CN106393171A - Space flexible manipulator - Google Patents
Space flexible manipulator Download PDFInfo
- Publication number
- CN106393171A CN106393171A CN201611190894.0A CN201611190894A CN106393171A CN 106393171 A CN106393171 A CN 106393171A CN 201611190894 A CN201611190894 A CN 201611190894A CN 106393171 A CN106393171 A CN 106393171A
- Authority
- CN
- China
- Prior art keywords
- wire
- joint
- shaft
- main shaft
- frame plate
- 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
- B25J18/00—Arms
-
- 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
Abstract
The invention relates to a space flexible manipulator, which mainly comprises a frame plate, guide wire big wheels, guide wire small wheels, joint shafts, guide wire small wheel shafts, steering wheels, locking end covers, a drive part, a main shaft, a base and a steel wire. The space flexible manipulator provided by the invention has the advantages that each joint of a front arm body part has only one degree of freedom, so that the structure can be greatly simplified, and the accuracy is improved; but the arm body part can only work in a two-dimensional plane, and the problem is solved simply and ingeniously through introducing the main shaft, so that the work range is extended to a three-dimensional space.
Description
Technical field
The present invention relates to civilian and industrial trade, it is related to a kind of spatial flexible robot arm.
Background technology
At present, much can be excessively complicated in the multi-joint mechanical arm structure of three dimensions operation, cost is too high, and due to
Articulation structure is complicated, controls difficulty big, is not easy to popularize, practicality is low.
Analyze the above-mentioned prior art referring to have the following disadvantages, i.e. the technical problem to be solved：
1st, existing can three dimensions run multi-joint mechanical arm structure excessively complicated, cost is too high；
2nd, articulation structure is complicated, controls difficulty big, is not easy to popularize, practicality is low.
Content of the invention
For the above-mentioned deficiency existing for existing multi-joint mechanical arm, the present invention now provides a kind of spatial flexible robot arm.
The present invention be employed technical scheme comprise that for achieving the above object：A kind of spatial flexible robot arm, it mainly includes
Frame plate, wire bull wheel, wire steamboat, joint shaft, the little wheel shaft of wire, deflecting roller, locking end cap, drive part, main shaft, base
The little wheel shaft of seat, steel wire, described joint shaft and 4 wires is installed on frame plate correspondence position, and wire bull wheel and deflecting roller are installed
To on joint shaft, wherein deflecting roller and next section are fixed, and wire steamboat is installed on the little wheel shaft of wire, last frame plate opposite side
Buckle a block frame plate again, bearing is installed in joint shaft both sides, then installation locking end cap, thus a joint completes, Qi Taguan
Section mounting means is similar to, and simply in joint below, wire bull wheel and wire steamboat quantity are successively decreased, after the installation of all joints,
Penetrate steel wire, so that drive part is connected with deflecting roller by steel wire, drive it to complete ± 90 ° of divertical motion, all joints are all
Connected by this mode, finally all joints installation and in drive part 8 connect finish after, drive part 8 is installed to
On main shaft 9, main shaft is installed on pedestal 10.Wherein by the rotation of main shaft, can make above arm body portion in arbitrary plane
Work, working range extend to three dimensions.
It is an advantage of the current invention that：Above each joint only one of which degree of freedom of arm body portion, so can make its structure
Greatly simplify, lift precision, but such arm body portion can only work in two dimensional surface, by introducing a main shaft, simply ingeniously
Wonderful solves this problem in that so as to working range extend to three dimensions.
Brief description
Fig. 1 is the schematic appearance of present example；
Fig. 2 is the joint detailed schematic of present example；
Wherein, 1- frame plate；2- wire bull wheel；3- wire steamboat；4- joint shaft；The little wheel shaft of 5- wire；6- deflecting roller；7- locks
End cap；8- drive part；9- main shaft；10- pedestal；11- steel wire.
Specific embodiment
With reference to the accompanying drawings and examples the specific embodiment of the present invention is further described, following examples are only used
In clearly technical scheme being described, and can not be limited the scope of the invention with this.
The present embodiment provides a kind of spatial flexible robot arm, and it is little that it mainly includes frame plate 1, wire bull wheel 2, wire
Wheel 3, joint shaft 4, the little wheel shaft of wire 5, deflecting roller 6, locking end cap 7, drive part 8, main shaft 9, pedestal 10, steel wire 11（Referring to
Fig. 1）, described joint shaft 4 and the little wheel shaft 5 of 4 wires be installed on frame plate 1 correspondence position, and wire bull wheel 2 and deflecting roller 6 are pacified
It is attached on joint shaft 4, wherein deflecting roller 6 and next section are fixed, and wire steamboat 3 is installed on the little wheel shaft of wire 5, last frame plate
1 opposite side buckles a block frame plate 1 again, and bearing, then installation locking end cap 7 are installed in joint shaft 4 both sides, and thus a joint is complete
Become（Referring to Fig. 2）, other joints mounting means be similar to, simply in joint below, wire bull wheel 2 and wire steamboat 3 quantity are passed
Subtract, after the installation of all joints, penetrate steel wire 11, so that drive part 8 is connected with deflecting roller 6 by steel wire 11, drive it complete
Become ± 90 ° of divertical motion, all joints are all connected by this mode, finally all joints installation in drive part 8
Connect after finishing, drive part 8 is installed on main shaft 9, main shaft is installed on pedestal 10（Referring to Fig. 1）.
Specific works mode, installs instrument, by programme-control drive part foremost in spatial flexible robot arm
Drive each joint to link, thus can enter work in narrow space, be not easy to personnel's entrance or basic just nothing to some
The working environment work that method enters brings great convenience.
The present invention is not limited to above-mentioned embodiment, adopts the structure identical or approximate with the above embodiment of the present invention, all
Within the scope of the present invention.
Claims (2)
1. a kind of spatial flexible robot arm it is characterised in that：Including frame plate（1）, wire bull wheel（2）, wire steamboat（3）, close
Nodal axisn（4）, the little wheel shaft of wire（5）, deflecting roller（6）, locking end cap（7）, drive part（8）, main shaft（9）, pedestal（10）, steel wire
（11）；
Its annexation is：Described joint shaft（4）The little wheel shaft with 4 described wires（5）It is installed to described frame plate（1）Corresponding position
Put；Described wire bull wheel（2）With described deflecting roller（6）It is installed to described joint shaft（4）Above, wherein said deflecting roller（6）
Fix with next section, described wire steamboat（3）It is installed to the little wheel shaft of described wire（5）Above, last described frame plate（1）Another
Side detains frame plate described in lastblock again（1）, described joint shaft（4）Bearing is installed in both sides, then installs described locking end cap（7）,
Thus a joint completes, and other joints mounting means is similar to, simply wire bull wheel described in joint below（2）Lead with described
Line steamboat（3）Quantity is successively decreased, and after the installation of all joints, penetrates described steel wire（11）, by described steel wire（11）Make described
Drive part（8）With described deflecting roller（6）Connect, drive it to complete ± 90 ° of divertical motion, all joints are all by this mode
Connect, finally all joints installation in described drive part（8）Connect after finishing, by described drive part（8）Install
To described main shaft（9）Above, by described main shaft（9）It is installed to described pedestal（10）Above.
2. a kind of spatial flexible robot arm according to claim 1 it is characterised in that：Above each joint of arm body portion
There is one degree of freedom, to reach simplification structure, improve the purpose of precision, then pass through described main shaft（9）Rotation, make above arm
Body portion can work in arbitrary plane, and working range is expanded to three dimensions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190894.0A CN106393171A (en) | 2016-12-21 | 2016-12-21 | Space flexible manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190894.0A CN106393171A (en) | 2016-12-21 | 2016-12-21 | Space flexible manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106393171A true CN106393171A (en) | 2017-02-15 |
Family
ID=58087541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611190894.0A Pending CN106393171A (en) | 2016-12-21 | 2016-12-21 | Space flexible manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106393171A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1995777A (en) * | 2006-12-14 | 2007-07-11 | 上海交通大学 | Wire cable transmission mechanism for use in mechanical arm |
| CN101214663A (en) * | 2008-01-10 | 2008-07-09 | 上海交通大学 | Flexible controllable mechanism for mechanical arm |
| CN102452076A (en) * | 2010-11-02 | 2012-05-16 | 曹晶晶 | Wire rope drive mechanism |
| CN206367022U (en) * | 2016-12-21 | 2017-08-01 | 北京灵铱科技有限公司 | A kind of spatial flexible robot arm |
-
2016
- 2016-12-21 CN CN201611190894.0A patent/CN106393171A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1995777A (en) * | 2006-12-14 | 2007-07-11 | 上海交通大学 | Wire cable transmission mechanism for use in mechanical arm |
| CN101214663A (en) * | 2008-01-10 | 2008-07-09 | 上海交通大学 | Flexible controllable mechanism for mechanical arm |
| CN102452076A (en) * | 2010-11-02 | 2012-05-16 | 曹晶晶 | Wire rope drive mechanism |
| CN206367022U (en) * | 2016-12-21 | 2017-08-01 | 北京灵铱科技有限公司 | A kind of spatial flexible robot arm |
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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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170215 |