CN106239555A - A kind of flexible connecting structure, module and the application for robot thereof - Google Patents
A kind of flexible connecting structure, module and the application for robot thereof Download PDFInfo
- Publication number
- CN106239555A CN106239555A CN201610433825.1A CN201610433825A CN106239555A CN 106239555 A CN106239555 A CN 106239555A CN 201610433825 A CN201610433825 A CN 201610433825A CN 106239555 A CN106239555 A CN 106239555A
- Authority
- CN
- China
- Prior art keywords
- limited block
- robot
- connecting structure
- flexible connecting
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of movable machinery equipment, especially a kind of flexible connecting structure.Including limited block, spacing cavity and connecting rod；On the cross section of limited block and spacing cavity end face, limited block is fixedly connected with the connecting rod, limited block is in spacing cavity, limited block is the shape of sub-elliptical, the length of the longer two-end-point of limited block is less than the length of the shorter two-end-point of spacing cavity, so that limited block has rotation space and swing space in limit chamber body.A kind of flexible connecting structure of the present invention is for the application of robot.
Description
Technical field
The present invention relates to a kind of movable machinery equipment, especially a kind of flexible connecting structure.
Background technology
Current existing equipment, movable machinery equipment, such as: serpentine locomotion machinery, can produce in motor process axially
The changing of the relative positions and bending, need flexible connecting structure to ensure for the motion of plant equipment self.But, the most past
The past design only accounting for flexiblesystem, the most only ensure that the axis direction changing of the relative positions between two plant equipment, rotation, not
Electric wiring is accounted at flexible structure internal run-through.
And do not account for the flexible module of the through characteristic of electric wiring, often not this for electricity to reversing, rotating
The through motion that exceeds the quata that there is mortal injury of gas circuit limits.And it is additional through in existing flexible connecting structure
Electric wiring, it will directly result in the damage of electric wiring.
Therefore need a set of through needs that disclosure satisfy that electric wiring badly, also be able to meet the demand of flexiblesystem own simultaneously
Flexible connecting structure.
Summary of the invention
It is an object of the invention to provide a kind of can reverse freely, the flexibility of the flexiblesystem action such as rotary motion
Attachment structure, and while can carrying out flexiblesystem action, also should be able to ensure electric wiring runs through reliability structure.
The concrete technical scheme of the present invention is:
A kind of flexible connecting structure, including limited block, spacing cavity and connecting rod；Transversal at limited block and spacing cavity end face
On face, limited block is fixedly connected with the connecting rod, and limited block is in spacing cavity, and limited block is the shape of sub-elliptical, limited block
The length of longer two-end-point is less than the length of the shorter two-end-point of spacing cavity, so that limited block has rotation space in limit chamber body
And swing space.Therefore reached to ensure while can carrying out flexiblesystem action, it is also possible to ensure passing through of electric wiring
Wear the function of reliability.
The present invention also provides for one and flexibly connects module, has above-mentioned flexible connecting structure, in the two of flexible connecting structure
End is provided with one group of oscillating bearing.
Further, the invention provides the application for robot of a kind of flexible connecting structure.
Further, the invention provides and a kind of flexibly connect the module application for robot.
Described robot application is snake-shaped robot or in-pipe robot.
Movable machinery equipment, such as: serpentine locomotion machinery, can produce the axial changing of the relative positions and bending in motor process,
Flexible connecting structure is needed to ensure for the motion of plant equipment self.But, need between the most such plant equipment
Want the connection of circuit, gas circuit, therefore it is required that while such flexible module can ensure that mechanical movement needs, it is also possible to protect
Card electric wiring completely through.
Through due to electric wiring, has certain exclusive requirement, can produce the mechanical movement of flexible module and limit.
Such as: the structure of through electric wiring can not produce spinning motion, can not produce the rotation of wide-angle, it is right therefore to involve
In reversing the spacing problem with the anglec of rotation.In the design of this module, mainly have employed special limited block, ensure flexibility
On the basis of the flexible demand of module own, angular movement is limited.
Accompanying drawing explanation
Fig. 1 is with the cylindrical machinery Flexible Equipment link block sectional view of electrically conducting function.
Fig. 2 is windup-degree attitude.
Fig. 3 is horizontal changing of the relative positions attitude.
Fig. 4 limited block and spacing cavity end view drawing.
Detailed description of the invention
A kind of flexible connecting structure, including limited block, spacing cavity and connecting rod；At limited block and spacing cavity end face
On cross section, limited block is fixedly connected with the connecting rod, and limited block is in spacing cavity, and limited block is the shape of sub-elliptical, limit
The length of the position longer two-end-point of block is less than the length of the shorter two-end-point of spacing cavity, so that limited block has rotation in limit chamber body
Space and swing space.Therefore reached to ensure while can carrying out flexiblesystem action, it is also possible to ensure electric wiring
The function running through reliability.Above-mentioned flexible connecting structure, is provided with one group of oscillating bearing at the two ends of flexible connecting structure.Composition
Flexibly connect module, for snake-shaped robot or in-pipe robot.
1. ensure flexible module can reverse freely, the flexiblesystem action such as rotary motion
As it is shown in figure 1, with the cylindrical machinery Flexible Equipment link block of electrically conducting function, mainly by limited block and spacing
Cavity configuration, oscillating bearing, the parts such as connecting rod composition.Between connector cavity and the connecting rod in spacing cavity and front thereof, by
Effect in oscillating bearing can form certain angle and rotate.
Owing to being each fitted with one group of oscillating bearing at the two ends flexibly connecting module, two connector chambeies therefore can be formed
The parallel changing of the relative positions between body.Therefore this structure gives to be formed between two connectors certain axial angle, two can also be formed simultaneously
Individual axially between the parallel changing of the relative positions, can be substantially finished all of position between two mechanical modules may.Such as Fig. 2 and Fig. 3
Shown in.
2. ensure that, while can carrying out flexiblesystem action, also should be able to ensure electric wiring runs through reliability
Owing to having the function of electrically conducting in this module, therefore while allowing to carry out the accommodation of certain angle,
It must also be ensured that electric wiring is the most unimpeded.Therefore, in this flexibly connects the design process of module, it is designed with spacing module
And spacing cavity, the process that freely regulates for module has limited.
The design of the most spacing cavity of concrete limited block, as shown in Figure 4.
Interfix between limited block and connecting rod (using holding screw to fix in this example), and limited block is at spacing cavity
In have certain rotation space and swing space.Therefore reached to ensure, while can carrying out flexiblesystem action, also
Enough ensure the function running through reliability of electric wiring.
Claims (5)
1. a flexible connecting structure, it is characterised in that include limited block, spacing cavity and connecting rod；At limited block and spacing
On the cross section of cavity end face, limited block is fixedly connected with the connecting rod, and limited block is in spacing cavity, and limited block is sub-elliptical
Shape, the length of the longer two-end-point of limited block is less than the length of the shorter two-end-point of spacing cavity, so that limited block is at limit chamber
Internal have rotation space and swing space.
2. flexibly connect a module, there is flexible connecting structure as claimed in claim 1, set at the two ends of flexible connecting structure
There is one group of oscillating bearing.
A kind of flexible connecting structure the most as claimed in claim 1 is for the application of robot.
A kind of flexibly connect the module application for robot.
5. the application of robot as described in claim 3 or 4, described robot is snake-shaped robot or in-pipe robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610433825.1A CN106239555A (en) | 2016-06-18 | 2016-06-18 | A kind of flexible connecting structure, module and the application for robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610433825.1A CN106239555A (en) | 2016-06-18 | 2016-06-18 | A kind of flexible connecting structure, module and the application for robot thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106239555A true CN106239555A (en) | 2016-12-21 |
Family
ID=57614022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610433825.1A Pending CN106239555A (en) | 2016-06-18 | 2016-06-18 | A kind of flexible connecting structure, module and the application for robot thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106239555A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1592582A1 (en) * | 1987-10-20 | 1990-09-15 | Kh Aviatsionnyj Institut | Rotary compressor |
| CN2503259Y (en) * | 2001-10-25 | 2002-07-31 | 英业达股份有限公司 | Spial structure of limiting rotation angle |
| CN2681759Y (en) * | 2003-11-07 | 2005-03-02 | 刘光奎 | Oval-shaped full self-damaging disposable injector |
| CN2893286Y (en) * | 2006-02-20 | 2007-04-25 | 胡宇栋 | Pivot structure for rotary articles |
| US20090095112A1 (en) * | 2001-06-13 | 2009-04-16 | Robert Oliver Buckingham | Link Assembly With Defined Boundaries For A Snake Like Robot Arm |
| CN202229105U (en) * | 2011-10-08 | 2012-05-23 | 钟桂生 | Lamp cap capable of limiting rotating angle |
| CN104071048A (en) * | 2013-03-25 | 2014-10-01 | 三菱自动车工业株式会社 | Anchor installation structure |
| CN206105901U (en) * | 2016-06-18 | 2017-04-19 | 上海西派埃自动化仪表工程有限责任公司 | Flexible connection structure , module |
-
2016
- 2016-06-18 CN CN201610433825.1A patent/CN106239555A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1592582A1 (en) * | 1987-10-20 | 1990-09-15 | Kh Aviatsionnyj Institut | Rotary compressor |
| US20090095112A1 (en) * | 2001-06-13 | 2009-04-16 | Robert Oliver Buckingham | Link Assembly With Defined Boundaries For A Snake Like Robot Arm |
| CN2503259Y (en) * | 2001-10-25 | 2002-07-31 | 英业达股份有限公司 | Spial structure of limiting rotation angle |
| CN2681759Y (en) * | 2003-11-07 | 2005-03-02 | 刘光奎 | Oval-shaped full self-damaging disposable injector |
| CN2893286Y (en) * | 2006-02-20 | 2007-04-25 | 胡宇栋 | Pivot structure for rotary articles |
| CN202229105U (en) * | 2011-10-08 | 2012-05-23 | 钟桂生 | Lamp cap capable of limiting rotating angle |
| CN104071048A (en) * | 2013-03-25 | 2014-10-01 | 三菱自动车工业株式会社 | Anchor installation structure |
| CN206105901U (en) * | 2016-06-18 | 2017-04-19 | 上海西派埃自动化仪表工程有限责任公司 | Flexible connection structure , module |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161221 |