CN106003112B - Three-dimensional arrangement surely moves flesh bone mechanical mechanism - Google Patents
Three-dimensional arrangement surely moves flesh bone mechanical mechanism Download PDFInfo
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- CN106003112B CN106003112B CN201610444022.6A CN201610444022A CN106003112B CN 106003112 B CN106003112 B CN 106003112B CN 201610444022 A CN201610444022 A CN 201610444022A CN 106003112 B CN106003112 B CN 106003112B
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- direction section
- flesh
- mobile jib
- swollen contracting
- contracting body
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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 present invention relates to a kind of three-dimensional arrangements surely to move flesh bone mechanical mechanism, it include: mobile jib (1), the mobile jib (1) has tail portion and head, mobile jib (1) is equipped with fixing end and movable end, fixing end is located at the tail portion of mobile jib, movable end is between fixing end and the head of mobile jib, for making movable end movable Peng Suo mechanism (10) on mobile jib, for the Peng Suo mechanism (10) between fixing end and movable end, both ends are separately connected fixing end and movable end.The beneficial effects of the present invention are: using expansion type driven Design, controllable mechanical device is surely moved in extension and contraction control, formation, and for grabbing the unarmed article for being inconvenient to take, or crawl must use the article that auxiliary attack can just take, structurally reasonable, easy to use.
Description
Technical field
The present invention relates to mechanical arm fields, and in particular to a kind of mechanical mechanism.
Background technique
Today of mechanical industry high speed development, a big chunk heavy physical labour are replaced by machinery, bionic mechanical
Development closer in the routine work of people, in daily life and industrial production, provide it is a kind of novel, it is more flexible
, multi-functional, the manipulator that more general reality should be changed.People may take some dangerous material with greater need for this manipulator,
Or article and environmental sanitation are taken when clearing up the big block-like rubbish in river from dell, Shen Dongzhong, and these situations, Bu Nengyong
Hand directly takes or is not easy to take, it is therefore desirable to use the tool conveniently taken.
Existing mechanical arm and mechanical mouth, the most common application field are largely that the operation on tooling platform is mechanical, are used for
The purposes of crawl, but the dynamic structure of such equipment is the control modes such as pneumatic, electronic, and each mechanical branch also needs individually to control
System, in use, the power of a certain branch break down, and will affect the working condition of integral device, influence working efficiency；
Meanwhile such mechanical equipment also only can be suitably used for the operation of tooling platform and be used, and cannot widely cover the application of other field.
Summary of the invention
In conjunction with the deficiencies in the prior art, the object of the present invention is to provide a kind of three-dimensional arrangements surely to move flesh bone mechanical device, solution
Certainly conveniently take and can not take the single problems of driving of article and conventional mechanical means in daily unarmed portion.
The purpose of the present invention is be achieved through the following technical solutions:
A kind of three-dimensional arrangement surely moves flesh bone mechanical mechanism, comprising:
Mobile jib, the mobile jib have tail portion and head, and mobile jib is equipped with fixing end and movable end, and fixing end is located at mobile jib
Tail portion, movable end between fixing end and the head of mobile jib,
For making movable end movable Peng Suo mechanism on mobile jib, the Peng Suo mechanism be located at fixing end and movable end it
Between, both ends are separately connected fixing end and movable end.
Optionally, one or more connecting pins are equipped on the movable end and the side wall of fixing end.
Optionally, Peng Suo mechanism includes the first swollen contracting body and the second swollen contracting body being hingedly connected to one another, wherein described first
Swollen contracting body is made of the first rod piece and the second rod piece, and the length of the second rod piece is the half of the length of the first rod piece, and described first
The middle position of rod piece is articulated and connected one end of the second rod piece, on the rod piece of the first swollen contracting body there are three tools can with other zero
The hinged end of component is respectively both ends and the other end of the second rod piece of the first rod piece；The second swollen contracting body is by two
The first rod piece being hingedly connected to one another at center forms, and there are four can be with other components for tool on the rod piece of the second swollen contracting body
Hinged end, be respectively same first rod piece both ends and another first rod piece both ends.
First sliding sleeve is equipped with the first connector sleeve, and first connector sleeve is equipped with first direction section；First direction
End part there are two setting on the peripheral wall of section, two ends are relative to mobile jib axisymmetrical, and its angle is 60 °；
It further include at least one flesh skeleton, the flesh skeleton includes sliding guide, and one end of the sliding guide is equipped with the
Seven directions section, the 7th direction section side wall are equipped with multiple ends, and the other end of the sliding guide is equipped with loop bar, the set
Third direction section is fixed on bar, third direction section side wall is equipped with multiple ends；
The first direction section, flesh skeleton and the second connector sleeve are attached by Peng Suo mechanism.
Optionally, the flesh skeleton be three, respectively be located at the symmetrically arranged first flesh skeleton of mobile jib axial sides and
Second flesh skeleton be located at the third flesh skeleton that is set on the second connector sleeve, wherein
The 7th direction section in the third flesh skeleton being set on the second connector sleeve is connect with the second connector sleeve；7th direction
Angle between two ends of section and two ends of third direction section is 60 °；
Three ends and adjacent two of the 7th direction section, third direction section in first flesh skeleton and the second flesh skeleton
Two 60 ° of angle is formed between a；
The first swollen contracting body in Peng Suo mechanism is located at the two sides of mobile jib axis, including the first symmetrical swollen contracting body and
One swollen contracting body；The second swollen contracting body, including perpendicular to mobile jib axial direction the second swollen contracting body, be located at mobile jib axial sides pair
The the second swollen contracting body and the second swollen contracting body claimed, the second swollen contracting body and the second swollen contracting body respectively with the ipsilateral first swollen contracting body and the
One swollen contracting body is hinged；
The 7th direction section is in same side in first direction section and third flesh skeleton, and its end is formed by angle phase
It is right；
The first end point of first swollen the first rod piece of contracting body of the first connecting pin articulated connection of first direction section, the first swollen contracting body
Second another endpoint of the first rod piece of endpoint articulated connection third direction section second connection end, first swollen the second rod piece of contracting body
Third endpoint be articulated and connected the first flesh skeleton the 7th direction section third connecting pin；The 7th direction section of first flesh skeleton
4th connecting pin, the 5th connecting pin of the third direction section of the first flesh skeleton, the 6th that the 7th direction of third flesh skeleton is saved connect
The 7th connecting pin for connecing the third direction section of end and third flesh skeleton is hingedly connected the first end of the second swollen contracting body, and second
End, third end, the 4th end；
The connection relationship of the swollen contracting body in the other side first, the second swollen contracting body and mobile jib is identical as above-mentioned connection relationship, also, institute
State the connection relationship between the first flesh skeleton and the second flesh skeleton are as follows: the end of the 7th direction section of the first flesh skeletal muscle skeleton,
Third direction section, the second flesh skeleton the 7th direction section, third direction section, respectively with the first end 13k1 of the second swollen contracting body,
The second end 13k2, third end 13k3, the 4th end 13k4 articulated connection,
One is formed perpendicular to the crawl mouth on mobile jib direction.
Optionally, the fixing end is second direction section, and the side wall of second direction section is equipped with multiple connecting pins, the work
Moved end includes the first connector sleeve, and the side wall of first connector sleeve is equipped with first direction section；First direction section is equipped with multiple companies
End is connect, the crawl mouth extended along mobile jib direction is formed.
Optionally, the movable end further includes the second sliding sleeve being arranged on mobile jib, and the second sliding sleeve side wall is equipped with the 4th
The side wall of direction section, fourth direction section is equipped with multiple connecting pins, the fourth direction section, first direction section and second direction section
The end being located along the same line is hinged with the end of two the first swollen contracting bodies respectively, and the end of described two first swollen contracting bodies is logical
Cross the section articulated connection of the 6th direction；It is articulated and connected between 6th direction section and the 5th direction section by the multiple second swollen contracting bodies,
Wherein the 5th direction section is at netted crawl mouth mouth rim, and the coupling part of the second swollen contracting body is from left to right set
There are three end fifth end (d1 '), the 6th end (d2 '), the 7th end (d3 '), wherein fifth end (d1 '), the 6th end
Portion (d2 '), the 7th end (d3 ') form 60 ° of angle between any two；Save swollen to constitute the first of netted crawl mouth in 6th direction
Coupling part between contracting body and the second swollen contracting body and the second swollen contracting body from left to right sets and is divided into the 8th end there are three end
Portion (c1 '), the 9th end (c2 '), the tenth end (c6 '), wherein the 8th end (c1 '), the 9th end (c2 '), the tenth end
(c6 ') forms two 30 ° of angle between any two.
Optionally, it is successively respectively provided with three from left to right on the side wall of first direction section, second direction section, fourth direction section
Connecting pin, the angle between two neighboring connecting pin are 120 °；
The end of fourth direction section and the end of the first swollen contracting body are hinged, what the end and the 6th direction of the first swollen contracting body were saved
End is hinged, and the end of the first swollen contracting body and the end of first direction section are hinged；The end of first swollen contracting body and the 6th direction
End is hinged, and the end of the first swollen contracting body and the end of second direction section are hinged, the end of the first swollen contracting body and first direction section
End it is hinged；The end of 6th direction section is hinged with the end of the second swollen contracting body respectively, the end and second of the 6th direction section
The end of direction section is hinged；The end of the end of second swollen contracting body two the 6th directions section adjacent thereto is hinged, the second swollen contracting
The end of body and the end that the 5th direction is saved are hinged, and the connection type of remaining end is identical.
Optionally, the side wall of first direction section, second direction section, fourth direction section is equipped with 6 connecting pins, each direction
The angle between connecting pin on section is 60 °.
Optionally, the 5th direction section the 6th direction section between, along mobile jib tail portion extend direction along be provided with multilayer by
The direction ganglionic layer of composition is saved in 5th direction, passes through the second swollen contracting body articulated connection, formation edge between two adjacent side direction ganglionic layers
The netted crawl mouth that mobile jib caudal directions extend.
Optionally, the 5th direction section and the 6th direction section can be replaced flesh skeleton.
Optionally, in multiple third direction sections of the flesh skeleton, connection loop bar one end replaces with the 6th direction section, and edge
Mobile jib axial direction is connected with multiple directions ganglionic layer.
Optionally, the 5th direction section the 6th direction section between, along mobile jib tail portion extend direction along be provided with multilayer by
The direction ganglionic layer of composition is saved in 5th direction, passes through the second swollen contracting body articulated connection, formation edge between two adjacent side direction ganglionic layers
The netted crawl mouth that mobile jib caudal directions extend.
Optionally, one end that the loop bar is not provided with direction section is fixedly connected with phalanges part.
The invention has the benefit that the present invention uses expansion type driven Design, extension and contraction control, controllable machine is surely moved in formation
Tool device, for grabbing the unarmed article for being inconvenient to take, or crawl must use the article that auxiliary tool can just take, and tie
Structure is reasonable, easy to use, and the main body of dynamic deformation is carried out by a kind of mechanism with swollen contracting function, connects related skeleton composition
The surely dynamic flesh bone mechanism of one dynamic deformation；As soon as long as many manipulators or mechanical mouth can be made to pick up with a dynamic Control
Or various objects of different shapes are captured, control is simple, and low cost is adaptable.
Detailed description of the invention
Below according to attached drawing, invention is further described in detail.
Fig. 1 is the structure chart for the first embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Fig. 2 is the top view for the first embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Fig. 3 is the structure chart for the Peng Suo mechanism that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Fig. 4 is the structure of the another embodiment for the Peng Suo mechanism that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Figure；
Fig. 5 is the structure chart for the flesh skeleton that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Fig. 6 is the structure chart for the second embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Fig. 7 is the top view for the second embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Fig. 8 is the structure chart for the 3rd embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Fig. 9 is the top view for the 3rd embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Figure 10 is the structure chart of the second view of the 3rd embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Figure 11 is the top view of the second view of the 3rd embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Figure 12 is the structure chart for the first direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Figure 13 is the another embodiment for the first direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Structure chart；
Figure 14 is the another embodiment for the first direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Structure chart；
Figure 15 is the structure chart for the second direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Figure 16 is the another embodiment for the second direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Structure chart；
Figure 17 is the another embodiment for the second direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Structure chart；
Figure 18 is another embodiment of the second direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Structure chart；
Figure 19 is the structure chart for the third direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Figure 20 is the another embodiment for the third direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Structure chart；
Figure 21 is the another embodiment for the third direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Structure chart；
Figure 22 is the still another embodiment for the third direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Structure chart；
Figure 23 is another embodiment of the third direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Structure chart；
Figure 24 is the another embodiment for the third direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Structure chart；
Figure 25 is the structure chart for the fourth direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Figure 26 is the another embodiment for the fourth direction section that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Structure chart；
Figure 27 is the knot of the second embodiment for the second embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Composition；
Figure 28 is bowing for the second embodiment for the second embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
View；
Figure 29 is the knot of the second embodiment for the 3rd embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
Composition；
Figure 30 is bowing for the second embodiment for the 3rd embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism
View；
Figure 31 is the structure chart for the fourth embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism；
Figure 32 is the top view for the fourth embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism.
Figure 33 is another deformation pattern for the second embodiment that three-dimensional arrangement of the invention surely moves flesh bone mechanical mechanism.
In figure: 1, mobile jib；2, the first connector sleeve；3, the second connector sleeve；4, the first sliding sleeve；5, the second sliding sleeve；6, first party
Xiang Jie；7, second direction section；8, third direction section；9 fourth direction sections；10, Peng Suo mechanism；11, the first swollen contracting body；12, second
Swollen contracting body；13, the first rod piece；14, the second rod piece；15, flesh skeleton；16, sliding guide；17, loop bar；18, end；19, phalanges
Part；20. the 7th direction is saved；21. the 5th direction is saved；22. the 6th direction is saved.
Specific embodiment
For the ease of better understanding embodiments of the present invention, components involved in the present embodiment are carried out below detailed
The description of solution:
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
The first swollen contracting body 11 is made of the first rod piece 13 and the second rod piece 14, and the length of the second rod piece 14 is the length of the first rod piece 13
The half of degree, the first swollen contracting body 11 include the first rod piece 13 and the second rod piece 14, the middle position of first rod piece 13
Be articulated and connected one end of the second rod piece 14, and there are three can be hinged with other components for tool on the rod piece of the first swollen contracting body 11
End is respectively the both ends 13f1 and 13f2 of the first rod piece 13, the other end 14f1 of the second rod piece 14.The second swollen contracting body
12 the first rod piece 13 by being hingedly connected to one another at two centers forms, and there are four can for tool on the rod piece of the second swollen contracting body 12
The hinged end with other components is respectively the 13k1 and 13k2 and another first bar at same first rod piece, 13 both ends
The 13k3 and 13k4 at 13 both ends of part.
Flesh skeleton 15: flesh skeleton 15 includes sliding guide 16, and one end side wall of sliding guide 16 is saved equipped with the 7th direction
20, loop bar 17 is socketed on the other end of sliding guide 16, and third direction section 8 is fixed on loop bar 17.
Second direction section 7: second direction section 7 is one end opposite positioned at 1 hand-held part of mobile jib, and the second direction section 7 is
It is fixed on the tail portion of mobile jib 1；
First direction section 6 and fourth direction section 9: first direction section 6 and fourth direction section 9, the first direction section 6 and
Four directions section 9 is between mobile jib 1 and second direction section 7；
21: the five directions section 21 is saved positioned at netted crawl mouth mouth rim is formed by 5th direction, generally has 2 ends
Portion.
6th direction, 22: the six directions of section section 22 is online positioned at the crawl for being formed by netted crawl mouth, for connecting it
He saves in direction.
Embodiment 1:
As shown in Figure 1, Fig. 1 shows the structure that three-dimensional arrangement of the present invention surely moves the first embodiment of flesh bone mechanical mechanism
Figure forms three-dimensional arrangement and surely moves flesh bone machinery mouth, specifically includes:,
Mobile jib 1 which is provided with the first sliding sleeve 4 and the second connector sleeve 3 wherein having head and tail portion, and the second connector sleeve 3 is solid
The tail portion of mobile jib 1 is set calmly, and the first sliding sleeve 4 is provided with the first connection on the head of mobile jib 1, the side wall of the first sliding sleeve 4
2 are covered, is fixedly connected with first direction section 6 on the first connector sleeve 2.
The purpose of connector sleeve 2,3 is: horizontally disposed crawl mouth, and stress point is in the same side, to guarantee the steady of device
Solidity is in reinforcement connection using connector sleeve, prevents from falling off.
In conjunction with shown in Figure 12, set on the peripheral wall of first direction section 6 there are two end, two ends are relative to 1 axis of mobile jib
Symmetrically, and its angle is 60 °.
Peng Suo mechanism 10 shows three-dimensional arrangement of the invention in conjunction with Fig. 2, Fig. 3 and Fig. 4, Fig. 3 and 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 that are hingedly connected to one another.The swollen contracting
Mechanism 10 is between the first connector sleeve 2 and the second connector sleeve 3, wherein the first swollen contracting body 11 is located at the two sides of 1 axis of mobile jib, packet
Include the swollen contracting body 11 of symmetrical first.The second swollen contracting body 12, including the second swollen contracting body perpendicular to 1 axial direction of mobile jib
12, it is located at the swollen contracting body 12 of 1 axial sides of mobile jib symmetrical second, the second swollen contracting body 12 and the ipsilateral first swollen contracting body 11 are mutual
Hingedly.
Flesh skeleton 15 is respectively located at 1 axis of mobile jib as shown in Fig. 2, it includes that there are three flesh skeletons 15 that the mechanical arm, which has,
To two sides symmetrically arranged first flesh skeleton 15g1 and the second flesh skeleton 15g2 and it is located at the third being set on the second connector sleeve 3
Flesh skeleton 15g3, wherein the 7th direction section 20bg3 in third flesh skeleton 15g3 is connect with the second connector sleeve 13, wherein；
First flesh skeleton 15g1 includes sliding guide 161, and one end side wall of sliding guide 161 is saved equipped with the 7th direction
20bg1 is socketed with loop bar 171 on the other end of sliding guide 161, third direction section 8cg1 is fixed on loop bar 171；In conjunction with
Shown in Figure 15, the 7th direction is saved and forms two 60 ° of angle between adjacent two in three ends of 20bg1；Third direction section
Three ends of 8cg1 are respectively cg11, cg12 and cg13；Two 60 ° of angle is formed between adjacent two in three ends.
Flesh skeleton 15g2 includes sliding guide 161, and one end side wall of sliding guide 161 is equipped with the 7th direction and saves 20bg2,
It is socketed with loop bar 172 on the other end of left sliding guide 162, third direction section 8cg2 is fixed on loop bar 172；In conjunction with Figure 15
Shown, three ends of the 7th direction section 20bg2 are respectively bg21, bg22 and bg23, shape between adjacent two in three ends
At two 60 ° of angle；In conjunction with shown in Figure 19, three ends of third direction section 8cg2 are respectively cg21, cg22 and cg23；Three
Two 60 ° of angle is formed between adjacent two in a end.
Flesh skeleton 15g3 includes sliding guide 163, and one end side wall of sliding guide 163 is equipped with the 7th direction and saves 20bg3,
It is socketed with loop bar 173 on the other end of sliding guide 163, third direction section 8cg3, the 7th direction section are fixed on loop bar 173
Two ends of 20bg3 are respectively bg31 and bg32, and two ends of third direction section 8cg3 are respectively cg31 and cg32, wherein
Angle between bg31 and bg32, cg31 and cg32 is 60 °.
As further preferred embodiment, one end for being not provided with direction section of loop bar 17 is fixed with phalanges part 19,
Main purpose is that three-dimensional arrangement of the invention surely moves the tightening of flesh bone mechanical mechanism by closely mechanical mouth is formed, and can make to grab
It is more fastened when object.
Overall structure of the invention is further illustrated below in conjunction with the mutual connection relationship in each end:
The tail portion of mobile jib 1 is fixed with the second connector sleeve 3, is equipped with the first sliding sleeve 4 close to 1 head of mobile jib, one Slideslip, the
It is fixed with the first connector sleeve 2 on one sliding sleeve 4, first direction section 6 is fixed on 2 side side wall of the first connector sleeve, second connects
Female connector 3 is arranged the 7th direction section 20bg3 of flesh skeleton 15g3, and first direction section 6 and the 7th direction section 20bg3 are in the same side
Face, and to be formed by angle opposite for its end.
Wherein, the Peng Suo mechanism 10 is between the first connector sleeve 2 and the second connector sleeve 3, and the axis relative to mobile jib 1
Line is symmetrical, by taking side Peng Suo mechanism 10 as an example, to the company of the present embodiment Zhong Pengsuo mechanism 10 and Peng Suo mechanism 10 and mobile jib 1
The relationship of connecing is illustrated, the first end point of the first connecting pin 18a1 the first swollen contracting body (11) of articulated connection of first direction section
13f1, the second connection end cg11 of the second endpoint 13f2 articulated connection third direction section 8cg1 of the first swollen contracting body (11), first
The third connecting pin bg11 of the 7th direction of the third endpoint 14f1 articulated connection section 20bg1 of swollen contracting body (11).First flesh skeleton
Save the 5th of the third direction section 8cg1 of the 4th connecting pin 20bg13 of 20bg1, the first flesh skeleton 15g1 in the 7th direction of 15g1
Connecting pin cg13, third flesh skeleton the 7th direction section 20bg3 the 6th connecting pin bg31 and third direction section 8cg3 the 7th
Connecting pin cg31 is hingedly connected the first end 13k1, the second end 13k2, third end 13k3, the of the second swollen contracting body h2
Four end 13k4.
Other side Peng Suo mechanism 10 and the connection relationship of mobile jib 1 are identical as above-mentioned connection relationship, and are equivalent to 1 axis of mobile jib
Symmetrically.
Also, the connection relationship between the first flesh skeleton 15g1 and the second flesh skeleton 15g2 are as follows: the first flesh skeleton
Save the 7th direction section of the end bg12 of 20bg1, third direction section bg12, the second flesh skeleton 15g2 in the 7th direction of 15g1
20bg2, third direction section 8bg2, respectively with first end 13k1, the second end 13k2, third end of the second swollen contracting body 12h1
13k3, the 4th end 13k4 articulated connection.
In use, user holds 1 tail end of mobile jib on the other hand, the first sliding sleeve 4, the machinery that flesh skeleton 15 is formed are held on the other hand
The article of crawl is wanted in mouth alignment, and article is entangled, and the first sliding sleeve 4 of push-and-pull receives the first swollen contracting body 11 and the second swollen contracting body 12
Contracting, 3 flesh skeletons 15 collapse inwardly, article are grabbed；When article is put down, the first sliding sleeve 4 of push-and-pull makes the first swollen contracting body
11 and second swollen contracting body 12 open, 3 flesh skeletons 15 are opened, and article takes out, and crawl mouth of the invention is mutually perpendicular to set with mobile jib 1
It sets, the article that parallel end of conveniently taking is placed, such as: salvaging the bulky refuse in water body, take chemical industry preparation, defective material etc..
Embodiment two:
As shown in Figure 6, Figure 7, Fig. 6 shows the knot that three-dimensional arrangement of the present invention surely moves the second embodiment of flesh bone mechanical mechanism
Composition, including
Mobile jib 1, mobile jib 1 are equipped with the second sliding sleeve set 5, first direction section 6 and second direction section 7, and second direction section 7 is fixed
The tail portion of mobile jib 1 is set, and first direction section 6 is between the second sliding sleeve 5 and second direction section 7, second sliding sleeve 5 and
Fourth direction section 9 is provided between one direction section 6, on 5 side wall of the second sliding sleeve.
Peng Suo mechanism 10 is provided with Peng Suo mechanism between fourth direction section 9, first direction section 6 and second direction section 7
10。
Wherein, left-to-right on the side wall of first direction section 6 to be successively arranged three ends in conjunction with shown in Figure 13, it is two neighboring
Angle between end is 120 °.
It is from left to right set in conjunction with shown in Figure 17, on the side wall of second direction section 7 there are three end, between two neighboring end
Angle be 120 °.
It is from left to right set on the side wall of fourth direction section 9 there are three end, the angle between two neighboring end is 120 °.
In conjunction with shown in Figure 24, the 6th direction section 22 is from left to right set there are three end c1 ', c2 ', c3 ', between three ends
Two 30 ° of angle is formed two-by-two.
In conjunction with shown in Figure 22, the 5th direction section 21 is from left to right set there are three end d1 ', d2 ', d3 ', three ends 18 it
Between form 60 ° of angle two-by-two.
Connection relationship between all directions section and Peng Suo mechanism 10 is as follows:
The end that the fourth direction section 9, first direction section 6 and second direction section 7 are located along the same line is respectively with two
The end of a first swollen contracting body 11 is hinged, and the end of described two first swollen contracting bodies 11 passes through 22 articulated connection of the 6th direction section.
It is articulated and connected between 6th direction section 22 and the 5th direction section 21 by the multiple second swollen contracting bodies 12.
Because the fourth direction section 9 described along 1 circumferencial direction of mobile jib, first direction section 6 and second direction section 7 are located at always
End on line is identical as the connection relationship between Peng Suo mechanism 10, therefore is only specifically described the fourth direction section 9, first direction
Section 6 and the connection between the end being located along the same line of second direction section 7 and Peng Suo mechanism 10 and Peng Suo mechanism 10
Relationship are as follows: the end g1 ' of fourth direction section 9 and the end 13f1 of the first swollen contracting body (11) are hinged, the end of the first swollen contracting body (11)
The end c2 ' of portion 13f2 and the 6th direction section 22 hingedly, the end of the end 14f1 of the first swollen contracting body (11) and first direction section 6
A1 ' is hinged；The end c2 ' of the end 13f1 ' of first swollen contracting body (11) and the 6th direction section 22 hingedly, the first swollen contracting body (11)
The end b1 ' of end 13f ' and second direction section 7 hingedly, the end 14f1 ' of the first swollen contracting body (11) and the end of first direction section 6
Portion a1 ' is hinged；The end c1 ' of 6th direction section 22, c3 ' is hinged with the end 13k1 of the second swollen contracting body (12) respectively, the 6th side
It is hinged to the end c2 ' of section 22 and the end b1 ' of second direction section 7；The end 13k3 of second swollen contracting body (12) is adjacent thereto
The end c1 ' and c3 ' of two the 6th direction sections 22 hingedly, save by the end 13k4 and 13k2 of the second swollen contracting body (12) and the 5th direction
21 end d1 ' and d2 ' is hinged；Wherein between the 6th direction section 22 and second direction section 7 by first connecting rod 13 into
Row connection.
Present embodiment is the diamond structure for forming 3 sides, and crawl mouth is the elongated end of the tail portion of mobile jib 1, main to use
It is difficult to take in grabbing the elongated object plane locating for user that perhaps bigbore object or crawl are got deeply stuck in or less
Object, grab elongate objects when, push and pull the second sliding sleeve 5, deformation occurs for the first swollen contracting body 11 and the second swollen contracting body 12, makes to grab
Mouth becomes larger, and object is covered in crawl mouth, the second sliding sleeve 5 is pushed and pulled again, object is all wrapped up and grabbed；In heavy caliber of taking
Object when, pull the second sliding sleeve, the first swollen contracting body and the second swollen contracting body contraction, mechanism protrude into the inside of object, promotion the
Two sliding sleeves, the first swollen contracting body and the second swollen contracting body are upheld, and object is propped up, object is taken by framework.
Embodiment three:
As shown in Fig. 8, Figure 10, Fig. 8 shows the 3rd embodiment that three-dimensional arrangement of the present invention surely moves flesh bone mechanical mechanism
Structure chart 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 connector sleeve 2, first direction section 6 and second direction section 7 are provided only on mobile jib 1.
In conjunction with shown in Figure 14, set on the 6 side wall circumference of first direction section on mobile jib 1 there are six end, it is two neighboring
60 ° of angle is formed between end；
In conjunction with shown in Figure 18, set on the side wall circumference of the second direction section 7 of 1 tail portion of mobile jib there are six end, it is adjacent
60 ° of angle is formed between two ends；
Circumference around 1 body of rod of mobile jib periphery is equipped with flesh skeleton 15b1-b6, in conjunction with shown in Figure 19, in flesh skeleton the
It is set on the outer wall of three directions section 8 there are three connecting pin, three connecting pins form two 60 ° of angle；
First direction section 6, in the second direction section 7 of 1 tail portion of mobile jib, be located at collinear end pass through swollen contracting machine
Structure 10 is articulated and connected；
The 5th direction section 21 and the 6th direction section 22 in embodiment two replace with 8 He of third direction section in flesh skeleton 15
7th direction section 20；
Connection type between Peng Suo mechanism 10 and each portion is identical as embodiment two.
As further preferred embodiment, as shown in connection with fig. 10, it is arranged between 1 head of mobile jib and the first connector sleeve 2
There is the second sliding sleeve 5, is fixedly connected with fourth direction section 9 on the second sliding sleeve 5.In conjunction with shown in Figure 26, outside the circumference of fourth direction section 9
It is set on wall there are six end, forms 60 ° of angle between two neighboring end.
As further preferred embodiment, the bottom end of loop bar 17 is fixed with phalanges part 19.
The present embodiment is the mechanism with 6 flesh skeletons, can grab the bigger object of volume, or more points of crawl
The article of property is dissipated, in use, user holds mobile jib tail end on the other hand, holds the first sliding sleeve on the other hand, the machinery that flesh skeleton is formed
The article of crawl is wanted in mouth alignment, and article is entangled, and pushes the first sliding sleeve, and the first swollen contracting body and the second swollen contracting body are shunk, flesh bone
Frame collapses inwardly, and article is grabbed；When article is put down, the first sliding sleeve is pulled, the first swollen contracting body and the second swollen contracting body open,
Flesh skeleton is opened, and article takes out, and is mainly used for the plane locating for user that crawl is got deeply stuck in or less and is difficult to the object taken.
Example IV:
As shown in Figure 31, Figure 32, Figure 31 shows the fourth embodiment that three-dimensional arrangement of the present invention surely moves flesh bone mechanical mechanism
Structure chart, formed three-dimensional arrangement surely move flesh bone machinery mouth, the present embodiment is similar to embodiment three, and difference is: the present embodiment
Flesh skeleton is replaced with into the 6th direction section 22 and the 5th direction section 21, and between the 5th direction section 21 and the 6th direction section 22,
The direction ganglionic layer that multilayer is made of the 5th direction section 21, two adjacent side directions are provided with along the direction that 1 tail portion of mobile jib extends
It is articulated and connected between ganglionic layer by the second swollen contracting body 12, forms the netted crawl mouth extended along mobile jib caudal directions.
As further preferred embodiment, it is additionally provided with the second sliding sleeve 5 on mobile jib 1, is fixed on the second sliding sleeve 5
Four directions section 9, fourth direction section 9 is between the second sliding sleeve 5 and first direction section 6.The end connection type of fourth direction section 9
It is identical as embodiment two.Main purpose is the stability for increasing mechanism.
The present embodiment is not only able to grab bulky object, while without the restriction of flesh skeleton, weight mitigates accordingly,
It is very suitable to field environment work, while smaller volume can be shunk, it is convenient for collecting.
Embodiment five:
As shown in Figure 27, Figure 28, Figure 27 shows the structure of another preferred embodiment of second embodiment of the invention
Figure, difference are: between the 5th direction section 21 and the 6th direction section 22, being provided with multilayer along the direction that 1 tail portion of mobile jib extends
The 21 direction ganglionic layers formed are saved by the 5th direction, are articulated and connected between two adjacent side direction ganglionic layers by the second swollen contracting body 12,
Form the netted crawl mouth extended along mobile jib caudal directions.
As further preferred embodiment, it is additionally provided with the second sliding sleeve 5 on mobile jib 1, is fixed on the second sliding sleeve 5
Four directions section 9, fourth direction section 9 is between the second sliding sleeve 5 and first direction section 6.The end connection type of fourth direction section 9
It is identical as embodiment three.Main purpose is the stability for increasing mechanism.
The main purpose of the present embodiment is can to store to grab too long object, and take apart from slightly remote heavy caliber
Object.
As shown in Figure 29, Figure 30, Figure 29 shows the structure of another preferred embodiment of third embodiment of the invention
Figure, difference are: the both ends of 15 sliding guide 16 of flesh skeleton in the present embodiment are connected with the 7th direction section 20 and third direction
Section 8, is provided with multiple directions ganglionic layer, every layer of direction ganglionic layer is by second direction section 7 and third party on the direction of vertical trunk 1
It is constituted to section 8, two neighboring direction ganglionic layer is articulated and connected by the second swollen contracting body 12, what formation extended along 1 caudal directions of mobile jib
Netted crawl mouth.
As further preferred embodiment, it is additionally provided with the second sliding sleeve 5 on mobile jib 1, is fixed on the second sliding sleeve 5
Four directions section 9, fourth direction section 9 is between the second sliding sleeve 5 and first direction section 6.The end connection type of fourth direction section 9
It is identical as embodiment three.Main purpose is the stability for increasing mechanism.
The main purpose of the present embodiment is can to store more objects, is stored more stable when taking bulky article.
Sixth embodiment:
As shown in figure 33, the present embodiment is similar to embodiment two, and difference is:
The first connector sleeve 2 and second direction section 7 are provided only on mobile jib 1,2 side wall of the second connector sleeve is equipped with first direction section
6；
The end 13f1 of the first swollen contracting body 11 is connect with an end of first direction section 6,14f1 and second direction
The end connection of section 7, the end of the first direction section 6 and the end of second direction section 7 are located along the same line.
Compared with prior art, the present invention also has the characteristics that:
Swollen contracting manipulator, mechanical nozzle mechanism, formed it is a kind of extremely flexible, general, adaptive, as long as using one
Dynamic Control can grab various objects of different shapes, and practical, low cost, easy to control, be all-purpose robot,
The indispensable arm of machine biology, hand or neck, mouth mechanism, suitable for general robot, walking robot is extraordinary
Robot.
It can be used for land, the work that tunnel, underwater, aerial or manpower cannot be done directly, including high/low temperature, toxic
, spinosity, under the situations such as dangerous, having radiation, the swollen contracting manipulator, the machine that mechanism of the invention can be used to be extended
Tool mouth replaces.
The present invention is not limited to above-mentioned preferred forms, anyone can show that other are various under the inspiration of the present invention
The product of form, however, make any variation in its shape or structure, it is all that there is skill identical or similar to the present application
Art scheme, is within the scope of the present invention.
Claims (8)
1. a kind of three-dimensional arrangement surely moves flesh bone mechanical mechanism, it is characterised in that: include:
Mobile jib (1), the mobile jib (1) have tail portion and head, and mobile jib (1) is equipped with fixing end and movable end, and fixing end is located at
The tail portion of mobile jib, movable end between fixing end and the head of mobile jib,
For making movable end movable Peng Suo mechanism (10) on mobile jib, the Peng Suo mechanism (10) is located at fixing end and movable end
Between, both ends are separately connected fixing end and movable end；
Wherein, one or more connecting pins are equipped on the movable end and the side wall of fixing end；
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 described first
Swollen contracting body (11) is made of the first rod piece (13) and the second rod piece (14), and the length of the second rod piece (14) is the first rod piece (13)
The half of length, one end of the middle position articulated connection the second rod piece (14) of first rod piece (13), the first swollen contracting
Have on the rod piece of body (11) be respectively there are three end that can be hinged with other components the first rod piece (13) both ends and the
The other end of two rod pieces (14)；The first rod piece (13) group that the second swollen contracting body (12) is hingedly connected to one another by two centers
At having on the rod piece of the second swollen contracting body (12) there are four end that can be hinged with other components, be respectively same the
The both ends of one rod piece (13) and the both ends of another first rod piece (13).
2. three-dimensional arrangement according to claim 1 surely moves flesh bone mechanical mechanism, it is characterised in that: the fixing end is second
Connector sleeve (3), the movable end are the first sliding sleeve (4), and first sliding sleeve (4) is equipped with the first connector sleeve (2), described first
Connector sleeve (2) is equipped with first direction section (6)；Set on the peripheral wall of first direction section (6) there are two end, two ends relative to
Mobile jib (1) axisymmetrical, and its angle is 60 °；
It further include at least one flesh skeleton (15), the flesh skeleton (15) includes sliding guide (16), the sliding guide (16)
One end be equipped with the 7th direction section (20), the 7th direction section (20) side wall is equipped with multiple ends, the sliding guide (16)
The other end be equipped with loop bar (17), be fixed with third direction section (8) on the loop bar (17), third direction section (8) side wall
It is equipped with multiple ends；
The first direction section (6), flesh skeleton (15) and the second connector sleeve (3) are attached by Peng Suo mechanism (10).
3. three-dimensional arrangement according to claim 2 surely moves flesh bone mechanical mechanism, it is characterised in that:
The flesh skeleton (15) is three, is respectively located at the symmetrically arranged first flesh skeleton (15g1) of mobile jib (1) axial sides
With the second flesh skeleton (15g2) and positioned at the third flesh skeleton (15g3) being set on the second connector sleeve (3), wherein
The 7th direction section (20bg3) and the second connector sleeve being set in the third flesh skeleton (15g3) on the second connector sleeve (3)
(3) it connects；The angle that 7th direction is saved between two ends of (20bg3) is 60 °, third flesh skeleton (15g3) third party
Angle between two ends of Xiang Jie (8cg3) is 60 °；
The 7th side in the symmetrically arranged first flesh skeleton (15g1) of mobile jib (1) axial sides and the second flesh skeleton (15g2)
Xiang Jie, third direction section three ends in two 60 ° of angle is formed between adjacent two；
The first swollen contracting body (11) in Peng Suo mechanism (10) is located at the two sides of mobile jib (1) axis, swollen including symmetrical first
Contracting body (11)；The second swollen contracting body (12), including perpendicular to mobile jib (1) axial direction the second swollen contracting body (12), be located at master
The swollen contracting body (12) of bar (1) axial sides symmetrical second, the second swollen contracting body (12) and the ipsilateral first swollen contracting body (11)
It is hinged；
The 7th direction section (20bg3) is in same side, and its end institute in first direction section (6) and third flesh skeleton (15g3)
The angle of formation is opposite；
The first end point (13f1) of the first swollen contracting body (11) of the first connecting pin (18a1) articulated connection of first direction section (6), institute
State the second connection end (cg11) of the second endpoint (13f2) articulated connection third direction section (8cg1) of the first swollen contracting body (11), institute
State the 7th direction section of third endpoint (14f1) articulated connection the first flesh skeleton (15g1) of the first swollen contracting body (11)
The third connecting pin (bg11) of (20bg1)；4th connecting pin of the 7th direction section (20bg1) of the first flesh skeleton (15g1)
(bg13), the 5th connecting pin (cg13) of the third direction section (8cg1) of the first flesh skeleton (15g1), the third flesh bone
6th connecting pin (bg31) of the 7th direction section (20bg3) of frame (15g3) and the third of the third flesh skeleton (15g3)
7th connecting pin (cg31) of direction section (8cg3) is hingedly connected the first end (13k1) of the described second swollen contracting body (12),
The second end (13k2), third end (13k3), the 4th end (13k4)；First swollen contracting body (11) described in the other side, described
The connection relationship of two swollen contracting bodies (12) and mobile jib (1) is identical as above-mentioned connection relationship, also, the first flesh skeleton (15g1) and
Connection relationship between the second flesh skeleton (15g2) are as follows: save (20bg1) in the 7th direction of the first flesh skeleton (15g1)
End (bg12), third direction section (8bg12), the second flesh skeleton (15g2) the 7th direction save (20bg2), third party
Xiang Jie (8bg2), respectively with the first end (13k1), the second end (13k2), institute of the described second swollen contracting body (12)
Third end (13k3), the 4th end (13k4) articulated connection are stated,
One is formed perpendicular to the crawl mouth on mobile jib (1) direction.
4. three-dimensional arrangement according to claim 1 surely moves flesh bone mechanical mechanism, it is characterised in that:
The fixing end is second direction section (7), and the side wall of second direction section (7) is equipped with multiple connecting pins, the movable end
Including the first connector sleeve (2), the side wall of first connector sleeve (2) is equipped with first direction section (6)；First direction section (6) is set
There are two connecting pins, form the crawl mouth extended along mobile jib (1) direction.
5. three-dimensional arrangement according to claim 3 surely moves flesh bone mechanical mechanism, it is characterised in that: the movable end further includes
The second sliding sleeve (5) being arranged on mobile jib (1), the second sliding sleeve (5) side wall are equipped with fourth direction section (9), fourth direction section (9)
Side wall be equipped with multiple connecting pins, the fourth direction section (9), first direction section (6) and second direction section (7) are positioned at same
End on straight line is hinged with the end of two the first swollen contracting bodies (11) respectively, and the end of described two first swollen contracting bodies (11) is logical
Cross the 6th direction section (22) articulated connection；Pass through the multiple second swollen contracting bodies between 6th direction section (22) and the 5th direction section (21)
(12) it is articulated and connected,
Wherein, the coupling part of the second swollen contracting body (12), three ends are divided into fifth end (d1 '), the 6th end (d2 '),
Seven ends (d3 '), wherein the fifth end (d1 '), the 6th end (d2 '), the 7th end (d3 ') are between any two
Form 60 ° of angle；It is the first swollen contracting body (11) and the second swollen contracting body (12) and the second swollen contracting body that (22) are saved in 6th direction
(12) coupling part between, if being divided into the 8th end (c1 '), the 9th end (c2 '), the tenth end (c6 ') there are three end,
Wherein the 8th end (c1 '), the 9th end (c2 '), the tenth end (c6 ') form two 30 ° of angle between any two.
6. three-dimensional arrangement according to claim 5 surely moves flesh bone mechanical mechanism, it is characterised in that: first direction section (6), the
(7) are saved in two directions, the side wall of fourth direction section (9) is equipped with 6 connecting pins, the angle between connecting pin on each direction section
It is 60 °；
5th direction save (21) and the 6th direction section (22) between, along mobile jib (1) tail portion extension direction along be provided with multilayer by
The direction ganglionic layer of (21) composition is saved in 5th direction, is hingedly connected between two adjacent side direction ganglionic layers by the second swollen contracting body (12)
It connects, forms the netted crawl mouth extended along mobile jib caudal directions.
7. three-dimensional arrangement according to claim 5 surely moves flesh bone mechanical mechanism, it is characterised in that: the 5th direction section
(21) and the 6th direction section (22) replaces with flesh skeleton (15)；Connection loop bar (17) one end replaces with the in the flesh skeleton (15)
(22) are saved in six directions, and are connected with multiple directions ganglionic layer along mobile jib (1) axial direction.
8. three-dimensional arrangement according to claim 2 surely moves flesh bone mechanical mechanism, it is characterised in that: the loop bar (17) does not set
The one end for having direction to save is fixedly connected with phalanges part (19).
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| CN2016101872020 | 2016-03-29 | ||
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| US4522439A (en) * | 1983-08-12 | 1985-06-11 | Walker-Neer Manufacturing Co., Inc. | Automatic pipe elevator |
| CN203485194U (en) * | 2013-09-30 | 2014-03-19 | 连云港职业技术学院 | Pneumatic flexible pinching mechanical arm based on four-component metamorphic mechanism |
| CN103768741A (en) * | 2014-01-10 | 2014-05-07 | 桂林电子科技大学 | Hydraulic driven space expansion device |
| CN104409106A (en) * | 2014-06-26 | 2015-03-11 | 谌桂生 | Universal unit mechanism |
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