CN107433620B - Casing type fully-flexible mechanical arm driven in layered mode - Google Patents
Casing type fully-flexible mechanical arm driven in layered mode Download PDFInfo
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- CN107433620B CN107433620B CN201710808602.3A CN201710808602A CN107433620B CN 107433620 B CN107433620 B CN 107433620B CN 201710808602 A CN201710808602 A CN 201710808602A CN 107433620 B CN107433620 B CN 107433620B
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- flexible arm
- switching
- glass fiber
- rubber sleeve
- flexible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a casing type fully-flexible mechanical arm driven in a layered mode, and belongs to the field of industrial robots. The device consists of a flexible arm, a frame and a slide rail. The flexible arm and the slide rail are fixed on the rack, the flexible arm is of a telescopic structure, and the posture of the flexible arm is controlled by the slide rail. The slide rail 3 is equipped with two sets ofly altogether, and two sets of slide rails symmetry are settled in the frame. The layered driving can control the posture of the flexible arm, and the purpose of avoiding obstacles is achieved. The flexible arm can save more space when not in use due to the telescopic function, and the annular hollow design can be used for conveying materials and placing electric wires, air pipes and the like for controlling a top manipulator. The flexible arm has the advantages of perfect structure function, simple and reasonable structure and stronger practicability.
Description
Technical Field
The invention relates to an S-shaped fully flexible mechanical arm, in particular to a telescopic and hollow fully flexible mechanical arm structure. Belongs to the field of industrial robots.
Background
The mechanical arm is widely applied to welding equipment and assembling and manufacturing equipment at home and abroad. At present, most of mechanical arms are driven by a rigid connecting rod combined with a motor at a rotating shaft, and the structure has the advantages of high rigidity and stability, large space required in the motion process and low flexibility. Compared with the traditional rigid joint type mechanical arm, the flexible mechanical arm has stronger human-computer interaction and higher flexibility, and can be applied to various working occasions such as medical rehabilitation and agricultural picking.
Disclosure of Invention
The invention aims to provide a sleeve type fully-flexible mechanical arm driven in a layered mode. The layered driving can control the posture of the flexible arm, and the purpose of avoiding obstacles is achieved. The flexible arm can save more space when not in use due to the telescopic function, and the annular hollow design can be used for conveying materials and placing electric wires, air pipes and the like for controlling a top manipulator.
In order to achieve the purpose, the technical scheme adopted by the invention is a sleeve type fully-flexible mechanical arm driven in a layered mode, and the device is composed of a flexible arm 1, a rack 2 and a sliding rail 3. The flexible arm 1 and the slide rail 3 are both fixed on the frame 2, the flexible arm 1 is of a telescopic structure, and the posture of the flexible arm 1 is controlled by the slide rail 3. The number of the sliding rails 3 is four, and the four sliding rails 3 are symmetrically arranged on the frame 2.
The flexible arm 1 consists of a tail end segment 1-1, a U-shaped clamp 1-2, glass fibers 1-3, a middle segment 1-4 and a rubber sleeve 1-5. The tail end of each glass fiber 1-3 is locked on the tail end segment 1-1 through two U-shaped clamps 1-2 at two ends of the tail end segment 1-1, the middle segment 1-4 is fixed at the tail end of the rubber sleeve 1-5, and four glass fibers 1-3 respectively penetrate through the four rubber sleeves 1-5.
The frame 2 is composed of an aluminum section bar 2-1, angle iron 2-2, a roller 2-3, a roller seat 2-4 and a bolt 2-5. The aluminum profile 2-1 and the angle iron 2-2 are fixed through bolts 2-5. The roller 2-3 is fixed on the frame 2 composed of the aluminum section bar 2-1 through the roller seat 2-4. The rollers 2-3 are in contact with the rubber sleeves 1-5, keeping the bottom of the flexible arm 1 vertical.
The slide rail 3 is composed of a slide block 3-1, a cover plate 3-2, a bolt 3-3, a lead screw 3-4, a coupling 3-5, a motor 3-6, a base 3-7, a lever 3-8, a switching locking block 3-9, a switching plate 3-10, an electromagnet 3-11, a return spring 3-12 and a guide rail 3-13. The cover plate 3-2 is arranged on the sliding block 3-1 through four bolts 3-3 on the periphery, and the glass fiber 1-3 is clamped between the cover plate 3-2 and the sliding block 3-1. The sliding block 3-1 moves along the axial direction of the screw rod 3-4 by the rotation of the screw rod 3-4, and the symmetrically arranged feed rods 3-8 pass through holes at two sides of the sliding block 3-1. The motor 3-6 is connected with the screw rod 3-4 through the coupler 3-5, and the motor 3-6 drives the screw rod 3-4 to rotate. The tail ends of the rubber sleeves 1-5 are bonded at the through holes at one side of the switching locking blocks 3-9, and the rubber sleeves 1-5 and the switching locking blocks 3-9 move synchronously. The guide rail 3-13 penetrates through a through hole on the other side of the switching locking block 3-9, and the screw rod 3-4 penetrates through a square hole in the middle of the switching locking block 3-9. The body of the electromagnet 3-11 is fixed on the switching locking block 3-9, the movable rod of the electromagnet 3-11 is connected with the switching plate 3-10, and the return spring 3-12 is pressed between the electromagnet 3-11 and the switching plate 3-10.
Compared with the prior art, the flexible arm has the advantages of perfect structure and function, simple and reasonable structure and stronger practicability.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a first stage deformation of the rubber tube of the present invention as it is extended;
FIG. 3 is a view of a flexible arm of the present invention;
FIG. 4 is a block diagram of the housing of the present invention;
FIG. 5 is a slide rail construction of the present invention;
FIG. 6 is a diagram of a switching locking block on the slide rail of the present invention;
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1, in the extended position of the flexible arm. A casing type fully-flexible mechanical arm driven in a layered mode comprises a telescopic flexible arm 1, a rack 2 and a sliding rail 3. Wherein the flexible arm 1 and the slide rail 3 are both fixed on the frame 2. The number of the slide rails 3 is 4, and the slide rails are symmetrically arranged on the rack 2 in pairs.
As shown in fig. 2, the flexible arm is in a semi-compressed state with the rubber tube 1-5 extended and the glass fiber 1-3 unextended.
As shown in figure 3, the flexible arm 1 is composed of a tail end segment 1-1, a U-shaped clamp 1-2, a glass fiber 1-3, a middle segment 1-4 and a rubber sleeve 1-5. The tail end of each glass fiber 1-3 is locked on the tail end segment 1-1 through two U-shaped clamps 1-2 at two ends of the tail end segment 1-1, the middle segment 1-4 is fixed at the tail end of the rubber sleeve 1-5, and 4 glass fibers 1-3 respectively penetrate through 4 rubber sleeves 1-5.
As shown in figure 4, the frame 2 consists of an aluminum section bar 2-1, angle iron 2-2, a roller 2-3, a roller seat 2-4 and bolts 2-5. The aluminum profile 2-1 is fixed through the angle iron 2-2 and the bolt 2-5. The roller 2-3 is fixed on the frame 2 composed of the aluminum section bar 2-1 through the roller seat 2-4. The roller 2-3 is contacted with the rubber sleeve 1-5, so that the bottom of the flexible arm is kept vertical.
As shown in fig. 5 and 6, the slide rail 3 is composed of a slide block 3-1, a cover plate 3-2, a bolt 3-3, a screw rod 3-4, a coupler 3-5, a motor 3-6, a base 3-7, a lever 3-8, a switching locking block 3-9, a switching plate 3-10, an electromagnet 3-11, a return spring 3-12 and a guide rail 3-13. The cover plate 3-2 is arranged on the sliding block 3-1 through 4 bolts 3-3 on the periphery, and the glass fiber 1-3 is clamped between the cover plate 3-2 and the sliding block 3-1. The sliding block 3-1 moves along the axial direction of the screw rod 3-4 by the rotation of the screw rod 3-4, and the symmetrically arranged feed rods 3-8 pass through holes at two sides of the sliding block 3-1. The motor 3-6 is connected with the screw rod 3-4 through the shaft coupling 3-5 and drives the screw rod 3-4 to rotate. The tail ends of the rubber sleeves 1-5 are bonded at one end of the through hole on the right side of the switching locking block 3-9 and move synchronously with the switching locking block 3-9. The guide rail 3-13 passes through a through hole at the left side of the switching locking block 3-9, and the screw rod 3-4 passes through a square hole in the middle of the switching locking block 3-9. The body of the electromagnet 3-11 is fixed on the switching locking block 3-9, the movable rod is connected with the switching plate 3-10, and the return spring 3-12 is pressed between the electromagnet 3-11 and the switching plate 3-10.
In an initial state, the switching locking block 3-9 connected with each rubber sleeve 1-5 and the sliding block 3-1 connected with each glass fiber 1-3 are arranged at the bottommost part. To achieve the extended state shown in fig. 1, two sets of rubber sleeves 1-5 on opposite sides and glass fibers 1-3 are moved upward by different distances. In order to keep the synchronous movement of the switching locking block 3-9 and the glass fiber 1-3, the electromagnet 3-11 is released, under the pressure of the return spring 3-12, the switching plate 3-10 makes the rubber sleeve 1-5 deform and generate friction with the root glass fiber 1-3, when the glass fiber 1-3 is driven by the slide block 3-1, the rubber sleeve 1-5 and the switching locking block 3-9 are also synchronously driven upwards, so that the compression posture of fig. 2 is formed.
After the posture of fig. 2 is formed, the glass fiber 1-3 needs to independently move in the rubber sleeve 1-5, the electromagnet 3-11 is electrified, so that the switching plate 3-10 moves towards the guide rail 3-13 and finally contacts with the guide rail 3-13, the switching locking block 3-9 is locked at the required height of the guide rail 3-13, and the rubber sleeve 1-5 is adhered with the switching locking block 3-9, so that the position is also kept fixed. The switching plate 3-10 is far away from the rubber sleeve 1-5, the extrusion force between the glass fiber 1-3 and the rubber sleeve 1-5 disappears, and therefore the glass fiber 1-3 can independently move under the driving of the sliding block 3-1. The motor 3-6 rotates to make the sliding block 3-1 carry the glass fiber 1-3 to continue to form the upper end posture of the flexible arm as shown in figure 1.
Claims (2)
1. The utility model provides a full flexible robotic arm of layer drive's sleeve type which characterized in that: the sleeve type fully-flexible mechanical arm driven in a layered mode consists of a flexible arm (1), a rack (2) and a sliding rail (3); the flexible arm (1) and the sliding rail (3) are fixed on the rack (2), the flexible arm (1) is of a telescopic structure, and the posture of the flexible arm (1) is controlled by the sliding rail (3); the four sliding rails (3) are arranged on the rack (2) symmetrically;
the flexible arm (1) consists of a tail end segment (1-1), a U-shaped clamp (1-2), glass fibers (1-3), a middle segment (1-4) and a rubber sleeve (1-5); the tail end of each glass fiber (1-3) is locked on the tail end segment (1-1) through two U-shaped clamps (1-2) at two ends of the tail end segment (1-1), the middle segment (1-4) is fixed at the tail end of the rubber sleeve (1-5), and four glass fibers (1-3) respectively penetrate through the four rubber sleeves (1-5);
the frame (2) consists of an aluminum section bar (2-1), angle iron (2-2), a roller (2-3), a roller seat (2-4) and a bolt (2-5); the aluminum profile (2-1) and the angle iron (2-2) are fixed through bolts (2-5); the roller (2-3) is fixed on a frame (2) consisting of aluminum profiles (2-1) through a roller seat (2-4); the roller (2-3) is in contact with the rubber sleeve (1-5) to ensure that the bottom of the flexible arm (1) is kept vertical;
the sliding rail (3) consists of a sliding block (3-1), a cover plate (3-2), a bolt (3-3), a lead screw (3-4), a coupler (3-5), a motor (3-6), a base (3-7), a feed bar (3-8), a switching locking block (3-9), a switching plate (3-10), an electromagnet (3-11), a reset spring (3-12) and a guide rail (3-13); the cover plate (3-2) is arranged on the sliding block (3-1) through four bolts (3-3) on the periphery, and the glass fiber (1-3) is clamped between the cover plate (3-2) and the sliding block (3-1); the sliding block (3-1) moves along the axial direction of the screw rod (3-4) through the rotation of the screw rod (3-4), and the symmetrically arranged feed rods (3-8) pass through holes at two sides of the sliding block (3-1); the motor (3-6) is connected with the screw rod (3-4) through the coupler (3-5), and the motor (3-6) drives the screw rod (3-4) to rotate; the tail ends of the rubber sleeves (1-5) are bonded at the through holes at one side of the switching locking blocks (3-9), and the rubber sleeves (1-5) and the switching locking blocks (3-9) move synchronously; the guide rail (3-13) penetrates through a through hole on the other side of the switching locking block (3-9), and the screw rod (3-4) penetrates through a square hole in the middle of the switching locking block (3-9); the body of the electromagnet (3-11) is fixed on the switching locking block (3-9), the electromagnet (3-11) is movably connected with the switching plate (3-10), and the reset spring (3-12) is pressed between the electromagnet (3-11) and the switching plate (3-10).
2. The fully flexible robot arm of the layered driving sleeve type according to claim 1, wherein: in an initial state, the switching locking block (3-9) connected with each rubber sleeve (1-5) and the sliding block (3-1) connected with each glass fiber (1-3) are arranged at the bottommost part; to reach the extension state, two groups of rubber sleeves (1-5) at the opposite side and glass fibers (1-3) need to move upwards for the same distance; in order to keep the synchronous movement of the switching locking block (3-9) and the glass fiber (1-3), the electromagnet (3-11) is released, the switching plate (3-10) enables the rubber sleeve (1-5) to deform and generate friction with the glass fiber (1-3) under the pressure of the reset spring (3-12), and when the glass fiber (1-3) is driven by the sliding block (3-1), the rubber sleeve (1-5) and the switching locking block (3-9) are also synchronously driven upwards, so that a compressed posture is formed firstly;
after a compressed posture is formed, the glass fiber (1-3) needs to independently move in the rubber sleeve (1-5), the electromagnet (3-11) is electrified, so that the switching plate (3-10) moves towards the guide rail (3-13) and finally contacts with the guide rail (3-13), the switching locking block (3-9) is locked at the required height of the guide rail (3-13), and the rubber sleeve (1-5) is bonded with the switching locking block (3-9) and the position is also kept fixed; the switching plate (3-10) is far away from the rubber sleeve (1-5), and the extrusion force between the glass fiber (1-3) and the rubber sleeve (1-5) disappears, so that the glass fiber (1-3) independently moves under the driving of the sliding block (3-1); the motor (3-6) rotates to enable the sliding block (3-1) to carry the glass fiber (1-3) to continue to form the upper end gesture of the flexible arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710808602.3A CN107433620B (en) | 2017-09-09 | 2017-09-09 | Casing type fully-flexible mechanical arm driven in layered mode |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710808602.3A CN107433620B (en) | 2017-09-09 | 2017-09-09 | Casing type fully-flexible mechanical arm driven in layered mode |
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| Publication Number | Publication Date |
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| CN107433620A CN107433620A (en) | 2017-12-05 |
| CN107433620B true CN107433620B (en) | 2020-07-31 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108393924B (en) * | 2018-02-10 | 2020-04-17 | 北京工业大学 | Line-driven telescopic bending full-flexible mechanical arm structure |
| CN115067214A (en) * | 2022-05-30 | 2022-09-20 | 北京工业大学 | Flexible milking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4751821A (en) * | 1985-03-29 | 1988-06-21 | Birchard William G | Digital linear actuator |
| KR101130831B1 (en) * | 2010-03-30 | 2012-03-28 | 한국수력원자력 주식회사 | Telescopic Tube set of Bridge Transport System |
| KR102025125B1 (en) * | 2012-04-02 | 2019-11-04 | 삼성전자주식회사 | Driving device usable with robot arm and robot arm |
| US9539726B2 (en) * | 2012-04-20 | 2017-01-10 | Vanderbilt University | Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots |
| CN203589964U (en) * | 2013-10-12 | 2014-05-07 | 罗世明 | Totally motor-driven coil inserting machine |
| CN104476533B (en) * | 2014-11-27 | 2017-01-11 | 清华大学 | Master-slave control flexible continuum robot device and control method thereof |
| CN205814427U (en) * | 2016-03-16 | 2016-12-21 | 北京理工大学 | A kind of master-slave mode interventional surgery remote operating system |
| CN105751210B (en) * | 2016-04-13 | 2018-06-26 | 上海交通大学 | A kind of modularization highly redundant multiple degrees of freedom flexible mechanical arm system |
| CN106002988B (en) * | 2016-06-15 | 2018-09-04 | 北京工业大学 | A kind of variable length bending Grazing condition machinery arm configuration |
| CN107020620B (en) * | 2017-05-11 | 2020-07-14 | 上海交通大学 | Flexible sorting robot system |
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