CN107650114A - A kind of coaxial linked flexible mechanical arm based on universal structure - Google Patents
A kind of coaxial linked flexible mechanical arm based on universal structure Download PDFInfo
- Publication number
- CN107650114A CN107650114A CN201711091473.7A CN201711091473A CN107650114A CN 107650114 A CN107650114 A CN 107650114A CN 201711091473 A CN201711091473 A CN 201711091473A CN 107650114 A CN107650114 A CN 107650114A
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- China
- Prior art keywords
- rotating shaft
- cross axle
- fixed part
- mechanical arm
- universal
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- 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
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of coaxial linked flexible mechanical arm based on universal structure, universal structure, the Power Component of cross axle including several series connection, the adjacent cross axle of connection, Power Component includes being arranged at the pulley of cross axle side, the steel wire through pulley, the fixed part that is arranged on cross axle, fixed part includes being arranged at the first fixed part of the side of one/rotating shaft of rotating shaft two and being arranged at the second fixed part of the opposite side of one/rotating shaft of rotating shaft two, and the both ends of steel wire are connected respectively with the first fixed part and the second fixed part.Based on the coaxial linked flexible mechanical arm of universal structure by setting the universal structure for being easy to rotate between the cross axle of series connection, Power Component is formed by pulley, steel wire etc. with reference to being interspersed between cross axle, mechanical arm is set easily to realize the rotation of full angle, its principle is simple, light structure, cost are cheap, can be applied to industrial machinery Automated assembly, the multiple fields such as pipeline fault detection is repaired.
Description
Technical field
The present invention relates to mechanical arm field, more particularly to a kind of coaxial linked flexible mechanical arm based on universal structure.
Background technology
In recent years, with the development of robot technology, the robot architecture for ratio of conducting oneself with dignity using high speed, high accuracy, high capacity
Paid close attention to by industry and aerospace field.Due to the increase of joint in motion process and the flexible effect of connecting rod, make structure
Deform so that the precision of tasks carrying reduces.So robot arm structural flexibility feature must pay attention to, it is real
Existing flexible mechanical arm high accuracy effectively control also must be considered that system dynamics.Flexible mechanical arm is one extremely complex
Dynamic system, its kinetics equation have the characteristics that non-linear, close coupling, consolidation.Flexible mechanical arm be not only one it is hard and soft
The nonlinear system of coupling, and be also that system dynamics and control characteristic intercouple the nonlinear system of i.e. mechanical-electric coupling
System.Compared with existing frequently-used Rigid Robot Manipulator, flexible mechanical arm has that high sensitivity, bearing capacity are strong, adapt to Special Ring
A variety of advantages such as border.
Current flexible mechanical arm, because the parts type and quantity of composition are various, cause it is complicated, cost compared with
Height, the multiple fields such as industrial machinery Automated assembly, pipeline fault detection reparation can not be generalized to well, therefore,
It is urgent problem to be solved to design the cheap flexible mechanical arm of a kind of simple principle that can be promoted the use, light structure, cost.
The content of the invention
Present invention seek to address that above-mentioned mentioned technical problem, there is provided it is a kind of it is simple in construction, be capable of full angle bending
Coaxial linked flexible mechanical arm based on universal structure.
The present invention is realized by following technical scheme：A kind of coaxial linked flexible mechanical based on universal structure
Arm, including the cross axle of several series connection, universal structure, the Power Component of the adjacent cross axle of connection：
Cross axle includes the rotating shaft one and rotating shaft two for being mutually perpendicular to and being connected at middle part；
The both ends of universal structure are respectively fixedly connected includes sub- universal joint and mother ten thousand in the middle part of adjacent cross axle, universal structure
Xiang Jie, sub- universal joint include connecting rod and are fixed on connecting rod towards the orbicule of female universal joint one end, put down between spherical external surface
Row is provided with some first chutes, and female universal joint includes connecting rod and is fixed on connecting rod towards the fixed claw of sub- universal joint one end,
Fixed claw is made up of some fixed strips corresponding with the first chute, and fixed strip is bent along between spherical external surface, and every
The side of fixed strip towards orbicule is provided with the second chute, rotatable accommodating in corresponding first chute and the second chute
There is spheroid, sub- universal joint and female universal joint is rotatably connected together；
Power Component include be arranged at cross axle side pulley, through pulley steel wire, be arranged at consolidating on cross axle
Determine portion, fixed part includes being arranged at the first fixed part of the side of one/rotating shaft of rotating shaft two, is arranged at the opposite side of one/rotating shaft of rotating shaft two
The second fixed part, the both ends of steel wire are connected respectively with the first fixed part and the second fixed part.
Preferably, the fixed part is fixed with cross axle by way of socket connection.
Preferably, the surface of the spheroid, the first chute and the second chute is all covered with magnetic material.
Preferably, the fixed strip may be contained within a concentric spherical of spherical external surface, the concentric spherical
Radius is more than the radius of spherical external surface.
Preferably, including telescopic soft face, the end of the rotating shaft one in cross axle and rotating shaft two is connected to described
On the inwall in soft face.
Preferably, the center of rotation of the pulley is fixed with the output shaft of motor, and motor is driven by forward or reverse and slided
Wheel rotates clockwise or counterclockwise.
Beneficial effect is：Pass through based on the coaxial linked flexible mechanical arm of universal structure between the cross axle of series connection
The universal structure for being easy to rotate is set, Power Component is formed by pulley, steel wire etc. with reference to being interspersed between cross axle, makes machinery
Arm can easily realize the rotation of full angle, and its principle is simple, light structure, cost are cheap, can be applied to industrial machinery
The multiple fields such as Automated assembly, pipeline fault detection reparation.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing briefly describes.Obviously, described accompanying drawing is the part of the embodiment of the present invention, rather than is all implemented
Example, those skilled in the art on the premise of not paying creative work, can also obtain other designs according to these accompanying drawings
Scheme and accompanying drawing.
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the schematic diagram of cross axle of the present invention and universal structure；
Fig. 3 is the schematic diagram of universal structure of the present invention；
Fig. 4 is the use state diagram of the present invention.
Embodiment
Carried out below with reference to the design of embodiment and accompanying drawing to the present invention, concrete structure and caused technique effect clear
Chu, it is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright part of the embodiment, rather than whole embodiments, based on embodiments of the invention, those skilled in the art is not paying
The other embodiments obtained on the premise of creative work, belong to protection scope of the present invention.In addition, be previously mentioned in text
All annexations, not singly refer to component and directly connect, and refer to can be according to specific implementation situation, by adding or reducing connection
Auxiliary, to form more excellent attachment structure.Each technical characteristic in the invention, on the premise of not conflicting conflict
Can be with combination of interactions.
Specific embodiment, as shown in Figures 1 to 4, a kind of coaxial linked flexible mechanical arm based on universal structure, if including
Cross axle 2, universal structure 3, the Power Component of the adjacent cross axle 2 of connection of dry series connection：
Wherein, cross axle 2 includes the rotating shaft 1 and rotating shaft 2 22 for being mutually perpendicular to and being connected at middle part；Universal structure 3
Both ends are respectively fixedly connected in the middle part of adjacent cross axle 2, and universal structure 3 includes sub- universal joint 31 and female universal joint 32, and son is universal
Section 31 includes connecting rod and is fixed on connecting rod towards the orbicule 31a of female one end of universal joint 32, parallel between orbicule 31a outer surfaces
Some the first chute 31b are provided with, female universal joint 32 includes connecting rod and is fixed on connecting rod consolidating towards sub- one end of universal joint 31
Determine pawl 32a, fixed claw 32a is made up of some fixed strips corresponding with the first chute 31b, and fixed strip is along orbicule 31a appearances
Bent between face, and every fixed strip towards orbicule 31a side are provided with the second chute 32b, corresponding first chute
It is rotatable in 31b and the second chute 32b to be equipped with spheroid 33, sub- universal joint 31 and female universal joint 32 is rotatably connected to
Together；Power Component include be arranged at the side of cross axle 2 pulley 11, through pulley 11 steel wire 12, be arranged on cross axle 2
Fixed part, fixed part include be arranged at the side of one 21/ rotating shaft of rotating shaft 2 22 the first fixed part 13a, be arranged at rotating shaft 1
Second fixed part 13b of the opposite side of rotating shaft 2 22, the both ends of steel wire 12 are distinguished with the first fixed part 13a and the second fixed part 13b
Connection.
Fixed strip may be contained within a concentric spherical of orbicule 31a outer surfaces, and the radius of above-mentioned concentric spherical is more than
The radius of orbicule 31a outer surfaces, and the surface of the spheroid 33, the first chute 31b and the second chute 32b is all covered with magnetic
Material.Rolled when between the second chute 32b of the spheroid 33 on the first chute 31b and female universal joint 32 on sub- universal joint 31
When, spheroid 33 will not roll out from the first chute 31b and the second chute 32b.
Fixed part is fixed with cross axle 2 by way of socket connection, enables the 12 stronger fixation of fixed part and steel wire
On cross axle 2.
When the flexible mechanical arm is in unbent original state, as shown in figure 4, keeping phase between each cross axle 2
Mutually parallel relation, now motor do not work, pulley 11 does not rotate；When flexible mechanical arm needs to be bent, such as when
When the flexible mechanical arm needs the left lateral bending into Fig. 1 and Fig. 4, motor rotational band movable pulley 11 rotates in the counterclockwise direction.
The steel wire 12 for connecting the first fixed part 13a shrinks toward close to the direction of pulley 11, drives the rotating shaft one where the first fixed part 13a
21/ rotating shaft 2 22 is bent downwardly, while the steel wire 12 for connecting the second fixed part 13b loosens toward the direction away from pulley 11, drives
The rotating shaft 2 22 of rotating shaft 1 where second fixed part 13b is bent upwards, while the rotating shaft two of rotating shaft 1 of other cross axles 2
22 left side is also bent downwardly, and the right side of the rotating shaft 2 22 of rotating shaft 1 of other cross axles 2, which is bent downwardly, to be also bent upwards, and is made
All overall lateral bends to the left of cross axle 2, and by the rotating shaft 1 in cross axle 2 and the end of rotating shaft 2 22 are connected to institute
On the inwall for stating soft face 4, all overall lateral bends to the left of cross axle 2, telescopic soft face 4 lateral bend to the left is driven, from
And make whole flexible mechanical arm lateral bend to the left.
Similarly, with reference to the rotation of flexible mechanical arm itself certain angle, you can easily realize flexible mechanical arm full angle
Bending, flexible mechanical arm is adjusted direction and the angle of bending as needed.
Above example is not limited to the embodiment technical scheme of itself, can be incorporated between embodiment new
Embodiment.The above embodiments are merely illustrative of the technical solutions of the present invention and is not limited, all without departing from the present invention
Any modification of spirit and scope or equivalent substitution, it all should cover in the range of technical solution of the present invention.
Claims (6)
1. a kind of coaxial linked flexible mechanical arm based on universal structure, it is characterised in that include the cross of several series connection
Universal structure, the Power Component of axle, the adjacent cross axle of connection：
Cross axle includes the rotating shaft one and rotating shaft two for being mutually perpendicular to and being connected at middle part；
The both ends of universal structure are respectively fixedly connected in the middle part of adjacent cross axle, and universal structure includes sub- universal joint and mother is universal
Section, sub- universal joint includes connecting rod and is fixed on connecting rod towards the orbicule of female universal joint one end, parallel between spherical external surface
Some first chutes are provided with, female universal joint includes connecting rod and is fixed on connecting rod towards the fixed claw of sub- universal joint one end, Gu
Determine pawl to be made up of some fixed strips corresponding with the first chute, fixed strip is bent along between spherical external surface, and every solid
The side for determining bar towards orbicule is provided with the second chute, rotatable in corresponding first chute and the second chute to be equipped with
Spheroid, sub- universal joint and female universal joint is set rotatably to be connected together；
Power Component includes being arranged at the pulley of cross axle side, the steel wire through pulley, the fixed part that is arranged on cross axle,
Fixed part includes being arranged at the first fixed part of the side of one/rotating shaft of rotating shaft two, is arranged at the second of the opposite side of one/rotating shaft of rotating shaft two
Fixed part, the both ends of steel wire are connected respectively with the first fixed part and the second fixed part.
A kind of 2. coaxial linked flexible mechanical arm based on universal structure according to claim 1, it is characterised in that：Institute
Fixed part is stated to fix by way of socket connection with cross axle.
A kind of 3. coaxial linked flexible mechanical arm based on universal structure according to claim 1, it is characterised in that：Institute
The surface for stating spheroid, the first chute and the second chute is all covered with magnetic material.
A kind of 4. coaxial linked flexible mechanical arm based on universal structure according to claim 1, it is characterised in that：Institute
State fixed strip to may be contained within a concentric spherical of spherical external surface, the radius of the concentric spherical is more than orbicule appearance
The radius in face.
A kind of 5. coaxial linked flexible mechanical arm based on universal structure according to claim 1, it is characterised in that：Bag
Include telescopic soft face, the end of rotating shaft one and rotating shaft two in cross axle is connected on the inwall in the soft face.
A kind of 6. coaxial linked flexible mechanical arm based on universal structure according to claim 1, it is characterised in that：Institute
The center of rotation for stating pulley is fixed with the output shaft of motor, and motor is turned clockwise or counterclockwise by forward or reverse band movable pulley
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711091473.7A CN107650114A (en) | 2017-11-08 | 2017-11-08 | A kind of coaxial linked flexible mechanical arm based on universal structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711091473.7A CN107650114A (en) | 2017-11-08 | 2017-11-08 | A kind of coaxial linked flexible mechanical arm based on universal structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107650114A true CN107650114A (en) | 2018-02-02 |
Family
ID=61120608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711091473.7A Withdrawn CN107650114A (en) | 2017-11-08 | 2017-11-08 | A kind of coaxial linked flexible mechanical arm based on universal structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107650114A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758455A (en) * | 2019-09-29 | 2020-02-07 | 中国北方车辆研究所 | Double-track structure single-drive type flexible positioning device and locking device |
| CN111195903A (en) * | 2020-01-13 | 2020-05-26 | 中南大学 | Underactuated universal flexible arm and robot |
| CN114407074A (en) * | 2022-01-19 | 2022-04-29 | 苏州大学 | Under-actuated continuum mechanical arm |
-
2017
- 2017-11-08 CN CN201711091473.7A patent/CN107650114A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758455A (en) * | 2019-09-29 | 2020-02-07 | 中国北方车辆研究所 | Double-track structure single-drive type flexible positioning device and locking device |
| CN111195903A (en) * | 2020-01-13 | 2020-05-26 | 中南大学 | Underactuated universal flexible arm and robot |
| CN114407074A (en) * | 2022-01-19 | 2022-04-29 | 苏州大学 | Under-actuated continuum mechanical arm |
| CN114407074B (en) * | 2022-01-19 | 2022-11-18 | 苏州大学 | Under-actuated continuum mechanical arm |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180202 |