CN107322583A - A kind of snakelike arm - Google Patents
A kind of snakelike arm Download PDFInfo
- Publication number
- CN107322583A CN107322583A CN201710761342.9A CN201710761342A CN107322583A CN 107322583 A CN107322583 A CN 107322583A CN 201710761342 A CN201710761342 A CN 201710761342A CN 107322583 A CN107322583 A CN 107322583A
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- CN
- China
- Prior art keywords
- joint
- base
- hole
- hooke
- connecting rod
- 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.)
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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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
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
Abstract
The invention discloses a kind of snakelike arm, including arm body, it is formed by multiple connecting rods concatenation, it is flexibly connected between adjacent links by rotary joint, each rotary joint is included on a pair, lower bottom base and its between Hooke's joint, on, lower bottom base is correspondingly provided with around first, one circle first through hole of the second universal-joint fork, connecting rod it is upper, lower surface is provided with multiple positioning holes for being connected with base, on same connecting rod, set between two universal-joint forks of lower surface in 90+ ɑ degree, wherein ɑ is acute angle, and ɑ angular dimension can be adjusted by positioning hole, two groups of pivots of each Hooke's joint are sequentially passed through on each rotary joint below by four drag-lines, a corresponding first through hole is connected to a corresponding driver element on lower bottom base, pass through drawing of the driver element to drag-line, control the rotation of Hooke's joint, to control the multi-dimensional movement of snakelike arm, realize the operational capacity of high flexibility.
Description
Technical field
The present invention relates to electric automobile automatic charging technical field, it is used for electric automobile more particularly, to one kind automatic
The Snakelike mechanical arm of charging robot technical equipment.
Background technology
As electric automobile is in the popularization of international and national, while being developed into the big step of electric automobile timesharing charter business
Background, the human-based management problem that electric automobile timesharing lease is present also is highlighted, especially the charging modes of electric automobile.
At present, traditional charging modes set electric automobile charging pile, charging using charging station or in city different zones
Process is completely dependent on artificial operation, and automaticity is low, and the electric automobile leased particularly with timesharing is even more so.
Electric automobile automatic charging and unmanned full automatic working are realized, the management cost of charging station can be greatly lowered,
The car experience and processing safety of timesharing lease are greatly enhanced, is charged for electric car and provides great convenience to lessee and car owner
Condition.Also, electric automobile automatic charging can be combined with other automation installations, such as automatic parking, automated cleaning, shape
Into perfect electric automobile automation services system, fully realize intelligent.
In order to realize the automatic charging of electric automobile, electric automobile automatic charging machine people's technology can be used as using mechanical arm
Equipment carries out plugging between charging cable and electric automobile.However, in the prior art, traditional industrial machinery arm is limited to just
Degree and size limitation, its free degree is limited, and adaptive capacity to environment is poor, and therefore, it is difficult to be competent at the automatic charging mistake of electric automobile
Journey.
The content of the invention
It is an object of the invention to overcome the drawbacks described above that prior art is present to be filled automatically for electric automobile there is provided one kind
The snakelike arm of electric machine people's technical equipment, realizes electric automobile automatic charging and unmanned full automatic working.
To achieve the above object, technical scheme is as follows：
A kind of snakelike arm, including：
Arm body, it is formed by multiple connecting rods concatenation, is flexibly connected between adjacent links by rotary joint, and each rotation is closed
Section include a pair of upper and lower bases and its between Hooke's joint, wherein upper bed-plate provided with a pair and Hooke's joint its
In the pivot joint of one group of pivot the first universal-joint fork, another group pivot of the lower bottom base provided with a pair and Hooke's joint be pivotally connected the
Two universal-joint forks, the upper and lower base is correspondingly provided with the circle first through hole around first, second universal-joint fork；Except top connects
Outside bar the upper surface of each connecting rod provided with it is multiple for be connected with lower bottom base positioning hole, in addition to bottom linkage rod under each connecting rod
End face be provided with multiple positioning holes for being connected with upper bed-plate, positioned at small end face a universal-joint fork of lower bottom base second and
Set between a universal-joint fork of upper bed-plate first of the connecting rod lower surface in 90+ ɑ degree, wherein ɑ is acute angle, the ɑ's
Angular dimension is adjusted by positioning hole；Wherein, two groups of pivots of each Hooke's joint are worn successively by four drag-lines
Cross a corresponding first through hole on the upper and lower base of each rotary joint below and be connected to a corresponding driver element, pass through
Driver element controls the rotation of Hooke's joint, to control the multi-dimensional movement of snakelike arm to the drawing of drag-line.
Preferably, in addition to support base, its connecting rod lower surface for passing through base deck front and arm body bottom
Connection, the base deck is provided with corresponding with first through hole one the second through hole of circle, and the base deck back side is around connecting rod center
Axle is provided with multiple driver elements, and two groups of pivots of each Hooke's joint sequentially pass through each rotation below by four drag-lines
Corresponding second through hole is connected to corresponding one on a corresponding first through hole and base deck on the upper and lower base in joint
Individual driver element.
Preferably, it is arranged in parallel between each drag-line.
Preferably, the quantity of the first through hole is 4 times of connecting rod quantity, and the angular values of the ɑ are 360 ° and first
The ratio between number of openings.
Preferably, the center of the connecting rod, Hooke's joint and upper and lower base is provided with third through-hole, the base top
The center of plate is provided with fourth hole corresponding with third through-hole, for passing through cable.
Preferably, first sensor is housed on the outside of the entry of first, second universal-joint fork, for detecting cross axle ten thousand
To the anglec of rotation of section.
Preferably, second sensor is also equipped with first, second universal-joint fork, for detecting between adjacent links
Relative position and the relative upper and lower base of adjacent rotary joint between relative position relation.
Preferably, each driver element includes motor, leading screw and sliding block, and the lower section of the base deck is provided with base bottom
It is provided with plate, the base deck and base plate in bearing hole, the bearing hole and bearing block is installed, the silk, which is shouldered, is installed on
In bearing block on base deck and base plate, the motor is installed on the outside of base plate, and passes through shaft coupling and silk
Thick stick is connected；Drive leading screw to rotate by motor, the sliding block being arranged on leading screw is run along leading screw, and drawing is fixed on sliding block
On drag-line, the drag-line is connected to the pivot shaft end of Hooke's joint.
Preferably, the upper and lower base is provided with the connecting hole coordinated with positioning hole.
Preferably, the connecting rod is tubular or is made up of the circle column around connecting rod central shaft.
The advantage of the invention is that：The snakelike arm of the present invention can have high flexibility operational capacity, can realize electronic vapour
The hommization of car charging service, facilitation, intellectuality；Compared to snakelike arm configuration of the prior art, by the present invention in that adjacent
Set to optimize in 90+ ɑ degree between first universal-joint fork of two rotary joint upper bed-plates and the second universal-joint fork of lower bottom base
The arrangement of drag-line, it is ensured that all drag-lines can be kept corresponding with the Hooke's joint pivot that it is pulled while
It is arranged in parallel, it effectively prevent the generation of winding；Meanwhile, by setting multiple for determining for being connected with base in the end face of connecting rod
Position hole, makes each rotary joint be installed on the adjustable angle on connecting rod, facilitates adjustment and positioning for joint position, improves
The kinematic accuracy of snakelike arm, and be conducive to the position correction in later stage；In addition, by the sensor installed on universal-joint fork,
Relative position and adjacent rotary joint between the anglec of rotation of detectable Hooke's joint, adjacent links it is relative it is upper,
Relative position relation between lower bottom base, so as to accurately know the motion conditions of snakelike arm.
Brief description of the drawings
Fig. 1 is a kind of snakelike arm configuration schematic diagram of a preferred embodiment of the present invention；
Fig. 2 is a kind of snakelike arm arm body structural representation of a preferred embodiment of the present invention；
Fig. 3 is the connecting rod of a preferred embodiment of the present invention and the assembled state schematic diagram of rotary joint；
Fig. 4 is the connecting rod of a preferred embodiment of the present invention and the assembled state decomposing schematic representation of rotary joint.
Embodiment
Below in conjunction with the accompanying drawings, the embodiment to the present invention is described in further detail.
It should be noted that in following embodiments, when embodiments of the present invention are described in detail, in order to clear
Ground represents the structure of the present invention in order to illustrate, spy, not according to general scale, and has carried out part to the structure in accompanying drawing
Amplification, deformation and simplified processing, therefore, should avoid being understood in this, as limitation of the invention.
In embodiment of the invention below, Fig. 1-Fig. 4 is referred to, wherein Fig. 1 is that the present invention one is preferably implemented
A kind of snakelike arm configuration schematic diagram of example, Fig. 2 is a kind of snakelike arm arm body structural representation of a preferred embodiment of the present invention；Figure
3 be the connecting rod of a preferred embodiment of the present invention and the assembled state schematic diagram of rotary joint, and Fig. 4 is a preferred embodiment of the present invention
Connecting rod and rotary joint assembled state decomposing schematic representation；It is illustrated as the horizontal form of snakelike arm.As shown in figure 1, of the invention
A kind of snakelike arm, it may include connected 2 two chief components of snakelike arm arm body 1 and support base.Arm body 1 is by multiple
The concatenation of (section) connecting rod 11 is formed；The quantity of connecting rod for example can be between 3 to 10.Pass through one between each two adjacent links
Individual rotary joint 12 is flexibly connected.As shown in Fig. 2 each rotary joint 12 include being used for for a pair respectively with two companies up and down
Bar connects the 11 upper bed-plate 121-1 connect, lower bottom base 121-2 and is rotatably connected between upper and lower base for realizing the cross rotated
Shaft universal-joint (not shown)；Each Hooke's joint carries out rotation control by four drag-lines 13.As shown in figure 1, arm body 1 is logical
A connecting rod for crossing its bottom links together with support base 2.Driver element is provided with support base, for actuating arm
Body carries out multi-dimensional movement.
Fig. 2 and Fig. 3 are referred to, Fig. 2 shows the structure of one section of arm body, and Fig. 3 display connections are located at a upper surface of connecting rod 11
One of lower bottom base 121-2 in one rotary joint of position and the Hooke's joint 122 being connected with lower bottom base, and
One of upper bed-plate 121-1 of the connection in another rotary joint of the lower surface position of connecting rod 11.The adjacent company of each two
It is flexibly connected between bar 11 by a rotary joint 12.Each Hooke's joint 122 has two groups of orthogonal pivots.
Upper bed-plate 121-1 in each rotary joint is provided with a pair and the 10000th of the pivot joint of the one of which pivot of Hooke's joint 122
Another group pivots of the lower bottom base 121-2 provided with a pair with Hooke's joint 122 in 123-1, each rotary joint is pitched to section
Second universal-joint fork 123-2 of pivot joint.Each pair universal-joint fork 123-1,123-2 are vertically arranged, can phase on each pair universal-joint fork
To being horizontally disposed with entry, the both ends horizontal of the one of which pivot of Hooke's joint 122 is put into two entry formation and coordinated
Afterwards, you can make this group of pivot the drag-line 13 that another group of pivot of Hooke's joint is connected by it traction force effect under around
Entry rotates, so as to drive snakelike arm arm body to stress lateral bending motion.
First sensor 125 can be housed on the outside of the entry of first, second universal-joint fork, for detecting cross axle ten thousand
To the anglec of rotation of section 122.
Referring to Fig. 4, under one of them of its display in a rotary joint of a upper surface of connecting rod 11 ' position
Base 121-2 and the Hooke's joint 122 being connected with the lower bottom base, and positioned at the another of the same lower surface of connecting rod 11 ' position
One of upper bed-plate 121-1 in one rotary joint and another Hooke's joint 122 being connected with the upper bed-plate.Remove
Outside a connecting rod at the top of arm body, the upper surface of each connecting rod provided with it is multiple for the positioning hole that is connected with lower bottom base (not
Display), also, in addition to a connecting rod positioned at arm body bottom, the lower surface 111 of each connecting rod is used for and upper bed-plate provided with multiple
The positioning hole 112 of connection；Meanwhile, it is respectively equipped with the connecting hole that end face positioning hole corresponding with connecting rod coordinates in lower bottom base, upper bed-plate
126。
Refer to Fig. 2-Fig. 4.Positioned at two universal-joint forks 123-2,123-1 of the same upper and lower end face of connecting rod 11 (11 ') it
Between in 90+ ɑ degree set, i.e., positioned at small end face a rotary joint lower bottom base the second universal-joint fork 123-2 with being located at
Axially set between first universal-joint fork 123-1 of another rotary joint upper bed-plate of the connecting rod lower surface along arm body in 90+ ɑ degree
Put, wherein ɑ is acute angle.The angular dimension of the ɑ can be adjusted by positioning hole 112, that is, set two neighboring rotation to close
During stagger angle between the universal-joint fork of lower bottom base second and the universal-joint fork of another upper bed-plate first of one of them in section,
Using a circle hole 112 of the processing on connecting rod, by by positioning hole of the connecting hole 126 of lower bottom base from different deflection angles
112 alignments are attached, so that it may adjust lower bottom base the second universal-joint fork 123-2 and connecting rod opposite side the first universal-joint fork of upper bed-plate
The size at ɑ angles between 123-1.Each rotary joint is adjusted successively, so that it may so that each rotation between connecting rod is closed
Mutually one angle of deflection is set (i.e. drift angle is ɑ) successively between the Hooke's joint of section.
The upper and lower base is correspondingly provided with around first, second universal-joint fork (namely around the central shaft of connecting rod)
The evenly distributed first through hole 124 of one circle；Each first through hole is used to wear a drag-line 13, every drag-line connection corresponding one
Individual Hooke's joint 122, Hooke's joint is rotated for pulling.
The quantity of the first through hole is 4 times of connecting rod quantity.Angle (i.e. drift angle) numerical value of the ɑ is 360 ° and first
The ratio between number of openings.The rotary joint of the drag-line quantity that first through hole passed through on each rotary joint from arm body top
Start to increase by 4 drag-lines one by one.For example, it is assumed that one has 10 section connecting rods, then the upper bed-plate and lower bottom base of each rotary joint
It is equipped with 40 through holes.Upper bed-plate (lower bottom base of i.e. first rotary joint) first through hole of first rotary joint passes through 4
Root drag-line, upper bed-plate (lower bottom base of i.e. second rotary joint) first through hole of second rotary joint passes through 8 drag-lines, with
This analogizes, and the lower bottom base first through hole of last rotary joint is through 40 drag-lines, thus under last rotary joint
Base 40 drag-lines of common mistake are connected to corresponding driver element.
The connecting rod 11 can be made up of the circle column around connecting rod central shaft, and the upper and lower base of rotary joint is outer
Week, more than the outline that column is surrounded, is obtained through drag-line, as shown in Figure 2.The connecting rod 11 ' also can using tubular etc. its
His structure, as shown in Figure 3.
It can see by Fig. 1, Fig. 2, certain angle deflected between the universal-joint fork by making adjacent rotary joint and is set, is made
Obtain between each rotary joint corresponds to each pair of universal-joint fork on base and deflected successively according to certain drift angle.So, due to each rotation
Turn between the different cross yokes in joint along a shaft staggered angle (the different cross-axle universal shafts of namely each rotary joint in center
Interlock between section an angle), Hooke's joint that drag-line on it ensure that all Hooke's joints is pulled with it
While pivot is corresponding, also so that being maintained between each drag-line arranged in parallel.
Refer to Fig. 1.Support base 2 is provided with base deck 21 and the base plate 22 below base deck, and phase
Connect and compose body structure.Under (section) connecting rod 11 of support base 2 by its front of base deck 21 and the bottom of arm body 1
End face is connected.It is provided with the base deck 21 and encloses the second through hole (not shown) with each first through hole 124 corresponding one, is used for
Correspondence passes through drag-line 13.
Multiple driver elements 23 are provided with the back side of base deck 21；Each driver element 23 is around (the support of connecting rod central shaft
Base central shaft) set, form tubular structure.Each driver element 23 includes motor 233, leading screw 231 and sliding block 232.It is described
Respectively it is provided with base deck 21 and base plate 22 in a circle bearing hole, the bearing hole and bearing block is installed；Each driving is single
The silk of member 23 is shouldered 231 correspondences and is installed in a pair of bearing on base deck 21 and base plate 22.Each driving is single
The motor 232 of member 23 is arranged on the outside of base plate 22, and is connected by the leading screw 231 of shaft coupling and the driver element
Connect.
Drive leading screw 231 to rotate by motor 233, make the sliding block 232 being arranged on leading screw along leading screw in certain limit
Interior operation, and pull a drag-line 13 being fixed on sliding block, then the Hooke's joint 122 that can control drag-line connection revolves
Turn, so as to reach the purpose for controlling snakelike arm motion.
Each two groups of orthogonal pivots of Hooke's joint sequentially pass through each rotary joint below by four drag-lines 13
Corresponding second through hole is connected to a corresponding drive on a corresponding first through hole and base deck on upper and lower base
On the sliding block of moving cell.The drawing of the drag-line connected by some driver element to it, so that it may control correspondence Hooke's joint
Rotation, control is combined to different driving unit, it is possible to realize and automatically control the purpose that snakelike arm carries out multi-dimensional movement.
For Hooke's joint, if there is angle between input, output shaft, the angular speed of two axles will not
Equal, this can cause to twist between connecting rod and vibrate, thus the kinematic accuracy that will have influence on snakelike arm.It is defeated in order to ensure
Enter, angle, four drag-lines for pulling the pivot of Hooke's joint two, it should be connected to ten are not present between output shaft
On two pivots of word shaft universal-joint, and it is preferably located at the shaft end of two pivots.
For snakelike arm, due to there is multiple connecting rods and rotary joint, that is, there are many set cross-axle universal shafts
Section, such as all will at the same angle be installed between each Hooke's joint, then for driving a plurality of of Hooke's joint
Keeping parallelism is will be unable between drag-line.In this case, when drag-line quantity is more, easily occurs mutual winding.This is in mistake
This problem had not all been considered in the invention gone.
Advantages of the present invention be that due between two Hooke's joints of the upper and lower end face of connecting rod along central shaft
A staggeredly angle, thus in the Hooke's joint pivot phase that ensure that the drag-line of all Hooke's joints is pulled with it
, can keeping parallelism arrangement while correspondence.Also, by setting multiple positioning holes so that install in each cross shaft rotating joint
In the adjustable angle on connecting rod, the position correction in later stage is also beneficial to.
Refer to Fig. 3 and Fig. 4.Threeway is also provided with the center of each connecting rod, Hooke's joint and upper and lower base
Hole, meanwhile, fourth hole (not shown) corresponding with third through-hole is also provided with the center of the base deck；Three, the 4th
Through hole can be used for passing through cable.
In addition, can further be provided with second sensor on first, second universal-joint fork, for detecting between adjacent links
Relative position and the relative upper and lower base of adjacent rotary joint between relative position relation.
Compared to snakelike arm configuration of the prior art, the present invention is by positioned at the two of the upper and lower end face of same connecting rod
Optimize the arrangement of drag-line to increasing a deflection angle ɑ between yoke, it is ensured that all drag-lines are in the cross pulled with it
It while shaft universal-joint pivot is corresponding, can be arranged with keeping parallelism, effectively prevent the generation of winding.
Meanwhile, multiple positioning holes for being connected with base are set by the end face in connecting rod, pacify each rotary joint
Loaded on the adjustable angle on connecting rod, the adjustment and positioning for joint position are facilitated, the kinematic accuracy of snakelike arm is improved, and
Be conducive to the position correction in later stage.
In addition, by the sensor installed on universal-joint fork, can detect the anglec of rotation of Hooke's joint, adjacent company
Relative position relation between the relative upper and lower base of relative position and adjacent rotary joint between bar, so as to standard
Really know the motion conditions of snakelike arm.
The snakelike arm of the present invention can have high flexibility operational capacity, and can realize the human nature of charging electric vehicle service
Change, facilitation, intellectuality.The automatic charging of electric automobile and unmanned full automatic working are realized, charging station can be greatly lowered
Management cost, be greatly enhanced timesharing lease car experience and processing safety, be that electric car charges to lessee and car owner
Great convenience condition is provided.Also, electric automobile automatic charging can be combined with other automation installations, such as automatic parking,
Automated cleaning etc., forms perfect electric automobile automation services system, fully realizes intelligent.
Above-described is only the preferred embodiments of the present invention, the embodiment and the patent guarantor for being not used to the limitation present invention
Scope, therefore the equivalent structure change that every specification and accompanying drawing content with the present invention is made are protected, similarly be should be included in
In protection scope of the present invention.
Claims (10)
1. a kind of snakelike arm, it is characterised in that including：
Arm body, it is formed by multiple connecting rods concatenation, is flexibly connected between adjacent links by rotary joint, each rotary joint bag
Include a pair of upper and lower bases and its between Hooke's joint, wherein upper bed-plate provided with a pair with Hooke's joint wherein one
First universal-joint fork of group pivot pivot joint, lower bottom base is provided with a pair and the 20000th of another group of pivot pivot joint of Hooke's joint
To section fork, the upper and lower base is correspondingly provided with the circle first through hole around first, second universal-joint fork；In addition to top links
The upper surface of each connecting rod provided with it is multiple for be connected with lower bottom base positioning hole, in addition to bottom linkage rod each connecting rod lower surface
Provided with multiple positioning holes for being connected with upper bed-plate, a universal-joint fork of lower bottom base second positioned at small end face is with being located at
Set between one universal-joint fork of upper bed-plate first of the connecting rod lower surface in 90+ ɑ degree, wherein ɑ is acute angle, the angle of the ɑ
Size is adjusted by positioning hole；Wherein, two groups of pivots of each Hooke's joint sequentially pass through it by four drag-lines
A corresponding first through hole is connected to a corresponding driver element on the upper and lower base of each rotary joint in lower section, passes through driving
Unit controls the rotation of Hooke's joint, to control the multi-dimensional movement of snakelike arm to the drawing of drag-line.
2. snakelike arm according to claim 1, it is characterised in that also including support base, it passes through base deck front
It is connected with a connecting rod lower surface of arm body bottom, the base deck leads to provided with corresponding with first through hole one circle second
Hole, the base deck back side is provided with multiple driver elements around connecting rod central shaft, and two groups of pivots of each Hooke's joint lead to
Cross four drag-lines sequentially pass through it is right in a corresponding first through hole and base deck on the upper and lower base of each rotary joint below
Second through hole answered is connected to a corresponding driver element.
3. snakelike arm according to claim 1, it is characterised in that arranged in parallel between each drag-line.
4. snakelike arm according to claim 1, it is characterised in that the quantity of the first through hole is 4 times of connecting rod quantity,
The angular values of the ɑ are 360 ° and first through hole ratio of number.
5. snakelike arm according to claim 2, it is characterised in that the connecting rod, Hooke's joint and upper and lower base
Center is provided with third through-hole, and the center of the base deck is provided with fourth hole corresponding with third through-hole, for passing through cable.
6. snakelike arm according to claim 1, it is characterised in that filled on the outside of the entry of first, second universal-joint fork
There is first sensor, the anglec of rotation for detecting Hooke's joint.
7. snakelike arm according to claim 1, it is characterised in that is also equipped with first, second universal-joint fork
Between two sensors, the upper and lower base relative for detecting relative position and adjacent rotary joint between adjacent links
Relative position relation.
8. snakelike arm according to claim 2, it is characterised in that each driver element includes motor, leading screw and sliding block, institute
The lower section for stating base deck is provided with base plate, is provided with bearing hole, the bearing hole on the base deck and base plate
Bearing block is installed, the silk is shouldered in the bearing block being installed on base deck and base plate, and the motor is installed on base
The outside of bottom plate, and be connected by shaft coupling with leading screw；Drive leading screw to rotate by motor, make the sliding block edge being arranged on leading screw
Leading screw operation, and pulls the drag-line being fixed on sliding block, the drag-line is connected to the pivot shaft end of Hooke's joint.
9. snakelike arm according to claim 1, it is characterised in that the upper and lower base is provided with the company coordinated with positioning hole
Connect hole.
10. snakelike arm according to claim 1, it is characterised in that the connecting rod is for tubular or by around connecting rod central shaft
One circle column composition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710761342.9A CN107322583B (en) | 2017-08-30 | 2017-08-30 | Snake-shaped arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710761342.9A CN107322583B (en) | 2017-08-30 | 2017-08-30 | Snake-shaped arm |
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| Publication Number | Publication Date |
|---|---|
| CN107322583A true CN107322583A (en) | 2017-11-07 |
| CN107322583B CN107322583B (en) | 2020-01-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710761342.9A Active CN107322583B (en) | 2017-08-30 | 2017-08-30 | Snake-shaped arm |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696017A (en) * | 2017-11-08 | 2018-02-16 | 江门市众能电控科技有限公司 | A kind of flexible mechanical arm simple in construction |
| WO2019104907A1 (en) * | 2017-12-01 | 2019-06-06 | 深圳光启合众科技有限公司 | Flexible curved structure and robot with same |
| CN109927020A (en) * | 2018-05-04 | 2019-06-25 | 上海翼人机器人有限公司 | Remote operating six-DOF robot under a kind of nuclear radiation environment |
| CN111113390A (en) * | 2020-01-03 | 2020-05-08 | 南京航空航天大学 | Bionic snake-shaped robot and method |
| CN114043468A (en) * | 2021-11-15 | 2022-02-15 | 清华大学深圳国际研究生院 | Modular equal-curvature mechanical arm based on spherical gear and rack transmission |
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| CN109927020A (en) * | 2018-05-04 | 2019-06-25 | 上海翼人机器人有限公司 | Remote operating six-DOF robot under a kind of nuclear radiation environment |
| CN111113390A (en) * | 2020-01-03 | 2020-05-08 | 南京航空航天大学 | Bionic snake-shaped robot and method |
| CN114043468A (en) * | 2021-11-15 | 2022-02-15 | 清华大学深圳国际研究生院 | Modular equal-curvature mechanical arm based on spherical gear and rack transmission |
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| CN107322583B (en) | 2020-01-10 |
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