CN107696017A - A kind of flexible mechanical arm simple in construction - Google Patents
A kind of flexible mechanical arm simple in construction Download PDFInfo
- Publication number
- CN107696017A CN107696017A CN201711090875.5A CN201711090875A CN107696017A CN 107696017 A CN107696017 A CN 107696017A CN 201711090875 A CN201711090875 A CN 201711090875A CN 107696017 A CN107696017 A CN 107696017A
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- CN
- China
- Prior art keywords
- joint
- mechanical arm
- point
- rotating shaft
- posterior
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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
-
- 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
-
- 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
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of flexible mechanical arm simple in construction, include the cross axle of force piece, some groups of preceding joints and posterior joint, the preceding joint of connection and posterior joint, the posterior joint and preceding joint of every group of preceding joint and posterior joint respectively as adjacent sets, cross axle includes the rotating shaft one and rotating shaft two intersected, rotating shaft one is fixedly connected with preceding joint/posterior joint of one of which, while rotating shaft two connects with posterior joint/preceding arthrodesis of adjacent sets.This flexible mechanical arm between preceding joint and posterior joint by setting the cross axle for being easy to rotate, Power Component is formed by pulley, steel wire etc. with reference to interspersed be connected between preceding joint and the fixed part of posterior joint, mechanical arm is set easily to realize the rotation of multiple angles, its principle is simple, light structure, cost are cheap, can be applied to the multiple fields such as industry, military affairs, aviation, amusement, service.
Description
Technical field
The present invention relates to mechanical arm field, more particularly to a kind of flexible mechanical arm simple in construction.
Background technology
Mechanical arm is one kind of robot, and traditional mechanical arm is rigid link composition, generally have series, parallel or
Three kinds of structures of serial-parallel mirror.The characteristics of this kind of mechanical arm is that have discrete joint and be rigidly connected, and also has one kind to be based on octopus
The bionical non-individual body mechanical arm of the biologic-organs such as arm, trunk.Because non-individual body mechanical arm can produce flexible become in any part
Shape, so with very strong avoidance ability, various complexity can be better adapted to, preferably capture irregularly shaped object.This kind of machine
Tool arm both can load onto clamping device to capture object as tradition machinery arm in end, can also utilize mechanical arm in itself
Bending carried to roll object.From the structure of this mechanical arm, its structure is complex, but function is also more
It is powerful, there is good compliance and adaptability；From this mechanical arm functionally, its operation object is often that some are soft
Soft, fragile and lived target, and traditional mechanical arm is then not easily achieved.
Current flexible mechanical arm is according to can typically be divided into three classes for type of drive：It is interior driving, outer driving
And hybrid drive-type.Fluid-operated mode is filled in interior driving use bellows, outer driving use lightweight non-individual body adds far
The mode of journey driving, hybrid drive-type are then that synthesis adopts inside and outside two kinds of driving hybrid plans.It is outer driving or mixed
Close it is driving in lightweight non-individual body convenient bending can be realized as primary structure using lightweight flexible bar.But this machine
For tool arm due to complicated, cost is higher, can not well be generalized in various fields and apply, and therefore, design one kind can push away
Extensively with the flexible mechanical arm that principle is simple, light structure, cost are cheap be urgent problem to be solved.
The content of the invention
Present invention seek to address that above-mentioned mentioned technical problem, there is provided one kind can conveniently realize full angle rotation
The simple flexible mechanical arm of structure.
The present invention is realized by following technical scheme：A kind of flexible mechanical arm simple in construction, including some groups
Relative rotation is dynamic between preceding joint and posterior joint, the cross axle in the preceding joint of connection and posterior joint, the preceding joint of control and posterior joint
Power part, cross axle can rotate around the rotating shaft one or rotating shaft two of composition cross axle, rotating shaft one and rotating shaft two respectively with preceding joint and after
Arthrodesis connects.
Preferably, the rotating shaft one is mutually perpendicular to rotating shaft two and is fixedly connected at middle part.
Preferably, the preceding joint and posterior joint include first point of beam and second point of beam, first point of beam and second point of beam
It is mutually perpendicular to and is fixedly connected at middle part.
Preferably, the first Fen Liang both ends in the preceding joint each extend over out projection towards posterior joint side, posterior joint
Second Fen Liang both ends each extend over out projection towards preceding joint side.
Preferably, two projections on first point of beam and second point of beam are to fluted to opening up, and rotating shaft one and turn
The plugged and fixed of axle two is in groove.
Preferably, including telescopic soft face, the end of the first point of beam and second point of beam of preceding joint and posterior joint are equal
It is connected on the inwall in the soft face.
Preferably, the force piece includes being arranged at preceding joint, the pulley of posterior joint and cross axle the same side, through cunning
The steel wire of wheel and the fixed part being arranged on preceding joint and posterior joint, fixed part include the first fixation being arranged on preceding joint
Portion and the second fixed part being arranged on posterior joint.
Preferably, first fixed part is arranged at one end of first point of beam/the second point beam in preceding joint, and second fixes
Portion is arranged at the other end of first point of beam/the second point beam of posterior joint, the both ends of steel wire and the first fixed part and the second fixed part
It is connected respectively.
Preferably, the force piece also includes motor, and pulley is arranged on the output shaft of motor.
Beneficial effect is：This flexible mechanical arm is easy to the cross axle of rotation by being set between preceding joint and posterior joint,
Power Component is formed by pulley, steel wire etc. with reference to interspersed be connected between preceding joint and the fixed part of posterior joint, makes mechanical arm
The rotation of multiple angles can easily be realized, its principle is simple, light structure, cost are cheap, can be applied to industry, army
The multiple fields such as thing, aviation, amusement, service.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, required in being described below to embodiment
The accompanying drawing used briefly describes.Obviously, described accompanying drawing is the part of the embodiment of the present invention, rather than all real
Example is applied, those skilled in the art on the premise of not paying creative work, can also obtain other according to these accompanying drawings and set
Meter scheme and accompanying drawing.
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structural representation of the preceding joint of the present invention, posterior joint and cross axle；
Fig. 3 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
The part of the embodiment of invention, rather than whole embodiments, based on embodiments of the invention, those skilled in the art is not
The other embodiments obtained on the premise of paying creative work, belong to protection scope of the present invention.In addition, institute in text
All annexations mentioned, not singly refer to component and directly connect, and refer to can according to specific implementation situation, by addition or
Connection auxiliary is reduced, to form more excellent attachment structure.Each technical characteristic in the invention, in not conflicting punching
Can be with combination of interactions on the premise of prominent.
Specific embodiment, as shown in Figures 1 to 3, a kind of flexible mechanical arm simple in construction, including some groups of preceding joints 21
It is relative between posterior joint 22, the cross axle 3 in the preceding joint 21 of connection and posterior joint 22, the preceding joint 21 of control and posterior joint 22 to turn
The force piece at angle, cross axle 3 can rotate around the rotating shaft one or rotating shaft two of composition cross axle 3, rotating shaft one and rotating shaft two respectively with it is preceding
Joint 21 is fixedly connected with posterior joint 22, and rotating shaft one is mutually perpendicular to rotating shaft two and is fixedly connected at middle part, and preceding joint 21 is with after
Joint 22 includes first point of beam 2a and second point of beam 2b, first point of beam 2a and second point of beam 2b are mutually perpendicular to and consolidated at middle part
Fixed connection.First point of beam 2a both ends in preceding joint 21 each extend over out projection towards the side of posterior joint 22, and the of posterior joint 22
Two points of beam 2b both ends each extend over out projection towards the preceding side of joint 21.Two on first point of beam 2a and second point of beam 2b are convex
Rise to fluted to opening up, rotating shaft one and the plugged and fixed of rotating shaft two are in groove.
As shown in figure 3, this flexible mechanical arm simple in construction also includes telescopic soft face 4, preceding joint 21 and rear pass
The first point of beam 2a and second point of beam 2b of section 22 end are connected on the inwall in the soft face 4.
As shown in figure 1, force piece include be arranged at preceding joint 21, posterior joint 22 and the same side of cross axle 3 pulley 11,
Steel wire 12 and the fixed part that is arranged on preceding joint 21 and posterior joint 22 through pulley 11, fixed part include being arranged at preceding pass
Save the first fixed part 13a on 21 and the second fixed part 13b being arranged on posterior joint 22.
First point of beam 2a/ second that first fixed part 13a is arranged at preceding joint 21 divides beam 2b one end, the second fixed part
First point of beam 2a/ second that 13b is arranged at posterior joint 22 divides the beam 2b other end, the both ends of steel wire 12 and the first fixed part 13a
It is connected respectively with the second fixed part 13b.Fixed part is consolidated with preceding joint 21 and posterior joint 22 by way of socket connection
It is fixed, enable fixed part and steel wire 12 is stronger is fixed in cross fixed beam 2, force piece also includes motor, and pulley 11 is set
It is placed on the output shaft of motor.
When the flexible mechanical arm is in unbent original state, as shown in figure 3, between each cross fixed beam 2
The relation being parallel to each other is kept, now motor does not work, and pulley 11 also keeps original state, does not rotate；Work as flexible mechanical arm
When needing to be bent, such as when the flexible mechanical arm is needed such as lateral bend to the left in Fig. 1 and Fig. 3, motor rotational band first
Movable pulley 11 rotates in the counterclockwise direction, and the steel wire 12 for connecting the first fixed part 13a shrinks toward close to the direction of pulley 11, band
First point of beam 2a/ second where dynamic first fixed part 13a divides beam 2b to rotate down, while connects the second fixed part 13b steel
Line 12 loosens toward the direction away from pulley 11, and first point of beam 2a/ second where driving the second fixed part 13b divides beam 2b upward
Rotate, while first point of beam 2a/ second of other preceding joints 21 and posterior joint 22 divides beam 2b left side also to rotate down, it is other
First point of beam 2a/ second of preceding joint 21 and posterior joint 22, which divides on the right side of beam 2b, to be rotated up, and makes all preceding joints 21 and rear pass
The overall lateral bend to the left of section 22, and because the end in preceding joint 21 and the first point of beam 2a and second point of beam 2b of posterior joint 22 is equal
It is connected on the inwall in the soft face 4, preceding joint 21, posterior joint 22 and overall lateral bend, the drive to the left of cross axle 3 can stretch
The lateral bend to the left of soft face 4 of contracting, so that whole flexible mechanical arm lateral bend to the left.
Similarly, when motor rotational band movable pulley 11 is rotated in the clockwise direction, the flexible mechanical arm can lateral bending to the right
Song, on this basis, the rotation of axial certain angle is surrounded with reference to flexible mechanical arm, you can easily realize flexible mechanical arm
The bending of full angle, flexible mechanical arm is set to adjust 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 this hair
Any modification of bright spirit and scope or equivalent substitution, it all should cover in the range of technical solution of the present invention.
Claims (9)
1. a kind of flexible mechanical arm simple in construction, it is characterised in that including some groups of preceding joints and posterior joint, the preceding joint of connection
The force piece of relative rotation between the cross axle of posterior joint, the preceding joint of control and posterior joint, cross axle can be around composition cross axle
Rotating shaft one or rotating shaft two rotate, rotating shaft one and rotating shaft two are fixedly connected with preceding joint and posterior joint respectively.
A kind of 2. flexible mechanical arm simple in construction according to claim 1, it is characterised in that：The rotating shaft one and rotating shaft
Two are mutually perpendicular to and are fixedly connected at middle part.
A kind of 3. flexible mechanical arm simple in construction according to claim 1, it is characterised in that：The preceding joint and rear pass
Section includes first point of beam and second point of beam, and first point of beam and second point of beam are mutually perpendicular to and be fixedly connected at middle part.
A kind of 4. flexible mechanical arm simple in construction according to claim 1, it is characterised in that：The first of the preceding joint
Fen Liang both ends each extend over out projection towards posterior joint side, and the second Fen Liang both ends of posterior joint are prolonged respectively towards preceding joint side
Stretch out raised.
A kind of 5. flexible mechanical arm simple in construction according to claim 4, it is characterised in that：First point of Liang He
Two projections on two points of beams are to fluted to opening up, and rotating shaft one and the plugged and fixed of rotating shaft two are in groove.
A kind of 6. flexible mechanical arm simple in construction according to claim 1, it is characterised in that：Including telescopic soft
First point of beam of face, preceding joint and posterior joint and the end of second point of beam are connected on the inwall in the soft face.
A kind of 7. flexible mechanical arm simple in construction according to claim 2, it is characterised in that：The force piece includes setting
Be placed in preceding joint, posterior joint and cross axle the same side pulley, through pulley steel wire and be arranged on preceding joint and posterior joint
Fixed part, fixed part includes the first fixed part for being arranged on preceding joint and the second fixed part being arranged on posterior joint.
A kind of 8. flexible mechanical arm simple in construction according to claim 7, it is characterised in that：First fixed part is set
One end of first point of beam/the second point beam in preceding joint is placed in, the second fixed part is arranged at first point of beam/the second point beam of posterior joint
The other end, the both ends of steel wire are connected respectively with the first fixed part and the second fixed part.
A kind of 9. flexible mechanical arm simple in construction according to claim 7, it is characterised in that：The force piece also includes
Motor, pulley are arranged on the output shaft of motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711090875.5A CN107696017A (en) | 2017-11-08 | 2017-11-08 | A kind of flexible mechanical arm simple in construction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711090875.5A CN107696017A (en) | 2017-11-08 | 2017-11-08 | A kind of flexible mechanical arm simple in construction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107696017A true CN107696017A (en) | 2018-02-16 |
Family
ID=61180056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711090875.5A Pending CN107696017A (en) | 2017-11-08 | 2017-11-08 | A kind of flexible mechanical arm simple in construction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107696017A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070270650A1 (en) * | 2006-05-19 | 2007-11-22 | Robert Eno | Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope |
| CN101664924A (en) * | 2009-08-05 | 2010-03-10 | 河北工业大学 | Two-degree freedom rope traction and parallel-connection mechanism |
| CN202592390U (en) * | 2012-04-09 | 2012-12-12 | 株洲市中成机械制造有限公司 | Universal flexible manipulator |
| CN204223011U (en) * | 2014-10-07 | 2015-03-25 | 邢鹏达 | A kind of snake-shaped robot |
| CN107322583A (en) * | 2017-08-30 | 2017-11-07 | 享奕自动化科技（上海）有限公司 | A kind of snakelike arm |
| CN207534797U (en) * | 2017-11-08 | 2018-06-26 | 江门市众能电控科技有限公司 | A kind of flexible mechanical arm simple in structure |
-
2017
- 2017-11-08 CN CN201711090875.5A patent/CN107696017A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070270650A1 (en) * | 2006-05-19 | 2007-11-22 | Robert Eno | Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope |
| CN101664924A (en) * | 2009-08-05 | 2010-03-10 | 河北工业大学 | Two-degree freedom rope traction and parallel-connection mechanism |
| CN202592390U (en) * | 2012-04-09 | 2012-12-12 | 株洲市中成机械制造有限公司 | Universal flexible manipulator |
| CN204223011U (en) * | 2014-10-07 | 2015-03-25 | 邢鹏达 | A kind of snake-shaped robot |
| CN107322583A (en) * | 2017-08-30 | 2017-11-07 | 享奕自动化科技（上海）有限公司 | A kind of snakelike arm |
| CN207534797U (en) * | 2017-11-08 | 2018-06-26 | 江门市众能电控科技有限公司 | A kind of flexible mechanical arm simple in structure |
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