CN108908318A - A kind of small-sized super redundancy flexible mechanical arm - Google Patents

A kind of small-sized super redundancy flexible mechanical arm Download PDF

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Publication number
CN108908318A
CN108908318A CN201810768239.1A CN201810768239A CN108908318A CN 108908318 A CN108908318 A CN 108908318A CN 201810768239 A CN201810768239 A CN 201810768239A CN 108908318 A CN108908318 A CN 108908318A
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CN
China
Prior art keywords
mounting
mechanical arm
driving
rack
gear
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Pending
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CN201810768239.1A
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Chinese (zh)
Inventor
徐文福
牟宗高
刘天亮
梁斌
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Shenzhen Graduate School Harbin Institute of Technology
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Shenzhen Graduate School Harbin Institute of Technology
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Priority to CN201810768239.1A priority Critical patent/CN108908318A/en
Publication of CN108908318A publication Critical patent/CN108908318A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Abstract

A kind of small-sized super redundancy flexible mechanical arm, including rack, drive module, mechanical arm module, more driving ropes, mechanical arm module is connected to one end of rack, including multiple concatenated armed levers, armed lever is connected by joint respectively between each other, one end of driving rope is connect with drive module, drive module turns to preset position by driving driving rope to control armed lever, rack includes the several layers mounting portion arranged along the vertical direction, drive module includes several servo driving mechanisms, several servo driving Distribution of Institutions are in mounting portion, each servo driving mechanism respectively includes a steering engine, the transmission gear being mounted on steering engine and the toothed rack engaged with transmission gear, one end of every driving rope is connected in a servo driving mechanism.Small-sized super redundancy flexible mechanical arm of the invention may be implemented the overall volume of the overall dimensions miniaturization of super redundancy flexible mechanical arm, the super redundancy flexible mechanical arm of optimization, and reduce cost.

Description

A kind of small-sized super redundancy flexible mechanical arm
Technical field
The present invention relates to mechanical arm fields, especially super redundancy flexible mechanical arm field.
Background technique
Ultra-redundant degree of freedom mechanical arm is led to solve the problems, such as that conventional serial robot dexterity difference puts forward It crosses and increases a large amount of Joint motion, make the dimension of joint space much larger than task space dimension, the introducing of Joint motion makes machinery Arm can realize desired end posture more flexiblely.Therefore, this mechanical arm particularly suitable for:1, in Anomalistic space Operation equipment, a large amount of Joint motion can make mechanical arm have extremely strong obstacle avoidance ability, make it be especially suitable for extraordinary machine Device people, such as the lifesaving robot for carrying out looking for survivors after earthquake disaster across rubble rubble, nuclear reactor inspection machine people Deng;2, the manipulator for grabbing irregular object, i.e., grab larger size and irregular object using full arm winding mode, It can be used for the exclusion of explosive and the maintenance of space station etc..
But existing super redundancy flexible mechanical arm, as described in patent of invention CN 105150219, super redundant mechanical arm is logical The mode for the drive module drag rope that normal open is set later realizes the determination of the posture of the three-dimensional space of armed lever.Postposition drive module Servo motor, screw rod, sliding block, nut, guide rail etc. are generally included, although this postposition drive module precise control, can be realized The high-speed mobile and quick response of mechanical arm.But it is super as need to only be used in the lab as principle model machine, go to verify For the super redundancy flexible mechanical arm of the basic function of redundancy flexible mechanical arm such as various planning control algorithms, above-mentioned super redundancy Flexible mechanical arm has the following problems:One, at high cost, since the control precision of servo motor, screw rod etc. is very high, cost is also very Height, and also need to be equipped with the bearing block etc. of support, for being only used for the model machine of authentication function, cost when screw rod installation It is excessively high;Two, structure is not compact, and in contrast installation space that servo motor, screw rod, shaft coupling, sliding block etc. need is bigger, for For the space in laboratory, excessively take up space.
Summary of the invention
The present invention in view of the above technical problems, proposes a kind of small-sized super redundancy flexible mechanical arm, to realize super redundancy The overall dimensions miniaturization of flexible mechanical arm optimizes the overall volume of super redundancy flexible mechanical arm, and reduces cost.
A kind of small-sized super redundancy flexible mechanical arm, including rack, drive module, mechanical arm module, more driving ropes are described Mechanical arm module is connected to one end of the rack, including multiple concatenated armed levers, the armed lever pass through pass respectively between each other One end of section connection, the driving rope is connect with the drive module, and the other end is connect with the joint or the armed lever, In, each described joint or the armed lever are at least connected with three driving ropes, and the drive module passes through described in driving Driving rope turns to preset position to control the armed lever, and the rack includes the several layers installation arranged along the vertical direction Portion, the drive module include several servo driving mechanisms, and several servo driving Distribution of Institutions are in the mounting portion, often One servo driving mechanism respectively include a steering engine, the transmission gear being mounted on the steering engine and with the driving cog A toothed rack of engagement is taken turns, one end of the every driving rope is connected in the servo driving mechanism.
Preferably, the servo driving mechanism arranges to horizontal direction parallel in each layer mounting portion respectively.
Preferably, it is separately provided for that the rack gear mounting portion of each rack gear is fixedly mounted on the mounting portion, And for the steering engine mounting portion for slidingly supporting the sliding support portion of each steering engine to be fixedly mounted, the driving rope One end is connect with the steering engine.
It is further preferred that being also respectively provided on the mounting portion for guiding each driving rope to described The rope guide portion of mechanical arm module.
Preferably, the mounting portion includes that the first mounting means and first mounting means are solid by the first connector Surely first connected descends installation part, and descends installation part with first mounting means, first connector, described first respectively Symmetrically arranged second mounting means, the second connector, the second lower installation part.
Preferably, the rack gear mounting portion is separately positioned on first mounting means and second mounting means, The steering engine mounting portion is separately positioned on the described first lower installation part and the second lower installation part, and the rope guide portion is set It sets on second connector.
Preferably, between the transmission gear and the rack gear, also intervention is equipped with gear set mechanism, the gear set machine Structure is mounted on the steering engine.
Preferably, the effective travel phase of the stroke and the rack gear of the walking of gear set mechanism straight line described in the servo driving Together.
Preferably, the drive module includes 18 servo driving mechanisms.
Preferably, the rack includes three layers of mounting portion, and there are six institutes for distribution respectively in mounting portion described in everywhere State servo driving mechanism.
Small-sized super redundancy flexible mechanical arm of the invention has used the cooperation of steering engine and rack pinion driving driving Rope, since the fit structure of steering engine and rack pinion is compact, and by each servo driving mechanism layered arrangement, therefore conduct For verifying the basic function of super redundancy flexible mechanical arm such as the super redundancy flexible mechanical arm of various planning control algorithms, Ke Yishi Now by the overall dimensions miniaturization of super redundancy flexible mechanical arm, the overall volume of the super redundancy flexible mechanical arm of optimization, and reduce Cost.
Detailed description of the invention
Fig. 1 (a) is a kind of structural schematic diagram of embodiment of small-sized super redundancy flexible mechanical arm of the invention;
Fig. 1 (b) is that the embodiment of Fig. 1 (a) omits the structural schematic diagram at another visual angle after mounting cup 12;
Fig. 2 is the partial enlarged view in Fig. 1 (b) at A;
Fig. 3 is a kind of structural schematic diagram of embodiment of part mounting portion and part drive module;
Fig. 4 is a kind of structural schematic diagram of embodiment of servo driving mechanism and gear set mechanism;
Fig. 5 is the partial enlarged view in Fig. 1 (b) at B.
Specific embodiment
Referring to Fig. 1 to Fig. 5, elaborate to the present invention.It should be pointed out that the present invention can be with many differences Mode realize, however it is not limited to embodiment described herein, on the contrary, the purpose of providing these embodiments is to make this field Technical staff it is more thorough and comprehensive to content understanding disclosed in this invention.
In addition, the description that principle according to the present invention carries out illustrative embodiment is intended to carry out in conjunction with attached drawing It reads, a part of entire printed instructions will be considered.In the description of disclosed the embodiment of the present invention, any direction Or the reference in orientation is intended merely to facilitate explanation, and be not intended to limit the scope of the invention in any way.Relational language is such as " front ", " back side ", " top ", " lower part ", " side ", " front end ", " rear end ", " front side portion ", " rear lateral portion ", " in Portion ", " inside ", " outside ", " lower part ", " top ", " horizontal ", " vertical ", " top ", " lower section ", " upward ", " downward ", " top " and " bottom ") and its derivative (for example, " horizontally ", " down ", " upward " etc.) should be explained For orientation shown in the drawings described below or under discussion.These relational languages cannot be wanted only for convenience of purposes of discussion Equipment is asked to be constructed or operated according to particular orientation, unless there are clearly stating.Therefore, the present invention should not be definitely limited to To can individualism or the feature present in other feature combination showing of being illustrated of some possible non-limiting combinations Example property embodiment;Protection scope of the present invention is defined by the following claims.
As currently imagining, this disclosure describes optimization model or practice model of the invention.The present invention is not intended to Understood from limitation level, but is provided in conjunction with the accompanying drawings only for the invention example for illustrating to use, to inform this field Those of ordinary skill's advantages of the present invention and construction.In the various views of attached drawing, identical appended drawing reference refer to it is identical or Similar component.
(a), Fig. 1 (b) referring to Fig.1, a kind of small-sized super redundancy flexible mechanical arm, including rack 1, drive module 2, mechanical arm Module 3, more driving ropes 4.Mechanical arm module 3 is connected to one end of rack 1, including multiple concatenated armed levers 31,31 phase of armed lever It is connected respectively by joint 32 between mutually, one end of driving rope 4 is connect with drive module 2, the other end and joint 32 or armed lever 31 connections, wherein each joint 32 or armed lever 31 are at least connect with three driving ropes 4, and drive module 2 passes through driving driving rope 4 to make armed lever 31 turn to preset position, and specifically, drive module 2 pulls armed lever 31 or joint by driving driving rope 4 32 change angle, so that armed lever 31 be made to turn to preset position, the preset position in the present embodiment refers to commissioning staff Or the position that the desired armed lever 31 of demonstration personnel reaches.Rack 1 includes the several layers mounting portion 11 arranged along the vertical direction, Drive module 2 includes several servo driving mechanisms 21, and several servo driving mechanisms 21 are distributed in mounting portion 11, specifically, if Dry servo driving mechanism 21 arranges to horizontal direction in each layer of mounting portion 11.In the present embodiment, horizontal direction refers to Such as direction parallel with horizontal positioned desktop.
In addition, for the ease of the management of driving rope 4 drum 5 can also be provided with out in rack 1, drum 5 can be set out It is set to and is coaxially disposed with mechanical arm module 3, the other end of all driving ropes 4 connecting with drive module 2 is via out in rack 1 Drum 5 is connect with each armed lever 31 or joint 32.
Referring to Fig. 2, Fig. 3, in the present embodiment, drive module 2 includes 18 servo driving mechanisms 21, and each steering engine drives Motivation structure 21 is connect with a driving rope 4 respectively.In order to further minimize rack 1, rack 1 includes three layers of mounting portion 11, Each layer of mounting portion 11 can be connected through a screw thread, and be locked up and down.There are six steering engines to drive for distribution respectively in everywhere mounting portion 11 Motivation structure 21.Each servo driving mechanism 21 respectively includes a steering engine 211, the transmission gear 212 being mounted on steering engine 211 And the toothed rack 213 engaged with transmission gear 212, one end of every driving rope 4 are connected to servo driving mechanism at one On 21.
Mounting portion 11 is fixed including the first mounting means 114a, with the first mounting means 114a by the first connector 115a The first of connection lower installation part 116a, the first mounting means 114a, the first connector 115a, the first lower fixed peace of installation part 116a It is in paliform after dress.In the present embodiment, the first mounting means 114a, the first connector 115a, the first lower installation part 116a can To use profile welding fabrication, the profile stated herein refers to that the side of such as steel or aluminum is logical, square is logical, channel steel, round tube sheet Standard component well known to the those of ordinary skill of field.Second mounting means 114b, the second connector 115b, the second lower installation part After 116b is fixedly mounted, it is in equally paliform, can also use profile welding fabrication, the structure and first after welding fabrication Structure after mounting means 114a, the first connector 115a, the first lower installation part 116a welding fabrication is roughly the same, and is installing In portion 11, the two is substantially symmetrical, is based on this, in the following description, only with the first mounting means 114a, the first connector 115a, the first lower installation part 116a are illustrated.
In addition, the first mounting means 114a, the first connector 115a, the first lower installation part 116a can also use aluminium profiles Material builds completion, since the small-sized super redundancy flexible mechanical arm is used as principle machine to use in the lab, lays particular emphasis on the small of space Typeization requirement, and intensity requirement is not laid particular emphasis on, therefore, mounting portion 11 can be used aluminum profile and build completion.
Again, the first mounting means 114a, the first lower installation part 116a, the first connector 115a may each be by steel plate or The part for the strip that person's aluminium sheet is process, and be connected by screw between each other.
Alternatively, mounting portion 11 can also use whole plate to be directly process.
As described above, in order to save space, each servo driving mechanism 21 horizontal direction parallel in mounting portion 11 respectively Arrangement.Wherein, it is separately provided for that the rack gear mounting portion 111 of each toothed rack 213 is fixedly mounted on mounting portion 11, and is used for The steering engine mounting portion 112 for slidingly supporting the sliding support portion 214 of each steering engine 211 is fixedly mounted, driving rope 4 One end is connect with steering engine 211.Steering engine 211 is mounted in sliding support portion 214, and in the present embodiment, sliding support portion 214 can be with Selection linear slide rail, the combination of two sets of linear steering axis and linear bearing, dovetail groove or non-standard de-sign can prevent it from leading The guide frame etc. rotated during, preferably linear slide rail.When steering engine 211 drives, driving cog is driven by steering engine 211 Wheel 212 is rotated and is engaged with rack gear 213, so that it is mobile to make 211 rectilinear direction of steering engine, to pull driving rope 4.In addition, installation It is also respectively provided in portion 11 for guiding each driving rope 4 to the rope guide portion 113 of drum out.
It, can be respectively on first when mounting portion 11 is welded using profile, or is formed by connecting by the part of strip Counterbore or threaded hole are offered on installation part 114a, the second mounting means 114b, correspondingly, the both ends of rack gear 213 can be with Threaded hole or counterbore are offered respectively, thus on the top of mounting portion 11 by the first mounting means 114a, the second mounting means 114b is fixedly connected.Correspondingly, the first lower installation part 116a, the second lower installation part 116b can offer counterbore or screw thread Hole, and the both ends of linear slide rail pass through the first lower installation part 116a, the counterbore of the second lower installation part 116b or threaded hole respectively and connect It connects, to be fixedly connected from the lower part of mounting portion 11 by the first lower installation part 116a, the second lower installation part 116b.
Similarly, when mounting portion 11 is built using aluminum profile, rack gear 213 and linear slide rail can pass through aluminium profiles respectively The mounting groove of material connects fastening.Certainly, mounting portion 11 is built another using aluminum profile and is useful in that, adjustable to be mounted on Center between transmission gear 212 on the output shaft of steering engine 211 and rack gear 213 is away to improve transmission gear 212 and rack gear The accuracy of mesh between 213.
Therefore, in the present embodiment, on the first mounting means 114a of mounting portion 11, the first lower installation part 116a and second Installation part 114b, the second lower installation part 116b are actually by the connection of rack gear 213 and linear slide rail so that one constituted is whole Body.Here, rack gear 213 while a part as transmission mechanism, plays the function of connection mounting portion 11, and linearly slide For rail then while being driven guiding to steering engine 211, the function of playing connection mounting portion 11 therefore through this structure, can The overall dimensions of rack 1 to be minimized as much as possible.
In the present embodiment, rope guide portion 113 is arranged on the second connector 115b, specifically, in the second connector The guide hole for driving rope 4 to pass through is offered on 115b.It is scraped off when rope passes through guide hole in order to prevent, it can in guide hole To be embedded with the bushing (not shown) of copper perhaps plastic material and the edge of bushing be provided with chamfering or fillet.Other Embodiment in, rope guide portion 113 can also install the roller (not shown) with guiding groove on the second connector 115b, 4 guidance of rope will be driven to drum 5 (referring to Fig.1 (a)) out.
After mounting portion 11 connects and composes an entirety by rack gear 213 and linear slide rail 214, each 11 up and down direction of mounting portion It is connected by screw-threaded coupling, constitutes rack 1.The periphery of rack 1 is also provided with mounting cup 12 (or referring to Fig.1 (a)), respectively Mounting portion 11 is respectively contained in mounting cup 12.Mechanical arm module 3 and drum 5 is coaxially coupled to the side of rack 1 respectively out Mounting cup 12 middle part.Each driving rope 4 passes through drum 5 via rope guide portion 113 respectively, is then attached to each mechanical arm The armed lever 31 of module 3.
In the present embodiment, as 211 performance indicator of steering engine is:1) maximum pulse width:500-2500us;2) maximum angle: 180°;3) point in:1500us;4) torsion (4.8V):17.25kg.cm;5) torsion (6V):20.32kg-cm;6) size: 40.5*20.2*38mm;7) weight:62g.
The outer dimension of steering engine 211 is only 40.5*20.2*38mm, compared to servo motor, needed for installation space it is big The earth declines.
Referring to Fig. 4, in an improved embodiment, in order to improve the output torque of servo driving mechanism 21, driving cog Between wheel 212 and rack gear 213, also intervention is equipped with gear set mechanism 22, and gear set mechanism 22 is mounted on steering engine 211.
Steering engine 211 and gear set mechanism 22 are illustrated below.
Steering engine 211 includes mounting lug 211a, and 215 one end of steering engine mounting plate is connect with mounting lug 211a, the other end It locks to the sliding block of linear slide rail 214.Gear set mechanism 22 includes first gear mounting base 221, and first gear mounting base 221 is same It is connect with the mounting lug 221a of steering engine 211 to sample, it is preferable that steering engine mounting plate 215 leads to together with first gear mounting base 221 Bolt and nut is crossed to lock on mounting lug 221a.Driving rope 4 can pass through the modes such as compression, clamping, knotting and the first tooth Mounting base 221 or steering engine mounting plate 215 is taken turns to connect, driving rope 4 similarly can also by the same mode and joint 32 or Armed lever 31 connects.
In the gear set mechanism 22, it is preferable that increase the output torque of steering engine 211 using two-stage gear set.Gear Group mechanism 22 includes second gear mounting base 222, and second gear mounting base 222 is locked in first gear mounting base 221, In, first order gear set 22a, second level gear set 22b respectively include the gear wheel 223a/223b of coaxial arrangement, pinion gear The rotation axis 224 of 225a/225b and installation gear wheel 223a/223b, pinion gear 225a/225b, one end axis of rotation axis 224 connect In first gear mounting base 221, other end axis is connected to second gear mounting base 222, can be in addition, in order to save installation space Be arranged copper bushing it is (not shown) replace bearing remove axis support rotating axis 224.Gear about two-stage gear set 22a, 22b The modulus m of configuration, gear wheel 223a/223b and pinion gear 225a/225b are preferably 0.5, and the number of teeth is preferably gear wheel 223a/223b:Pinion gear 225a/225b=2:1, such as tooth number Z of preferred gear wheel 223a/223b1It is 48, pinion gear 225a/ The tooth number Z of 225b2It is 24, is mounted on 212 modulus of transmission gear of 211 output shaft of steering engine and the number of teeth can be set to and gear wheel The modulus and the number of teeth of 223a/223b is identical.
Due in the present embodiment, selecting the steering engine 211 of 180 degree, transmission gear 212 first with first order gear set 22a Pinion gear 225a engagement, the gear wheel 223a and the pinion gear 225b of second level gear set 22b of first order gear set 22a nibble It closes, the gear wheel 223b of second level gear set 22b is engaged with rack gear 213.It, can after distribution by two-stage gear set 22a/22b Make 720 degree of rotation of the gear wheel 223b of the second level, in addition, the stroke of rack gear 213 is preferably the installation for removing head and the tail both ends Behind position (effective travel), the gear wheel 22ab of the second level is driven (i.e. equal to or slightly greater than steering engine 211:Gear set mechanism 22) institute Walking maximum stroke, thus further by the compact in size of rack 1.
When initial position, steering engine 211 is located substantially at the middle part of rack gear 213, starts steering engine 211 by control system Afterwards, steering engine 211 passes through the guiding of linear slide rail 214, and transmission gear 212 is engaged by gear set mechanism 22 with rack gear 213, from And make 211 linear slide of steering engine, and then pull 4 movement of driving rope.
For servo driving mechanism 21, although equally can also set fixed for steering engine 211, by rack gear 213 are set as movable, still, from the viewpoint of minimizing rack 1, due to activity space required for rack gear 213 It is substantially equal to twice of the stroke of rack gear 213, is unfavorable for the miniaturization in space, therefore, in the present embodiment, by rack gear 213 It is fixed, and straight line driving is set by steering engine 211.
In addition, though in the present embodiment, rack gear 213 and the first mounting means 114a, the second mounting means 114b are consolidated Linear slide rail is fixedly connected by fixed connection with the first lower installation part 116a, the second lower installation part 116b, still, equally can be by Linear sliding, 214 mutually exchange with the installation site of rack gear 213, or are integrated into together.
(a), Fig. 5 referring to Fig.1 are below illustrated mechanical arm module 3.
Mechanical arm module 3 includes multiple concatenated joints 32, and adjacent joint 32 is intersected therebetween by being set to And vertical shaft 321 connects, it can be relative to the rotation generated in two freedom degrees, to form ten thousand between such joint 32 Xiang Jie, the armed lever 31 of mechanical arm module 3 are connected by joint 32 respectively.
Armed lever 31 is preferably at six in the present embodiment.
The driving rope 4 being connected at least three on any armed lever 31 drives rope 4 as the transfer medium of power by driving mould Block 2 is driven, and any driving rope 4 is driven by independent steering engine 211 to self-movement, in this way in the same time respectively Interior different driving rope 4 can be respectively at the state drawn forward or received backward, to pull corresponding armed lever 31 towards difference Direction deflection.
As the preferred embodiment of present invention driving rope 4, every three drivings rope, 4 one armed lever 31 of driving, and adjacent drive Along the circumferential direction of armed lever 31 in the setting of 120 ° of interval between running rope 4.It is driven as example for the control for meeting each armed lever 31 of mechanical arm The sum of running rope 4 should be 18, and the edge of each armed lever 31 circumferentially is evenly arranged with 18 and each driving rope 4 is allowed to pass through Routing hole 311, driving rope 4 is when by first segment armed lever 31, wherein three are affixed with first segment armed lever 31, remaining 15 Reach at second segment armed lever 31 after the armed lever 31, it is affixed with second segment armed lever 31 to separate three drivings rope 4 again at this time, remaining Driving rope 4 continue to extend, and so on until reach last one section of armed lever 31, just realize dividing for each section of armed lever 31 in this way Open control.
Each specific technical characteristic as described in the above specific embodiments in the case of no contradiction can be with It is combined in any manner, for unnecessary repetition, the present invention is to various combinations of possible ways not otherwise stated.
The above examples are only used to illustrate the technical scheme of the present invention and is not intended to limit it, all without departing from the present invention Any modification of range or equivalent replacement should all be included in technical solution of the present invention.

Claims (10)

1. a kind of small-sized super redundancy flexible mechanical arm, including rack, drive module, mechanical arm module, more driving ropes, the machine Tool arm module is connected to one end of the rack, including multiple concatenated armed levers, the armed lever pass through joint respectively between each other One end of connection, the driving rope is connect with the drive module, and the other end is connect with the joint or the armed lever, wherein Each described joint or the armed lever are at least connected with three driving ropes, and the drive module is by driving the driving Rope turns to preset position to control the armed lever, which is characterized in that if the rack includes arranging along the vertical direction Dried layer mounting portion, the drive module include several servo driving mechanisms, and several servo driving Distribution of Institutions are in the peace In dress portion, each described servo driving mechanism respectively include a steering engine, the transmission gear being mounted on the steering engine and with One end of one toothed rack of the transmission gear engagement, the every driving rope is connected to the servo driving mechanism On.
2. the small-sized super redundancy flexible mechanical arm of one kind according to claim 1, which is characterized in that the servo driving mechanism It arranges to horizontal direction parallel in each layer mounting portion respectively.
3. the small-sized super redundancy flexible mechanical arm of one kind according to claim 1, which is characterized in that on the mounting portion respectively It is provided with the rack gear mounting portion for each rack gear to be fixedly mounted, and slidingly supports each for being fixedly mounted One end of the steering engine mounting portion in the sliding support portion of the steering engine, the driving rope is connect with the steering engine.
4. the small-sized super redundancy flexible mechanical arm of one kind according to claim 3, which is characterized in that also divide on the mounting portion It is not provided with for guiding each driving rope to the rope guide portion of the mechanical arm module.
5. the small-sized super redundancy flexible mechanical arm of one kind according to claim 4, which is characterized in that the mounting portion includes the One mounting means, the first lower installation part being fixedly connected with first mounting means by the first connector, and respectively with institute State the first mounting means, first connector, first lower symmetrically arranged second mounting means of installation part, the second connection Part, the second lower installation part.
6. the small-sized super redundancy flexible mechanical arm of one kind according to claim 5, which is characterized in that the rack gear installation section She Zhi not be on first mounting means and second mounting means, the steering engine mounting portion is separately positioned on described first On lower installation part and the second lower installation part, the rope guide portion is arranged on second connector.
7. the small-sized super redundancy flexible mechanical arm of one kind according to claim 3, which is characterized in that the transmission gear and institute It states between rack gear, also intervention is equipped with gear set mechanism, and the gear set mechanism is mounted on the steering engine.
8. the small-sized super redundancy flexible mechanical arm of one kind according to claim 7, which is characterized in that described in the servo driving The stroke of gear set mechanism straight line walking is identical as the effective travel of the rack gear.
9. the small-sized super redundancy flexible mechanical arm of one kind according to claim 1-8, which is characterized in that the driving Module includes 18 servo driving mechanisms.
10. the small-sized super redundancy flexible mechanical arm of one kind according to claim 9, which is characterized in that the rack includes three The layer mounting portion, there are six the servo driving mechanisms for distribution respectively in mounting portion described in everywhere.
CN201810768239.1A 2018-07-13 2018-07-13 A kind of small-sized super redundancy flexible mechanical arm Pending CN108908318A (en)

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CN111702745A (en) * 2020-06-16 2020-09-25 杭州魔象智能科技有限公司 Bionic trunk mechanical arm

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CN108237519A (en) * 2016-12-26 2018-07-03 中国科学院沈阳自动化研究所 A kind of hyper-redundant robot
CN106625638A (en) * 2017-02-28 2017-05-10 深圳源创智能机器人有限公司 Rope driving-based quickly-replaced linkage flexible charging robot
CN108098744A (en) * 2017-12-26 2018-06-01 清华大学深圳研究生院 A kind of coordinate type mechanical arm
CN108189000A (en) * 2017-12-28 2018-06-22 哈尔滨工业大学深圳研究生院 A kind of rope driving crawl robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110216663A (en) * 2019-07-05 2019-09-10 哈尔滨迅动科技有限责任公司 A kind of self-stabilization rope drive Snakelike mechanical arm
CN111702745A (en) * 2020-06-16 2020-09-25 杭州魔象智能科技有限公司 Bionic trunk mechanical arm
CN111702745B (en) * 2020-06-16 2021-06-25 杭州魔象智能科技有限公司 Bionic trunk mechanical arm

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