuo mechanism 10 and mobile jib 1
Annexation be illustrated, the connection end 18a1 of first direction joint is articulated and connected the end points 13f1 of the first swollen contracting body 11e1, the
The end points 13f2 of one swollen contracting body 11e1 be articulated and connected third direction joint 8cg1 connection end cg11, the end of the first swollen contracting body 11e1
Point 14f1 be articulated and connected the 7th direction joint 20bg1 connection end bg11.The connection end 20bg13 of the 7th direction joint 20bg1, the
The three direction joint connection end cg13 of 8cg1, connection end bg31 and the third direction of the 7th direction joint 20bg3 save the connection of 8cg3
End cg31 is hingedly connected four end points 13k1 of the second swollen contracting body h2,13k2,13k3,13k4.
Opposite side Peng Suo mechanism 10 is identical with above-mentioned annexation with the annexation of mobile jib 1, and is equivalent to mobile jib 1 axis pair
Claim.
Further, the annexation between described flesh skeleton 15g1 and 15g2 is: the 7th direction joint 20bg1 of flesh skeleton 15g1
End bg12, third direction joint 8bg12, flesh skeleton 15g2 the 7th direction joint 20bg22, third direction joint 8bg22,
Respectively with four end 13k1 of the second swollen contracting body 12h1,13k2,13k3,13k4 are articulated and connected.
During use, user one holds mobile jib 1 tail end, and one holds the first sliding sleeve 4, the mechanical mouth formed by flesh skeleton 15
Alignment wants the article captured, and is entangled by article, and push-and-pull the first sliding sleeve 4 makes the first swollen contracting body 11 receive with the second swollen contracting body 12
Contracting, 3 flesh skeletons 15 draw in inner side, are captured by article；When being put down by article, push-and-pull the first sliding sleeve 4 makes the first swollen contracting
Body 11 opens with the second swollen contracting body 12, and 3 flesh skeletons 15 are opened, and article take out, and the crawl mouth of the present invention is mutual with mobile jib 1
It is vertically arranged, the article that parallel end of conveniently taking is placed, such as: salvage the bulky refuse in water body, take chemical industry preparation, defective material
Deng.
Embodiment two:
As shown in Figure 6, Figure 7, Fig. 6 shows that three-dimensional arrangement of the present invention surely moves the structure of the second embodiment of flesh bone mechanical mechanism
Figure, including
Mobile jib 1, mobile jib 1 is provided with the second sliding sleeve set 5, first direction joint 6 and second direction joint 7, and second direction joint 7 is fixed
Being arranged on the afterbody of mobile jib 1, first direction joint 6 saves between 7 at the second sliding sleeve 5 and second direction, described second sliding sleeve 5
With first direction saves between 6, is provided with fourth direction joint 9 on the second sliding sleeve 5 sidewall.
Peng Suo mechanism 10, is provided with Peng Suo mechanism 10 between fourth direction joint 9, first direction joint 6 and second direction joint 7.
Wherein, shown in Figure 13, the sidewall of first direction joint 6 left-to-right is sequentially provided with three end a1 ', a2 ' a3 ',
Angle between adjacent two ends is 120 °.
Shown in Figure 17, the sidewall of second direction joint 7 is from left to right provided with three end b1 ', b2 ', b3 ', adjacent
Angle between two ends is 120 °.
Three end g1 ', g2 ', g3 from left to right it is provided with on the sidewall of fourth direction joint 9 ', the angle between adjacent two ends
Degree is 120 °.
Shown in Figure 24, the 6th direction joint 21 is from left to right provided with three end c1 ', c2 ', c3 ', between three ends
Form the angle of two 30 °.
Shown in Figure 22, the 5th direction joint 22 is from left to right provided with shape between two end d1 ', d2 ', two end 18
Become the angle of 60 °.
Annexation between all directions joint and Peng Suo mechanism 10 is as follows:
Described fourth direction joint 9, first direction joint 6 and the ends that are located along the same line of second direction joint 7 respectively with two the
The end of one swollen contracting body 11 is hinged, and the end of said two first swollen contracting body 11 is articulated and connected by the 6th direction joint 22.The
It is articulated and connected by multiple second swollen contracting bodies 12 between six direction joints 22 and the 5th direction joint 21.
Because along mobile jib 1 circumferencial direction, described fourth direction joint 9, first direction joint 6 and second direction joint 7 are positioned at same straight line
On end and Peng Suo mechanism 10 between annexation identical, therefore be only specifically described described fourth direction joint 9, first direction joint
Connection between 6 and second direction joint 7 end and the mechanisms 10 of Peng Suo mechanism 10 and Peng Suo that are located along the same line is closed
System is: the end g1 ' of fourth direction joint 9 is hinged with the end 13f1 of the first swollen contracting body 11e1 ', the first swollen contracting body 11e1 '
End 13f2 and the 6th direction joint 22 end c2 ' hinged, the end 14f1 of the first swollen contracting body 11e1 ' and first direction
The end a1 ' of joint 6 is hinged；The end 13f1 ' of the first swollen contracting body 11e2 ' is hinged with the end c2 ' of the 6th direction joint 22,
The end 13f ' of the first swollen contracting body 11e2 ' is hinged with the end b1 ' of second direction joint 7, the end of the first swollen contracting body 11e2 '
Portion 14f1 ' is hinged with the end a1 ' of first direction joint 6；The end c1 ', c3 ' of the 6th direction joint 22 are swollen with second respectively
The end 13k1 of contracting body 12h2 ', 12h3 ' is hinged, the end c2 ' of the 6th direction the joint 22 and end b1 ' of second direction joint 7
Hinged；Second swollen contracting body 12h2 ', the end 13k3 of 12h3 ' be adjacent two the 6th directions joint 22 end c1 ' and
C3 ' is hinged, the second swollen contracting body 12h2 ', end 13k4 and 13k2 of 12h3 ' and the 5th direction joint 21 end d1 ' and
D2 ' is hinged；Wherein it is attached by a head rod 13 between the 6th direction joint 22 and second direction joint 7.
Present embodiment is the diamond structure of 3 sides of composition, captures the elongated end of the afterbody that mouth is mobile jib 1, is mainly used in grabbing
Take elongated object or bigbore object, or capture the thing being difficult to take below the plane residing for user got deeply stuck in
Body, when capturing elongate objects, push-and-pull the second sliding sleeve 5, the first swollen contracting body 11 deforms upon with the second swollen contracting body 12, makes crawl
Mouth becomes big, is covered on by object in crawl mouth, and push-and-pull the second sliding sleeve 5, all wraps up object and capture again；At big mouth of taking
During the object in footpath, pull the second sliding sleeve, the first swollen contracting body and the second swollen contracting body to shrink, mechanism is stretched into the inside of object, promote
Second sliding sleeve, the first swollen contracting body and the second swollen contracting body are upheld, and object is propped up by framework, is taken by object.
Embodiment three:
As shown in Fig. 8, Figure 10, Fig. 8 shows that three-dimensional arrangement of the present invention surely moves the structure of the 3rd embodiment of flesh bone mechanical mechanism
Figure, forms three-dimensional arrangement and surely moves flesh bone machinery mouth, and the present embodiment is similar to embodiment two, and difference is:
The second adapter sleeve 2, first direction joint 6 and second direction joint 7 it is provided only with on mobile jib 1.
Shown in Figure 14, the first direction being positioned on mobile jib 1 saves 6 sidewall circumference and is provided with six end 6a31-6a36, phase
The angle of 60 ° is formed between adjacent two ends；
Shown in Figure 18, the sidewall circumference of the second direction joint 7 being positioned at mobile jib 1 afterbody is provided with six end 7a31-7a36,
The angle of 60 ° is formed between adjacent two ends；
The circumference peripheral around mobile jib 1 body of rod is provided with flesh skeleton 15b1-b6, shown in Figure 19, and flesh skeleton 15b1-15b6
In the outer wall of third direction joint 8 be provided with three and connect ends, three connect end and form the angles of two 60 °；
First direction joint 6, it is positioned in the second direction joint 7 of mobile jib 1 afterbody, is positioned at collinear end by Peng Suo mechanism
10 are articulated and connected；
The 5th direction joint 21 and the 6th direction joint 22 in embodiment two replace with the third directions joint 8 and the in flesh skeleton 15
Seven direction joints 20；
Connected mode between Peng Suo mechanism 10 and each portion is identical with embodiment two.
As further preferred embodiment, shown in Figure 10, it is provided with between mobile jib 1 head and the first adapter sleeve 2
Second sliding sleeve 5, the second sliding sleeve 5 is fixedly connected with fourth direction joint 9.Shown in Figure 26, the circumference of fourth direction joint 9
Outer wall is provided with six end 9a1-9a6, forms the angle of 60 ° between adjacent two ends.
As further preferred embodiment, the low side of loop bar 17 is fixed with phalanges part 19.
The present embodiment is the mechanism with 6 flesh skeletons, it is possible to captures the object that volume is bigger, or captures more dispersibility
Article, during use, user one holds mobile jib tail end, and one holds the first sliding sleeve, by flesh skeleton formed mechanical mouth pair
Standard wants the article captured, and is entangled by article, promotes the first sliding sleeve, the first swollen contracting body and the contraction of the second swollen contracting body, flesh skeleton to
Inner side is drawn in, is captured by article；When being put down by article, the first sliding sleeve, the first swollen contracting body and the second swollen contracting body is pulled to open, flesh
Skeleton is opened, and article take out, and are mainly used in capturing the object being difficult to take below the plane residing for user got deeply stuck in.
Embodiment four:
As shown in Figure 31, Figure 32, Figure 31 shows that three-dimensional arrangement of the present invention surely moves the knot of the 4th embodiment of flesh bone mechanical mechanism
Composition, forms three-dimensional arrangement and surely moves flesh bone machinery mouth, and the present embodiment is similar to embodiment three, and difference is: the present embodiment is by flesh
Skeleton replaces with the 6th direction joint 22 and the 5th direction joint 21, and between the 5th direction joint 21 and the 6th direction joint 22, edge
The direction ganglionic layer that multilamellar is made up of, adjacent direction, both sides joint it is provided with the 5th direction joint 21 on the direction that mobile jib 1 afterbody extends
It is articulated and connected by the second swollen contracting body 12 between Ceng, forms the netted crawl mouth extended along mobile jib caudal directions.
As further preferred embodiment, mobile jib 1 is additionally provided with the second sliding sleeve 5, the second sliding sleeve 5 is fixed with the 4th
Direction joint 9, fourth direction joint 9 saves between 6 at the second sliding sleeve 5 and first direction.The end connection side of fourth direction joint 9
Formula is identical with embodiment two.Its main purpose is to increase the steadiness of mechanism.
The present embodiment is not only able to capture bulky object, does not has the restriction of flesh skeleton simultaneously, and weight alleviates accordingly, very
It is suitable for wild environment work, less volume, convenient for collecting can be shunk simultaneously.
Embodiment five:
As shown in Figure 27, Figure 28, Figure 27 shows the structure chart of another preferred implementation of second embodiment of the invention,
Difference is: the 5th direction joint 21 and the 6th direction joint 22 between, along mobile jib 1 afterbody extend direction along be provided with multilamellar by
The direction ganglionic layer of the 5th direction joint 21 composition, is articulated and connected by the second swollen contracting body 12 between adjacent direction, both sides ganglionic layer, shape
Become the netted crawl mouth extended along mobile jib caudal directions.
As further preferred embodiment, mobile jib 1 is additionally provided with the second sliding sleeve 5, the second sliding sleeve 5 is fixed with the 4th
Direction joint 9, fourth direction joint 9 saves between 6 at the second sliding sleeve 5 and first direction.The end connection side of fourth direction joint 9
Formula is identical with embodiment three.Its main purpose is to increase the steadiness of mechanism.
The main purpose of the present embodiment is, can receive and capture long object, and the bigbore object that distance of taking is the most remote.
As shown in Figure 29, Figure 30, Figure 29 shows the structure chart of another preferred implementation of third embodiment of the invention,
Difference is: the two ends of flesh skeleton 15 sliding guide 16 in the present embodiment connect the 7th direction joint 20 and third direction joint 8,
Being provided with multiple directions ganglionic layer on the direction of vertical trunk 1, every layer of direction ganglionic layer is by second direction joint 7 and third direction joint
8 are constituted, and adjacent both direction ganglionic layer is articulated and connected by the second swollen contracting body 12, and formation is netted along the extension of mobile jib 1 caudal directions
Capture mouth.
As further preferred embodiment, mobile jib 1 is additionally provided with the second sliding sleeve 5, the second sliding sleeve 5 is fixed with the 4th
Direction joint 9, fourth direction joint 9 saves between 6 at the second sliding sleeve 5 and first direction.The end connection side of fourth direction joint 9
Formula is identical with embodiment three.Its main purpose is to increase the steadiness of mechanism.
The main purpose of the present embodiment is, can receive more object, receives when taking bulky article more stable.
Sixth embodiment:
As shown in figure 33, the present embodiment is similar to embodiment two, and difference is:
Being provided only with the first adapter sleeve 2 and second direction joint 7 on mobile jib 1, the second adapter sleeve 2 sidewall is provided with first direction joint 6；
The end 13f1 of described first swollen contracting body 11 is connected with an end of first direction joint 6, and 14f1 saves 7 with second direction
End connect, described first direction joint 6 end and second direction joint 7 end be located along the same line.
Compared with prior art, the present invention also has a feature:
Swollen contracting mechanical hand, machinery nozzle mechanism, formed a kind of extremely flexible, general, adaptive, as long as using one to move
Power controls, and just can capture various difform object, and practical, and cost is low, easy to control, is all-purpose robot,
The biological indispensable arm of machine, hand or cervical region, mouth mechanism, it is adaptable to general robot, walking robot, special
Plant robot.
Can be used for land, tunnel, under water, in the air or the work that can not be done directly of staff, including high/low temperature, poisonous,
Spinosity, adventurous, have radiation etc. under situation, all can use swollen contracting mechanical hand, machinery that the mechanism of the present invention extended
Mouth replaces.
The present invention is not limited to above-mentioned preferred forms, and anyone can show that under the enlightenment of the present invention other are various forms of
Product, no matter but in its shape or structure, make any change, every have same as the present application or akin technical scheme,
Within all falling within protection scope of the present invention.
Claims (10)
1. a three-dimensional arrangement surely moves flesh bone mechanical mechanism, it is characterised in that: including:
Mobile jib (1), described mobile jib (1) has afterbody and head, and mobile jib (1) is provided with fixing end and movable end, fixing end
Be positioned at the afterbody of mobile jib, movable end between fixing end and the head of mobile jib,
For making movable end Peng Suo mechanism (10) of activity on mobile jib, described Peng Suo mechanism (10) is positioned at fixing end and activity
Between end, its two ends connect fixing end and movable end respectively.
Three-dimensional arrangement the most according to claim 1 surely moves flesh bone mechanical mechanism, it is characterised in that: described movable end is with fixing
It is equipped with one or more connection end on the sidewall of end；
Peng Suo mechanism (10) includes the first swollen contracting body (11) and the second swollen contracting body (12), the wherein said first swollen contracting being hingedly connected to one another
Body (11) is made up of the first rod member (13) and the second rod member (14), the length of a length of first rod member (13) of the second rod member (14)
Half, the centre position of described first rod member (13) is articulated and connected one end of the second rod member (14), described first swollen contracting body (11)
Have on rod member three can be hinged with other parts end, its be respectively the first rod member (13) two ends (13f1) and
(13f2), the other end (14f1) of the second rod member (14)；Described second swollen contracting body (12) is hingedly connected to one another by two centers
First rod member (13) form, the rod member of described second swollen contracting body (12) has four can be hinged with other parts end, its
Be respectively same first rod member (13) two ends (13k1) and (13k2), and (13k3) at another the first rod member (13) two ends and
(13k4)；
Three-dimensional arrangement the most according to claim 1 surely moves flesh bone mechanical mechanism, it is characterised in that: described fixing end is second
Adapter sleeve (3), described movable end is the first sliding sleeve (4), and described first sliding sleeve (4) is provided with the first adapter sleeve (2), described first
Adapter sleeve (2) is provided with first direction joint (6)；First direction joint (6) perisporium be provided with two ends be respectively end (18a1),
End (18a2), two ends are relative to mobile jib (1) axisymmetrical, and its angle is 60 °；
Also include that at least one flesh skeleton (15), described flesh skeleton (15) include sliding guide (16), described sliding guide (16)
One end is provided with the 7th direction joint (20), and described 7th direction joint (20) sidewall is provided with multiple end, described sliding guide (16) another
One end is provided with loop bar (17), and described loop bar (17) is fixed with third direction joint (8), and third direction joint (8) sidewall is provided with
Multiple ends；
Described first direction joint (6), flesh skeleton (15) and the second adapter sleeve (3) are attached by Peng Suo mechanism (10)；.
Three-dimensional arrangement the most according to claim 3 surely moves flesh bone mechanical mechanism, it is characterised in that:
Described flesh skeleton (15) is three, is respectively positioned at mobile jib (1) the flesh skeleton (15g1) that axially lateral symmetry is arranged, flesh
Skeleton (15g2) be positioned at the flesh skeleton (15g3) being set on the second adapter sleeve (3), wherein
The 7th direction joint (20bg3) in flesh skeleton (15g3) is connected with the second adapter sleeve (3)；7th direction joint (20bg3)
Two ends be respectively (bg31) and (bg32), two ends of described flesh skeleton (15g3) third direction joint (8cg3)
Portion is respectively (cg31) and (cg32), and the angle between (bg31) and (bg32), (cg31) and (cg32) is 60
°；
The 7th direction joint (20bg1,20bg2) in flesh skeleton (15g1) and flesh skeleton (15g1), third direction joint (8cg1,
Two 60 ° are formed between three ends (bg1, bg2, bg3) 8cg2) and (cg11, cg12, cg13) adjacent two
Angle；
The first swollen contracting body (11) in Peng Suo mechanism (10) is positioned at the both sides of mobile jib (1) axis, including symmetrical
One swollen contracting body (11e1) and the first swollen contracting body (11e2)；Described second swollen contracting body (12), including being perpendicular to mobile jib (1) axle
To the second of direction the swollen contracting body (12h1), to be positioned at the most monosymmetric second swollen contracting body (12h2) of mobile jib (1) swollen with second
Contracting body (12h3), described second swollen contracting body (12h2) and the second swollen contracting body (12h3) contracting body (11e1) swollen with homonymy first respectively
It is hinged with the first swollen contracting body (11e2)；
First direction joint (6) is in same side, and its end institute shape with the 7th direction joint (20) in flesh skeleton (15g3)
The angle become is relative；
Connection end qua (18a1) of first direction joint (6) is articulated and connected the end points (13f1) of the first swollen contracting body (11e1),
The end points (13f2) of the first swollen contracting body (11e1) be articulated and connected third direction joint (8cg1) connection end (cg11), first
The end points (14f1) of swollen contracting body (11e1) be articulated and connected the 7th direction joint (20bg1) connection end (bg11)；7th direction
The joint connection end (20bg13) of (20bg1), the third direction joint connection end (cg13) of (8cg1), the 7th direction joint (20bg3)
The connection end (cg31) of connection end (bg31) and third direction joint (8cg3) be hingedly connected the second swollen contracting body (12h2)
Four end points (13k1,13k2,13k3,13k4)；
Opposite side first swollen contracting body (11e1), the second swollen contracting body (12h3) are connected pass with the annexation of mobile jib (1) with above-mentioned
It is identical, and, the annexation between described flesh skeleton (15g1) and (15g2) is: the 7th of flesh skeleton (15g1)
The end (bg12) of (20bg1) is saved in direction, third direction saves (8bg12), the 7th direction joint (20bg22) of flesh skeleton (15g2),
Third direction joint (8bg22), four ends (13k1,13k2,13k3,13k4) with the second swollen contracting body (12h1) are cut with scissors respectively
Connect in succession,
Form a crawl mouth being perpendicular on mobile jib (1) direction.
5. surely move flesh bone mechanical mechanism according to the three-dimensional arrangement described in claim 1-2 any one, it is characterised in that:
Described fixing end is that second direction saves (7), and the sidewall of second direction joint (7) is provided with multiple connection end, described activity
End includes that the first adapter sleeve (2), the sidewall of described first adapter sleeve (2) are provided with first direction joint (6)；First direction saves
(6) it is provided with multiple connection end, forms a crawl mouth extended along mobile jib (1) direction.
Three-dimensional arrangement the most according to claim 4 surely moves flesh bone mechanical mechanism, it is characterised in that: described movable end also includes
The second sliding sleeve (5) being arranged on mobile jib (1), the second sliding sleeve (5) sidewall is provided with fourth direction joint (9), fourth direction
The sidewall of joint (9) is provided with multiple connection end, described fourth direction joint (9), first direction joint (6) and second direction joint (7)
The end being located along the same line is hinged with the end of two the first swollen contracting bodies (11) respectively, said two first swollen contracting body (11)
End by the 6th direction joint (22) be articulated and connected；By many between 6th direction joint (22) and the 5th direction joint (21)
Individual second swollen contracting body (12) is articulated and connected,
Wherein the 5th direction joint (22) is at netted crawl mouth mouth rim, the coupling part of the second swollen contracting body (12), two
End (d1 ', d2 '), between two ends 18, form the angle of 60 °；6th direction joint (21) is netted crawl mouth institute
In the net formed, it it is the connection between the first swollen contracting body (11) and the second swollen contracting body (12), and the second swollen contracting body (12)
Part, is provided with three ends (c1 ', c2 ', c3 '), forms the angle of two 30 ° between three ends.
Three-dimensional arrangement the most according to claim 5 surely moves flesh bone mechanical mechanism, it is characterised in that: first direction joint (6),
Second direction joint (7), fourth direction joint (9) sidewall on be respectively provided with three connect ends (a1 ', a2 ' a3 '；
B1 ', b2 ', b3 '；G1 ', g2 ', g3 '), adjacent two angles connected between end are 120 °；
The end (13f1) of the end (g1 ') of fourth direction joint (9) and the first swollen contracting body (11e1 ') is hinged, and first
The end (13f2) of swollen contracting body (11e1 ') and the end in the 6th direction joint (22) (c2 ') hinged, the first swollen contracting body (11e1 ')
The end (a1 ') of end (14f1) and first direction joint (6) hinged；The end of the first swollen contracting body (11e2 ') (13f1 ')
Hinged with the end (c2 ') in the 6th direction joint (22), and the end of the first swollen contracting body (11e2 ') (13f ') with second
The end (b1 ') in direction joint (7) is hinged, and the end of the first swollen contracting body (11e2 ') (14f1 ') save with first direction
End (6) (a1 ') hinged；The end (c1 ', c3 ') in the 6th direction joint (22) respectively with the second swollen contracting body
The end (13k1) of (12h2 ', 12h3 ') is hinged, and the end in the 6th direction joint (22) (c2 ') save with second direction
End (7) (b1 ') hinged；Be adjacent two of the end (13k3) of the second swollen contracting body (12h2 ', 12h3 ')
The end (c1 ', c3 ') in the 6th direction joint (22) is hinged, the end of the second swollen contracting body (12h2 ', 12h3 ') (13k4,
13k2) hinged with the end (d1 ', d2 ') in the 5th direction joint (21), the end in the 6th direction joint (22) is by first
Rod member 13 is connected with second direction joint (7), and the connected mode of remaining end is identical.
Three-dimensional arrangement the most according to claim 6 surely moves flesh bone mechanical mechanism, it is characterised in that: first direction joint (6), the
Two directions joint (7), the sidewall of fourth direction joint (9) are provided with 6 and connect end, connecting between end on the joint of each direction
Angle is 60 °；
5th direction joint (21) and the 6th direction joint (22) between, along mobile jib (1) afterbody extension direction along be provided with multilamellar by
The direction ganglionic layer that 5th direction joint (21) forms, by the second hinged company of swollen contracting body (12) between adjacent direction, both sides ganglionic layer
Connect, form the netted crawl mouth extended along mobile jib caudal directions.
Three-dimensional arrangement the most according to claim 7 surely moves flesh bone mechanical mechanism, it is characterised in that: described 5th direction
Joint (21) and the 6th direction joint (22) can be replaced flesh skeleton (15)；Multiple third directions joint of described flesh skeleton (15)
(8), in, connect loop bar (17) one end and can be replaced the 6th direction joint (22), and have along the connection of mobile jib (1) axial direction
Multiple directions ganglionic layer.
Three-dimensional arrangement the most according to claim 3 surely moves flesh bone mechanical mechanism, it is characterised in that: described loop bar (17)
The one end being not provided with direction joint is fixedly connected with phalanges part (19).
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| CN201610187202 | 2016-03-29 | ||
| CN2016101872020 | 2016-03-29 |
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Cited By (1)
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|---|---|---|---|---|
| DE102018006991A1 (en) * | 2018-09-04 | 2020-03-05 | KIMIYA GmbH | Multifunctional long-arm gripping mechanism |
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| DE102018006991A1 (en) * | 2018-09-04 | 2020-03-05 | KIMIYA GmbH | Multifunctional long-arm gripping mechanism |
| WO2020048985A1 (en) | 2018-09-04 | 2020-03-12 | KIMIYA GmbH | Multi-functional long arm gripping mechanism |
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| US11518046B2 (en) | 2018-09-04 | 2022-12-06 | Kimiya, GmbH | Multi-functional long arm gripping mechanism |
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| CN106003112B (en) | 2019-06-04 |
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