CN109015742A - The universal driving joint module of one kind and flexible mechanical arm - Google Patents
The universal driving joint module of one kind and flexible mechanical arm Download PDFInfo
- Publication number
- CN109015742A CN109015742A CN201811012289.3A CN201811012289A CN109015742A CN 109015742 A CN109015742 A CN 109015742A CN 201811012289 A CN201811012289 A CN 201811012289A CN 109015742 A CN109015742 A CN 109015742A
- Authority
- CN
- China
- Prior art keywords
- universal driving
- mounting bracket
- joint module
- driving joint
- linear drives
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
Abstract
The present embodiments relate to robot fields, disclose a kind of universal driving joint module.In the present invention, universal driving joint module includes: mounting bracket, the knuckle support with mounting bracket relative motion, and at least three linear drives arms of connection mounting bracket and knuckle support, at least three linear drives arms drive knuckle support to move respectively, at least three linear drives arms are hinged via first spherical hinge and knuckle support respectively, and at least three at least one of linear drives arm it is hinged via orientation hinge and mounting bracket, at least one is hinged via the second spherical hinge and mounting bracket.The present invention also provides a kind of flexible mechanical arms.Universal driving joint module and flexible mechanical arm provided by the invention are capable of increasing the scope of activities in joint, increase the movement angle range of universal driving joint module.
Description
Technical field
The present embodiments relate to robot field, in particular to a kind of universal driving joint module and flexible mechanical arm.
Background technique
With the increasingly raising of people's life production level, the also increasingly sophisticated diversification of production and living environment, robot row
The modularization standardization of industry develops into trend.Nowadays, demand of all trades and professions to the light-duty dexterous arm for coping with complex environment
It is outstanding day by day, how rapidly to design, produce and manufacture the low energy consumption of modularization standardization, the light-duty dexterous arm of high-freedom degree becomes one
A increasingly urgent problem.Core structure portion of the joint as articulated manipulator, can not only provide for mechanical arm
Power implements job task, or realizes the key point of dexterous control.One joint of traditional articulated manipulator mostly uses
Single motor driving.
At least there are the following problems in the prior art for inventor's discovery: single motor driving can only do the plane rotation of certain angle
Transhipment is dynamic, and the activity direction in joint is very restricted, and movement angle range is not high.
Summary of the invention
Embodiment of the present invention is designed to provide a kind of universal driving joint module, is capable of increasing universal driving joint
The movement angle range of module.
In order to solve the above technical problems, embodiments of the present invention provide a kind of universal driving joint module, comprising: peace
Fill bracket, the knuckle support with the mounting bracket relative motion, and the connection mounting bracket and the knuckle support
At least three linear drives arms, at least three linear drives arm drive the knuckle support to move respectively, and described at least three
A linear drives arm is hinged via first spherical hinge and the knuckle support respectively, and at least three linear drives arm
At least one of it is hinged via orientation hinge and the mounting bracket, at least one is propped up via the second spherical hinge and the installation
Frame is hinged.
Embodiment of the present invention additionally provides a kind of flexible mechanical arm, including multiple above-mentioned universal driving joint modules,
The universal driving joint module joins end to end.
Embodiment of the present invention drives institute in terms of existing technologies, by at least three linear drives arm respectively
Knuckle support movement is stated, at least three linear drives arm is cut with scissors via first spherical hinge and the knuckle support respectively
It connects, and at least one of described at least three linear drives arm is hinged via the second spherical hinge and the mounting bracket, so that
At least three linear drives arm has more freedom degrees, and linear drives arm can flexibly be moved around spherical hinge and it is transported
Dynamic angle will not be bound, and realize movable joint free movement, and then improve the movement angle range of universal driving joint module,
Improve the flexibility of flexible mechanical arm；Meanwhile at least one of described at least three linear drives arm is via orientation hinge and institute
It is hinged to state mounting bracket, is swung so that linear drives arm is capable of forming around axis, conducive to initial position is captured, plays the work of positioning
With, avoid the problem that it is universal driving joint module position run.
In addition, one of described at least three linear drives arm is hinged via orientation hinge and the mounting bracket,
Yu Jun is hinged via the second spherical hinge and the mounting bracket.By one of described at least three linear drives arm via fixed
It is hinged to hinge and the mounting bracket, it swings so that linear drives arm is capable of forming around axis, conducive to initial position is captured, rises
To the effect of positioning, avoid the problem that the position of universal driving joint module is run, by remaining via the second spherical hinge with
The mounting bracket is hinged, to ensure that the movement angle range of universal driving joint module to greatest extent, greatly mentions
The high flexibility of flexible mechanical arm.
In addition, the linear drives arm is three, wherein a linear drives arm is via the orientation hinge and institute
It is hinged to state mounting bracket, two linear drives arms are hinged via second spherical hinge and the mounting bracket.So set
It sets, both ensure that biggish movement angle range, in turn avoid that cost caused by excessive linear drives arm is arranged is excessively high to ask
Topic.
In addition, the linear drives arm include the linear actuator hinged with the mounting bracket and with the joint
The hinged drive link of bracket, the linear actuator and the drive link are sequentially connected and drive the drive link edge
The axial direction of the drive link moves.
In addition, further including the multi-directional ball being fixedly linked with the mounting bracket, the knuckle support includes having accommodating chamber
The central part of body and the edge department for being arranged around the central part and being connected with first spherical hinge, the multi-directional ball can
Rotation is contained in the receiving cavity.So set, multi-directional ball can play certain positioning action and pass
The scope of activities of bracket is saved, to ensure that the stability and movement angle range of universal driving joint module.
In addition, further including the connecting rod extended from the mounting bracket towards the knuckle support, the multi-directional ball setting exists
The end of the connecting rod is simultaneously connected via the connecting rod with the mounting bracket.
In addition, two adjacent universal driving joint modules are via the mounting bracket of one of them and the pass of another one
Bracket is saved to be connected.
In addition, further include connector, the connector and the adjacent two universal driving joint module one of them
Mounting bracket be fixedly connected, the knuckle support of the link block and another one is via being threadedly engaged connection.So set, phase
Two adjacent universal driving joint modules can consolidate, easily be connected.
In addition, being provided with probe, another in the mounting brackets of adjacent two universal driving joint module one of them
Jack is provided on the knuckle support of one, the universal driving joint module of adjacent two is via the mutually matched spy
Needle and jack communication connection.So set, two adjacent universal driving joint modules can be more easily real
Now communicate to connect.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the exploded view for the universal driving joint module that first embodiment of the invention provides；
Fig. 2 is the perspective view for the universal driving joint module that first embodiment of the invention provides；
Fig. 3 is the exploded view for the flexible mechanical arm that second embodiment of the invention provides；
Fig. 4 is the perspective view for the flexible mechanical arm that second embodiment of the invention provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, many technical details are proposed in order to make reader more fully understand the present invention.But even if without these technical details
And various changes and modifications based on the following respective embodiments, claimed technical solution of the invention also may be implemented.
The first embodiment of the present invention is related to a kind of universal driving joint modules 100, as shown in Figure 1 and Figure 2, comprising: peace
Bracket 11, the knuckle support 12 with 11 relative motion of mounting bracket are filled, and connection mounting bracket 11 and knuckle support 12 are extremely
Few three linear drives arms 13, at least three linear drives arms 13 drive knuckle support 12 to move respectively, and at least three straight lines drive
Swing arm 13 is hinged via first spherical hinge 14 and knuckle support 12 respectively, and at least three linear drives arms 13 at least
One is hinged via orientation hinge 16 and mounting bracket 11, at least one is hinged via the second spherical hinge 15 and mounting bracket 11.
Embodiment of the present invention in terms of existing technologies, due at least one of at least three linear drives arms 13 pass through
It is hinged by orientation hinge 16 and mounting bracket 11, it is swung so that linear drives arm 13 is capable of forming around axis, conducive to starting is captured
Positioning is played the role of in position, avoids the problem that the position of universal driving joint module 100 is run；Simultaneously as at least three
Linear drives arm 13 drives knuckle support 12 to move respectively, and at least three linear drives arms 13 are respectively via first spherical hinge
14 is hinged with knuckle support 12, and at least one of at least three linear drives arms 13 are via the second spherical hinge 15 and installation branch
Frame 11 is hinged, so that at least three linear drives arms 13 have more freedom degrees, linear drives arm 13 can be flexible around spherical hinge
Movement and its movement angle will not be bound, realize movable joint free movement, and then improve universal driving joint module
100 movement angle range improves the flexibility of flexible mechanical arm 200.
Optionally, one of at least three linear drives arms 13 are hinged via orientation hinge 16 and mounting bracket 11,
Yu Jun is hinged via the second spherical hinge 15 and mounting bracket 11.By one of at least three linear drives arms 13 via orientation
Hinge 16 and mounting bracket 11 are hinged, swing so that linear drives arm 13 is capable of forming around axis, conducive to initial position is captured, rise
To the effect of positioning, avoid the problem that the position of universal driving joint module 100 is run, by remaining via the second spherical hinge
15 is hinged with mounting bracket 11, to ensure that the movement angle range of universal driving joint module 100 to greatest extent, greatly
The flexibility for improving flexible mechanical arm.
In present embodiment, linear drives arm 13 be three, wherein a linear drives arm 13 via orientation hinge 16 with
Mounting bracket 11 is hinged, and two linear drives arms 13 are hinged via the second spherical hinge 15 and mounting bracket 11.Pass through a straight line
Actuating arm 13 is hinged via orientation hinge 16 and mounting bracket 11, swings, is conducive to around axis so that linear drives arm 13 is capable of forming
Initial position is captured, positioning is played the role of, avoids the problem that the position of universal driving joint module 100 is run；Meanwhile by
In only one linear drives arm 13 via orientation hinge 16 hinged, other two linear drives arms 13 via the second spherical hinge
15 is hinged with mounting bracket 11, and two linear drives arms 13 can flexibly be moved around spherical hinge and its movement angle will not
It is bound, realizes movable joint free movement, and then improve the movement angle range of universal driving joint module 100；In addition, logical
Three linear drives arms 13 of setting are crossed, the multivariant movement of universal driving joint module 100 had both been able to achieve, and had in turn avoided being arranged
The excessively high problem of cost caused by excessive linear drives arm 13.
Specifically, linear drives arm 13 includes the linear actuator 131 and and articular branches hinged with mounting bracket 11
The hinged drive link 132 of frame 12, linear actuator 131 and drive link 132 are sequentially connected and drive 132 edge of drive link
The axial direction OO' of drive link 132 is moved.
Further, linear actuator 131 includes the drive shaft (not shown) being connected with drive link 132, and drive shaft is stretched
To drive drive link 132 to move along 132 axial direction OO' of drive link, drive shaft and drive link 132 cooperate for contracting, and two
Between be provided with opposite initial position, initial position drives up and is both provided with when driving downwards two drivings up and down and goes
Journey, when generating different trips when three drivers drive, driving knuckle support 12 generates different deviation angles.In addition, straight line
Driver can be obtained by decelerating motor, hydraulic press etc. by transformation.It should be noted that universal driving joint module 100
Have at least one driving of linear drives arm 13, so that knuckle support 12 is generated angle offset, and all straight
When line actuating arm 13 all has identical driving trip, knuckle support 12 will not generate angle offset.
It is noted that universal driving joint module 100 further includes the multi-directional ball 17 being fixedly linked with mounting bracket 11,
Knuckle support 12 include with receiving cavity 20 central part 121 and around central part 121 be arranged and with the first spherical hinge 14
Connected edge department 122, multi-directional ball 17 are rotatably contained in receiving cavity 20.Due to multi-directional ball 17 both with mounting bracket 11
It is fixed, and it is contained in the receiving cavity 20 of knuckle support 12, so as to play certain positioning action；Simultaneously as multi-directional ball
17 rotation in any direction not will receive obstruction, thus without limitation on the scope of activities of knuckle support 12, to guarantee
Universal 100 movement angle range of driving joint module, improves the activity direction of flexible mechanical arm 200.
In addition, universal driving joint module 100 further includes the connecting rod 18 that self installation bracket 11 extends towards knuckle support 12,
Multi-directional ball 17 is arranged in the end of connecting rod 18 and is connected via connecting rod 18 with mounting bracket 11.
Universal driving joint module 100 in present embodiment can be used in the shoulder joint of robot, ankle-joint, wrist joint,
The more joint of the activity directions such as hip joint, to substantially increase the flexibility ratio of robot.
It is noted that universal driving joint module 100 is during installation, it can first fixed connecting rod 18 and ten thousand
Drive link 132 is installed respectively to ball 17, then by three linear actuators 131, is then installed to mounting bracket 11；Finally
Mounting bracket 11 is installed, and spherical linkage is installed, that is, completes the installation process of universal driving joint module 100.
Second embodiment of the invention provides a kind of flexible mechanical arm 200, as shown in Figure 3, Figure 4, including it is multiple above-mentioned
Universal driving joint module 100, universal driving joint module 100 joins end to end.
Embodiment of the present invention in terms of existing technologies, since flexible mechanical arm 200 is by universal driving joint module
100 compositions, and universal driving joint module 100 can be realized movable joint free movement, within the limits prescribed without direction
Property constraint can bypass more objects that turn round so that mechanical arm is more flexible changeable, like the flexibility snake joint；Meanwhile by
It is the same in each universal driving joint module 100, it is more conducive to the batch production of universal driving joint module 100, thus
Reduce the cost of flexible mechanical arm 200；In addition, universal driving joint mould can be freely combined in flexible mechanical arm 200 as needed
The quantity of block 100, universal driving joint module more than 100, flexible mechanical arm 200 are more flexible.
Specifically, adjacent two it is universal driving joint modules 100 via one of them mounting bracket 11 with it is another
The knuckle support 12 of person is connected.It further, further include connector 19, connector 19 and adjacent two universal driving joint moulds
The mounting bracket 11 of 100 one of them of block is fixedly connected, and the knuckle support 12 of link block 19 and another one is via being threadedly engaged
Connection.So set, directly by the upper one universal mounting bracket 11 for driving joint module 100 and next universal driving joint
The joint module of module 100 is spun on together, and the fixed company between the universal driving joint module 100 of adjacent two can be realized
It connects, it is more firm, convenient.It is noted that the mounting bracket of two adjacent universal driving 100 one of them of joint module
11 can also be cooperatively connected with the knuckle support 12 of another one via other modes, herein without limitation.
It is noted that being arranged in the mounting bracket 11 of two adjacent universal driving 100 one of them of joint module
Have probe 21, another one knuckle support 12 on be provided with jack (not shown), the universal driving joint module 100 of adjacent two
It is communicated to connect via mutually matched probe 21 and jack.It is inserted into jack by probe 21, is achieved that adjacent two ten thousand
Communication connection between driving joint module 100, the universal driving joint module 100 of start position and the controller of machine are straight
It connects in succession, thus control that is more convenient, easily realizing flexible mechanical arm 200.It is understood that can be installation branch
It is provided with jack on frame 11, probe 21 is provided on knuckle support 12, all has identical technical effect, herein no longer
It repeats.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of universal driving joint module characterized by comprising mounting bracket, with the mounting bracket relative motion
Knuckle support, and at least three linear drives arms of the connection mounting bracket and the knuckle support, described at least three
Linear drives arm drives the knuckle support to move respectively, and at least three linear drives arm is respectively via first flexural pivot
Chain and the knuckle support are hinged, and at least one of described at least three linear drives arm is via orientation hinge and the peace
Dress bracket is hinged, at least one is hinged via the second spherical hinge and the mounting bracket.
2. universal driving joint module according to claim 1, which is characterized in that in at least three linear drives arm
One of via orientation hinge and the mounting bracket it is hinged, remaining is hinged via the second spherical hinge and the mounting bracket.
3. universal driving joint module according to claim 2, which is characterized in that the linear drives arm is three,
In, a linear drives arm is hinged via the orientation hinge and the mounting bracket, two linear drives arm warps
It is hinged by second spherical hinge and the mounting bracket.
4. universal driving joint module according to claim 1, which is characterized in that the linear drives arm include with it is described
The hinged linear actuator of mounting bracket and the drive link hinged with the knuckle support, the linear actuator and institute
Drive link is stated to be sequentially connected and the drive link is driven to move along the axial direction of the drive link.
5. universal driving joint module according to claim 1, which is characterized in that further include being fixed with the mounting bracket
Connected multi-directional ball, the knuckle support include with receiving cavity central part and around the central part be arranged and with
The connected edge department of first spherical hinge, the multi-directional ball are rotatably contained in the receiving cavity.
6. universal driving joint module according to claim 5, which is characterized in that further include from the mounting bracket towards institute
The connecting rod of knuckle support extension is stated, the multi-directional ball is arranged in the end of the connecting rod and via the connecting rod and institute
Mounting bracket is stated to be connected.
7. a kind of flexible mechanical arm, which is characterized in that including multiple as universal driving as claimed in any one of claims 1 to 6 is closed
Module is saved, the universal driving joint module joins end to end.
8. universal driving joint module according to claim 7, which is characterized in that the universal driving of adjacent two is closed
Section module is connected via the mounting bracket of one of them with the knuckle support of another one.
9. universal driving joint module according to claim 8, which is characterized in that it further include connector, the connector
Be fixedly connected with the mounting brackets of the adjacent two universal driving joint module one of them, the link block with it is another
The knuckle support of person via be threadedly engaged connection.
10. universal driving joint module according to claim 8, which is characterized in that the universal driving of adjacent two
Be provided in the mounting bracket of joint module one of them probe, another one knuckle support on be provided with jack, adjacent two
A universal driving joint module is communicated to connect via the mutually matched probe and the jack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811012289.3A CN109015742A (en) | 2018-08-31 | 2018-08-31 | The universal driving joint module of one kind and flexible mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811012289.3A CN109015742A (en) | 2018-08-31 | 2018-08-31 | The universal driving joint module of one kind and flexible mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109015742A true CN109015742A (en) | 2018-12-18 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811012289.3A Pending CN109015742A (en) | 2018-08-31 | 2018-08-31 | The universal driving joint module of one kind and flexible mechanical arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN109015742A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894782A (en) * | 2021-02-23 | 2021-06-04 | 中铁工程装备集团有限公司 | Snakelike arm connecting structure and snakelike arm robot controlled by series-parallel connection coupling |
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