CN106926227A - A kind of open-ended modularity mechanical arm - Google Patents
A kind of open-ended modularity mechanical arm Download PDFInfo
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- CN106926227A CN106926227A CN201511025343.4A CN201511025343A CN106926227A CN 106926227 A CN106926227 A CN 106926227A CN 201511025343 A CN201511025343 A CN 201511025343A CN 106926227 A CN106926227 A CN 106926227A
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- mechanical arm
- pawl
- steering wheel
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- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 241000905957 Channa melasoma Species 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 9
- 241000239290 Araneae Species 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000012636 effector Substances 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 2
- 238000007599 discharging Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 210000001145 finger joint Anatomy 0.000 description 2
- 210000003464 cuspid Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The present invention relates to mechanical arm, specifically a kind of open-ended modularity mechanical arm, including rotary joint, orthogonal joint and pawl joint, rotary joint is located at the bottom of mechanical arm, orthogonal joint is multiple, is sequentially connected, first orthogonal joint is connected with rotary joint, and last orthogonal joint is connected with pawl joint；Rotary joint can horizontally slip on stepping guide rail, so that driving mechanical arm integrally horizontally slips, and rotary joint itself can rotate, and then driving mechanical arm realizes rotary motion.The orthogonal joint installed on rotary joint can change the position in attitude and end pawl joint by mutual routing motion, once pawl joint avoiding obstacles reach target location, the finger portion in pawl joint drives as requested, for discharging or clamping target object.The present invention greatly strengthen the ability that mechanical arm completes complex task, and completing complex task in space environment for mechanical arm provides a kind of technical scheme of efficient and high reliability.
Description
Technical field
The present invention relates to mechanical arm, specifically a kind of open-ended modularity mechanical arm.
Background technology
Exploration with the mankind to the outer space, space manipulator is used as auxiliary spacefarer's extravehicular activity
The main tool of construction and maintenance with space station, along with the complexity of the space tasks for facing
Gradually increase, the functional expansionary to space manipulator it is also proposed requirement higher.Carry
The space manipulator of redundancy properties can be used to completion hide it is unusual, hide avoidance, joint moment
The tasks such as optimization, therefore as the first-selection of Chinese Space mechanical arm.
In numerous equipment of space station, space manipulator is moved out of my cabin as a kind of multiple degrees of freedom
Type equipment, irreplaceable effect is played in its construction and running.Space manipulator
It is faced with and realizes autgmentability modularization, high redundancy, superpower avoidance ability, control is reliable steady
Fixed task object, so being badly in need of a kind of new open-ended modularity mechanical arm.
The content of the invention
In order to meet the use requirement of space manipulator, can it is an object of the invention to provide one kind
The modular mechanical arm of extension.
The purpose of the present invention is achieved through the following technical solutions：
The present invention includes rotary joint, orthogonal joint and pawl joint, and wherein rotary joint is located at machine
The bottom of tool arm, the orthogonal joint is multiple, is sequentially connected, first orthogonal joint
It is connected with rotary joint, last described orthogonal joint is connected with the pawl joint, the machine
Tool arm drives motion entirely through prismatic pair by the stepper motor on stepping guide rail；It is described
Rotary joint includes rotary joint shell, steering wheel A and is respectively contained in the rotary joint shell
Rotary joint gear, external toothing, gear sleeve, bearing A, rotary joint connector, axle
The outer collar of interior collar, bearing is held, steering wheel A is connected with the prismatic pair, and output end is connected with
The rotary joint gear, the external toothing be arranged on rotary joint shell inwall on and with
The rotary joint meshed transmission gear, the rotary joint connector is arranged on steering wheel A, outward
Portion is arranged with the bearing A, and geared sleeve is provided between the side of bearing A and the external toothing
Cylinder, opposite side is provided with the bearing being set on the rotary joint connector collar and is arranged on
The outer collar of bearing on the rotary joint outer casing inner wall, the outer ring of the bearing A passes through gear
Sleeve and the outer collar of bearing are spacing, and inner ring is spacing by collar in the bearing；The rotation is closed
Section shell drives rotation by steering wheel A, and then drives each orthogonal joint and pawl joint to turn
It is dynamic.
Wherein：The external diameter of the external toothing, gear sleeve and bearing A is identical, the gear sleeve
Outer ring of the both sides respectively with the external toothing and bearing A abut.
The pawl joint is located at end, the end effector as mechanical arm of mechanical arm, the pawl
Joint include steering wheel D, pawl articular shell, pawl joint transmission mechanism, refer to portion A, refer to portion B and
Reverse-flighted screw, the steering wheel D is connected with orthogonal joint last described, and output end passes through institute
State pawl joint transmission mechanism and be connected with the reverse-flighted screw being rotatably installed on pawl articular shell, drive
Reverse-flighted screw rotation, the finger portion A and refers to that one end of portion B is actuating station, the other end point
Thread segment not with the reverse-flighted screw two ends is threadedly coupled, by the rotation of the reverse-flighted screw
Drive refers to portion A and refers to portion B clampings or loosen；The screw thread rotation of reverse-flighted screw two ends thread segment
To conversely, the finger portion A and finger portion B are connected by nut counterclockwise and nut clockwise respectively
On the thread segment at reverse-flighted screw two ends；The reverse-flighted screw two ends respectively connect a bearing B,
Bearing B is separately fixed in the bearing spider at two ends, and the bearing spider at two ends is fixed on
On pawl articular shell；The outer cup of the articulations digitorum manus little gear has gear hub, and the gear hub is installed
On pawl articular shell, the pawl articular shell is connected on the steering wheel D by support；It is described
Pawl joint transmission mechanism is gear drive, including articulations digitorum manus gear wheel and the small tooth of articulations digitorum manus
Wheel, the articulations digitorum manus little gear is connected by shaft coupling with the output end of the steering wheel D, the finger
Joint gear wheel is arranged on reverse-flighted screw, is rotated with the reverse-flighted screw, and is closed with described finger
Section little gear engaged transmission；The steering wheel D drives reverse-flighted screw to rotate by gear drive
So as to realize referring to the folding of portion A and finger portion B；The finger portion A and refer to the both sides of portion's B other ends
Slide block B is equipped with, this refers to portion A and refer to and is equipped with the pawl articular shell of portion B other ends both sides
Guide rail, the finger portion A and refers to that the slide block B of portion B other ends both sides is led with described in both sides respectively
Rail is slidably connected, and realizes the finger portion A and refers to that portion B is moved back and forth along guide rail；
Each orthogonal joint structure is identical, used as the arm body namely the mechanical arm of the mechanical arm
Expansible module；Each described orthogonal joint includes a steering wheel and an orthogonal connection
Part, the motor body of the steering wheel is provided with motor outward flange, first orthogonal joint centered rudder
The motor body of machine is arranged on the rotary joint shell by orthogonal joint connector, and first
One end of orthogonal connector and steering wheel in first orthogonal joint in the individual orthogonal joint
On the connection of motor outward flange, the motor body phase of the other end and steering wheel in adjacent orthogonal joint
Even；In last described orthogonal joint in the motor body of steering wheel and adjacent orthogonal joint just
Commissure fitting is connected, orthogonal connector one end in last described orthogonal joint and last
The motor outward flange connection of steering wheel in the individual orthogonal joint, the other end connects with the pawl joint
Connect；Each orthogonal joint as mechanical arm expansible module, each described orthogonal joint tool
There is a rotational freedom, can be relatively rotated between orthogonal joint described in adjacent two；Adjacent two institute
The output shaft for stating steering wheel in orthogonal joint is perpendicular；
The stepping guide rail which is provided with the prismatic pair as bottom mobile platform, the movement
Pair includes sliding block A and screw mandrel, and the steering wheel A in the rotary joint is arranged on sliding block A, institute
The two ends for stating screw mandrel are rotatably installed on stepping guide rail, the output of either end and the stepper motor
End is connected, and the driving stepper motor screw mandrel is rotated, so drive the sliding block A advance or after
Move back, and then drive the manipulator motion.
Advantages of the present invention is with good effect：
1. the present invention has good scalability, can be by increasing orthogonal joint module
Quantity increases the length and the free degree of mechanical arm.So that system has high redundancy.
2. each articulation structure of the invention is simple, with very strong flexibility, is adapted to multiple
Miscellaneous environment is so as to complete given task.
3. the present invention has multiple frees degree, and position and attitude are flexible and changeable, with very high
Mobility, considerably increases activity space.
4. the present invention have very strong redundancy, can greatly improve system stability and can
By property.
Brief description of the drawings
Fig. 1 is the overall structure diagram that the present invention installs state；
Fig. 2 is the explosive view of rotary joint of the present invention；
Fig. 3 is the structural representation of orthogonal joint of the present invention；
Fig. 4 is the structural representation in pawl joint of the present invention；
Fig. 5 is the internal structure schematic diagram in pawl joint of the present invention；
Fig. 6 is barrier avoiding function schematic diagram of the present invention；
Wherein：1 is pawl joint, and 2 is orthogonal joint, and 3 is stepping guide rail, and 4 is rotary joint,
5 is sliding block A, and 6 is screw mandrel, and 7 is stepper motor, and 8 is rotary joint shell, and 9 is rotation
Joint little gear, 10 is external toothing, and 11 is connecting shaft, and 12 is gear sleeve, and 13 is bearing
A, 14 is rotary joint connector, and 15 is collar in bearing, and 16 is the outer collar of bearing, 17
It is steering wheel A, 18 is steering wheel B, and 19 is orthogonal connector, and 20 is steering wheel C, and 21 close for pawl
Section shell, 22 is gear hub, and 23 is steering wheel D, and 24 is bearing B, and 25 is finger portion A, 26
It is nut counterclockwise, 27 is finger portion B, and 28 is nut clockwise, and 29 is reverse-flighted screw, 30
It is bearing spider, 31 is guide rail, and 32 is articulations digitorum manus gear wheel, and 33 is shaft coupling, and 34 is finger
Joint little gear, 35 is orthogonal joint connector, and 36 is support, and 37 is slide block B.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, the present invention include rotary joint 4, orthogonal joint 32 and
Pawl joint 1, wherein rotary joint 4 are located at bottom, the rotation as whole mechanical arm of mechanical arm
Turn platform, orthogonal joint 2 is multiple, is sequentially connected, the orthogonal joint 2 and rotation of one end are closed
Section connection, the orthogonal joint 2 of the other end is connected with pawl joint 1.Mechanical arm is entirely through movement
Pair drives motion by the stepper motor 7 on stepping guide rail 3.Stepping guide rail 3 is the bottom of used as
Portion's mobile platform, which is provided with prismatic pair, and the prismatic pair includes sliding block A5 and screw mandrel 6, rotation
The steering wheel A17 turned in joint 4 is arranged on sliding block A5, and the two ends of screw mandrel 6 are rotatably installed in
On stepping guide rail 3, either end is connected with the output end of stepper motor 7, and stepper motor 7 drives
Screw mandrel 6 is rotated, and is advanced or is retreated according to different rotation direction band movable slider A5, and then band
Dynamic manipulator motion.
Rotary joint 4 includes rotary joint shell 8, steering wheel A17 and is respectively contained in the rotation
Rotary joint gear 9, external toothing 10, gear sleeve 12, bearing A13 in articular shell 8,
The outer collar 16 of collar 15, bearing in rotary joint connector 14, bearing, A17 is defeated for the steering wheel
Go out to hold both sides to be provided with corresponding connecting hole, rotary joint 4 is entirely through the connection on steering wheel A17
Hole is connected on sliding block A5.The output end of steering wheel A17 is provided with corresponding connecting hole, output end
It is upper that rotary joint gear 9, rotary joint gear 9 and external toothing are connected with by connecting shaft 11
10 internal messings together, are provided with gear sleeve 12 between external toothing 10 and bearing A13, and
External toothing 10 is linked together by the connecting hole in outside with the inwall of rotary joint shell 8,
Steering wheel A17 passes to external toothing 10 by output end, connecting shaft 11 and rotary joint gear 9
Rotated so as to articular shell 8 is rotated.Rotary joint connector 14 is connected by connecting hole
On steering wheel A17, outside is arranged with bearing A13, and the bearing A13 of the present embodiment is 6812ZZ
Bearing.It is gear sleeve 12 between the side of bearing A13 and external toothing 10, opposite side is provided with
It is set in the bearing on rotary joint connector 14 collar 15 and installed in rotary joint shell
The outer collar 16 of bearing on 8 inwalls, external toothing 10, gear sleeve 12 and bearing A13's is outer
Footpath is identical, and the outer ring of the both sides of gear sleeve 12 respectively with external toothing 10 and bearing A13 abuts；
The outer ring of bearing A13 is spacing by gear sleeve 12 and the outer collar 16 of bearing, and inner ring passes through axle
Hold interior collar 15 spacing.Rotary joint shell 8 drives rotation, and then band by steering wheel A17
Dynamic each orthogonal joint 2 and pawl joint 1 rotate.
The structure of orthogonal joint 2 is identical, as mechanical arm arm body namely the mechanical arm it is expansible
Module；Each orthogonal joint 2 includes a steering wheel and an orthogonal connector 19, the rudder
The motor body of machine is provided with motor outward flange, the motor sheet of steering wheel in first orthogonal joint 2
Body is arranged on rotary joint shell 8 by orthogonal joint connector 35, first orthogonal pass
Outside motor in section 2 in one end and first orthogonal joint 2 of orthogonal connector 19 on steering wheel
Flange is connected, and the other end is connected with the motor body of steering wheel in adjacent orthogonal joint 2；Last
The motor body of steering wheel and the orthogonal connector in adjacent orthogonal joint 2 in individual orthogonal joint 2
19 connections, the one end of orthogonal connector 19 in last orthogonal joint 2 is with last just
The motor outward flange connection of steering wheel in joint 2 is handed over, the other end is connected with pawl joint 1.It is each orthogonal
Joint 2 as mechanical arm expansible module, each described orthogonal joint 2 have one rotation
The free degree, can relatively rotate between adjacent two orthogonal joint 2, the adjacent centered rudder of two orthogonal joint 2
The output shaft of machine is perpendicular.As shown in figure 3, by taking two orthogonal joints 2 as an example, first just
It is steering wheel B18 to hand over the steering wheel in joint 2, and second steering wheel of orthogonal joint 2 is steering wheel C20,
The motor body of steering wheel C20 is arranged on rotary joint shell 8, in second orthogonal joint 2
One end of orthogonal connector 19 be connected with the motor outward flange of steering wheel C20, the other end and rudder
The motor body connection of machine B18, output shaft and the output shaft of steering wheel C20 of steering wheel B18 mutually hang down
Directly；One end of orthogonal connector 19 in first orthogonal joint 2 and the motor of steering wheel B18
Outward flange is connected, and the other end connects with the motor body of steering wheel in next adjacent orthogonal joint 2
Connect.Extension is one orthogonal connector 19 of reconnection on steering wheel B18, then positive commissure
Next steering wheel can be just reconnected on fitting 19, so as to realize extension.Often increase by one just
Hand over joint 2 to be equivalent to mechanical arm and increased one degree of freedom.
As shown in Figure 4, Figure 5, pawl joint 1 is positioned at the end of mechanical arm, as mechanical arm
End effector；Pawl joint 1 includes steering wheel D23, pawl articular shell 21, pawl joint transmission machine
Structure, refer to portion A25, refer to portion B27 and reverse-flighted screw 29, the respectively connection one of the two ends of reverse-flighted screw 29
Individual bearing B24, bearing B24 is separately fixed in the bearing spider 30 at two ends, two ends
Bearing spider 30 is fixed on inside pawl articular shell 21.The two ends of reverse-flighted screw 29 lead to respectively
Cross bearing B24 to be rotatably installed on bearing spider 30, the two ends of reverse-flighted screw 29 are thread segment,
The thread rotary orientation of two ends thread segment is opposite.Pawl articular shell 21 is connected to steering wheel by support 36
On D23, the motor body of steering wheel D23 and the orthogonal connector in last orthogonal joint 2
19 other end is connected；The output end of steering wheel D23 passes through pawl joint transmission mechanism and two-way spiral shell
Bar 29 is connected, and drives reverse-flighted screw 29 to rotate；Pawl joint transmission mechanism of the invention is gear
Transmission mechanism, including articulations digitorum manus gear wheel 32 and articulations digitorum manus little gear 34, the small tooth of the articulations digitorum manus
The D type grooves of wheel 34 are connected by shaft coupling 33 with the output end of steering wheel D23, articulations digitorum manus canine tooth
Wheel 32 is arranged on reverse-flighted screw 29 by D type grooves, is rotated with reverse-flighted screw 29, and with
The engaged transmission of articulations digitorum manus little gear 34.The outer cup of articulations digitorum manus little gear 34 has gear hub 22,
The gear hub 22 is arranged on pawl articular shell 21.Finger portion A25 and refer to that one end of portion B27 is
Actuating station, the other end is connected to two-way by nut counterclockwise 26 and nut clockwise 28 respectively
On the thread segment at the two ends of screw rod 29, rotarily driving finger portion A25 and refer to by reverse-flighted screw 29
Portion B27 is clamped or loosened.Finger portion A25 and refer to that the both sides of portion's B27 other ends are equipped with sliding block
B37, this refers to portion A25 and refers to relative interior of 21 liang of pawl articular shell of portion B27 other ends both sides
Guide rail 31 is connected with surface, is referred to portion A25 and is referred to the slide block B 37 of portion B27 other ends both sides
The guide rail 31 with both sides is slidably connected respectively, and realization refers to portion A25 and refers to portion B27 along guide rail 31
Move back and forth.
As shown in fig. 6, having six orthogonal joints, i.e., modular mechanical arm of the invention in figure
Total 7 degree of freedom, including the free degree that moves left and right along stepping guide rail 3, and often
Individual orthogonal joint all has a rotational freedom；And it is possible to by expansion module number come
Increase free degree n, can just be realized flexibly by the mutual cooperation campaign between modules
Barrier avoiding function, the pawl joint 1 of end can be used for clamping object.
Operation principle of the invention is：
Rotary joint 4 can horizontally slip on stepping guide rail 3, so that driving mechanical arm entirety
Horizontally slip, and rotary joint 4 can be rotated by the driving itself of steering wheel A, and then band
Dynamic mechanical arm realizes rotary motion.The orthogonal joint installed on rotary joint 4 can be by mutual
Between routing motion change the position of attitude and end pawl joint 1, once pawl joint 1 is avoided
Barrier reaches target location, and the finger portion A25 and finger portion B27 in pawl joint 1 pass through as requested
The driving of steering wheel D23, it is possible to achieve folding, for discharging or clamping target object.
The present invention is with structure novelty, favorable expandability, avoidance ability is strong, space is big and transports
Move flexible advantage.The present invention greatly strengthen the ability that mechanical arm completes complex task, structure
Ingenious, control is reliable, completed in space for mechanical arm complex task provide efficient and height can
By the technical scheme of property.
Claims (10)
1. a kind of open-ended modularity mechanical arm, it is characterised in that：Including rotary joint (4),
Orthogonal joint (2) and pawl joint (1), wherein rotary joint (4) positioned at the bottom of mechanical arm,
The orthogonal joint (2) is multiple, is sequentially connected, first orthogonal joint (2) with
Rotary joint is connected, and last described orthogonal joint (2) is connected with the pawl joint (1),
The mechanical arm is entirely through prismatic pair by the stepper motor (7) on stepping guide rail (3)
Drive motion；The rotary joint (4) includes rotary joint shell (8), steering wheel A (17)
And it is respectively contained in rotary joint gear (9), external toothing in the rotary joint shell (8)
(10), gear sleeve (12), bearing A (13), rotary joint connector (14), bearing
Interior collar (15), the outer collar (16) of bearing, steering wheel A (17) are connected with the prismatic pair,
Output end is connected with the rotary joint gear (9), and the external toothing (10) is installed in rotation
On the inwall of articular shell (8) and with rotary joint gear (9) engaged transmission, it is described
On steering wheel A (17), outside is arranged with the bearing to rotary joint connector (14)
A (13), geared sleeve is provided between the side of bearing A (13) and the external toothing (10)
Cylinder (12), opposite side is provided with the bearing being set on the rotary joint connector (14)
Collar (15) and the outer collar (16) of the bearing on rotary joint shell (8) inwall,
The outer ring of the bearing A (13) is limited by gear sleeve (12) and the outer collar (16) of bearing
Position, inner ring is spacing by collar (15) in the bearing；The rotary joint shell (8)
Driven by steering wheel A (17) and rotated, and then drive each orthogonal joint (2) and pawl to close
Section (1) is rotated.
2. the open-ended modularity mechanical arm as described in claim 1, it is characterised in that：Institute
The external diameter for stating external toothing (10), gear sleeve (12) and bearing A (13) is identical, the tooth
The both sides of wheel sleeve (12) respectively with the external toothing (10) and the outer ring of bearing A (13)
Abut.
3. the open-ended modularity mechanical arm as described in claim 1, it is characterised in that：Institute
Pawl joint (1) is stated positioned at the end of mechanical arm, the end effector as mechanical arm, the pawl
Joint (1) including steering wheel D (23), pawl articular shell (21), pawl joint transmission mechanism,
Finger portion A (25), refer to portion B (27) and reverse-flighted screw (29), the steering wheel D (23) with
Last described orthogonal joint (2) is connected, and output end passes through the pawl joint transmission mechanism
It is connected with the reverse-flighted screw (29) being rotatably installed on pawl articular shell (21), drives described
Reverse-flighted screw (29) rotates, and the finger portion A (25) and refers to one end of portion B (27) to hold
Row end, thread segment of the other end respectively with the reverse-flighted screw (29) two ends is threadedly coupled, and leads to
Cross the reverse-flighted screw (29) rotarily drive finger portion A (25) and refer to portion B (27) clamp
Or loosen.
4. the open-ended modularity mechanical arm as described in claim 3, it is characterised in that：Institute
State the thread rotary orientation of reverse-flighted screw (29) two ends thread segment conversely, the finger portion A (25) and
Finger portion B (27) is connected to by nut counterclockwise (26) and nut clockwise (28) respectively
On the thread segment at reverse-flighted screw (29) two ends.
5. the open-ended modularity mechanical arm as described in claim 3 or 4, it is characterised in that：
Reverse-flighted screw (29) two ends respectively connect a bearing B (24), bearing B (24) point
It is not fixed in the bearing spider (30) at two ends, the bearing spider (30) at two ends is fixed
On pawl articular shell (21)；The outer cup of the articulations digitorum manus little gear (34) has gear hub
(22), the gear hub (22) is on pawl articular shell (21), the pawl articular shell
(21) it is connected on the steering wheel D (23) by support (36).
6. the open-ended modularity mechanical arm as described in claim 3, it is characterised in that：Institute
Pawl joint transmission mechanism is stated for gear drive, including articulations digitorum manus gear wheel (32) and refers to pass
Section little gear (34), the articulations digitorum manus little gear (34) is by shaft coupling (33) and the rudder
The output end of machine D (23) is connected, and the articulations digitorum manus gear wheel (32) is installed in reverse-flighted screw
(29) on, with the reverse-flighted screw (29) rotate, and with the articulations digitorum manus little gear (34)
Engaged transmission；The steering wheel D (23) drives reverse-flighted screw (29) by gear drive
Rotate so as to realize referring to the folding of portion A (25) and finger portion B (27).
7. the open-ended modularity mechanical arm as described in claim 3, it is characterised in that：Institute
State finger portion A (25) and refer to that the both sides of portion B (27) other end are equipped with slide block B (37), should
Finger portion A (25) and referring to is all provided with the pawl articular shell (21) of portion B (27) other end both sides
There is a guide rail (31), the finger portion A (25) and refer to the slide block B of portion B (27) other end both sides
(37) guide rail (31) respectively with both sides is slidably connected, and realizes the finger portion A (25)
And refer to that portion B (27) is moved back and forth along guide rail (31).
8. the open-ended modularity mechanical arm as described in claim 1, it is characterised in that：Respectively
Orthogonal joint (2) structure is identical, used as the arm body namely the mechanical arm of the mechanical arm
Expansible module；Each described orthogonal joint (2) is orthogonal including a steering wheel and one
Connector (19), the motor body of the steering wheel is provided with motor outward flange, first it is described just
The motor body of steering wheel in joint (2) is handed over to pass through orthogonal joint connector (35) installed in institute
State on rotary joint shell (8), orthogonal connector (19) in first orthogonal joint (2)
One end be connected with the motor outward flange on steering wheel in first orthogonal joint (2), separately
One end is connected with the motor body of steering wheel in adjacent orthogonal joint (2)；Last is described just
Hand over the motor body and the orthogonal connector in adjacent orthogonal joint (2) of steering wheel in joint (2)
(19) connect, the orthogonal connector (19) in last described orthogonal joint (2)
End is connected with the motor outward flange of steering wheel in orthogonal joint last described (2), the other end
It is connected with the pawl joint (1)；Each orthogonal joint (2) is used as the expansible of mechanical arm
Module, each described orthogonal joint (2) with a rotational freedom, described in adjacent two just
Can be relatively rotated between friendship joint (2).
9. the open-ended modularity mechanical arm as described in claim 8, it is characterised in that：Phase
The output shaft of steering wheel is perpendicular in orthogonal joint (2) described in adjacent two.
10. the open-ended modularity mechanical arm as described in claim 1, it is characterised in that：Institute
Stepping guide rail (3) is stated as bottom mobile platform, the prismatic pair is which is provided with, the movement
Pair includes sliding block A (5) and screw mandrel (6), the steering wheel A (17) in the rotary joint (4)
On sliding block A (5), the two ends of the screw mandrel (6) are rotatably installed in stepping guide rail (3)
On, either end is connected with the output end of the stepper motor (7), the stepper motor (7)
Drive screw (6) is rotated, and then drives the sliding block A (5) to advance or retreat, and then band
Move the manipulator motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511025343.4A CN106926227A (en) | 2015-12-31 | 2015-12-31 | A kind of open-ended modularity mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511025343.4A CN106926227A (en) | 2015-12-31 | 2015-12-31 | A kind of open-ended modularity mechanical arm |
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| Publication Number | Publication Date |
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| CN106926227A true CN106926227A (en) | 2017-07-07 |
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|---|---|---|---|
| CN201511025343.4A Pending CN106926227A (en) | 2015-12-31 | 2015-12-31 | A kind of open-ended modularity mechanical arm |
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| CN109227596A (en) * | 2018-10-22 | 2019-01-18 | 哈尔滨工业大学（深圳） | A kind of variation rigidity flexible joint device |
| CN110465928A (en) * | 2019-08-23 | 2019-11-19 | 河北工业大学 | A kind of paths planning method of storage commodity pick-and-place mobile platform and the mobile platform |
| CN111113478A (en) * | 2020-01-13 | 2020-05-08 | 上海工程技术大学 | Rotary joint of reconfigurable mechanism |
| CN113183139A (en) * | 2021-05-10 | 2021-07-30 | 北京化工大学 | Small flexible drive snake-shaped mechanical arm |
| CN114536362A (en) * | 2022-02-24 | 2022-05-27 | 中国民用航空飞行学院 | Flexible aircraft paint removal robot and use method thereof |
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| CN110465928A (en) * | 2019-08-23 | 2019-11-19 | 河北工业大学 | A kind of paths planning method of storage commodity pick-and-place mobile platform and the mobile platform |
| CN110465928B (en) * | 2019-08-23 | 2021-03-23 | 河北工业大学 | Storage commodity taking and placing mobile platform and path planning method of mobile platform |
| CN111113478A (en) * | 2020-01-13 | 2020-05-08 | 上海工程技术大学 | Rotary joint of reconfigurable mechanism |
| CN111113478B (en) * | 2020-01-13 | 2022-09-13 | 上海工程技术大学 | Rotary joint of reconfigurable mechanism |
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| CN114536362A (en) * | 2022-02-24 | 2022-05-27 | 中国民用航空飞行学院 | Flexible aircraft paint removal robot and use method thereof |
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