CN112621809B - Flexible rotary joint module and pneumatic mechanical arm - Google Patents
Flexible rotary joint module and pneumatic mechanical arm Download PDFInfo
- Publication number
- CN112621809B CN112621809B CN202011430823.XA CN202011430823A CN112621809B CN 112621809 B CN112621809 B CN 112621809B CN 202011430823 A CN202011430823 A CN 202011430823A CN 112621809 B CN112621809 B CN 112621809B
- Authority
- CN
- China
- Prior art keywords
- joint module
- rotary joint
- flexible rotary
- arm
- mounting shell
- 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.)
- Active
Links
Images
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
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible rotary joint module and a pneumatic mechanical arm, which comprise a mounting shell and two air cylinders with axes parallel to each other, wherein the two air cylinders are arranged on the bottom end surface of the mounting shell; according to the invention, through the mutual matching of the air cylinder, the mounting shell and the conversion mechanism, the conversion mechanism can convert the linear motion of the piston rod on the air cylinder into the rotary motion, the flexible rotary joint module is driven in a gas driving mode, the joint flexibility can be regulated by regulating the pressure of driving gas in the air cylinder, the compressibility of the gas can generate a buffer effect, and the flexible rotary joint module has the characteristic of passive compliance, so that the problem of poor operation compliance of the mechanical arm joint is solved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a flexible rotary joint module and a pneumatic mechanical arm.
Background
Mechanical arms are typical mechanical automation devices, and have been widely used in industrial production, greatly promoting the progress of productivity. The mechanical arm can replace human beings to work in a severe environment, so that the human beings are liberated from simple, monotonous and repeated physical labor, and the production efficiency is greatly improved; to a certain extent, the mechanical arm is a sign of social development degree and technological progress, and with the continuous improvement of the automation degree of mechanical equipment in manufacturing industry, stations with severe working environment or higher labor intensity are gradually used for replacing workers with the mechanical arm to work.
In the field of traditional mechanical arms, researchers focus on the aspects of the loading capacity, the movement speed, the acceleration, the positioning precision, the working space and the like of the mechanical arm, but the mechanical arm used in the man-machine environment has a certain lack of research on the safety aspect; the mechanical arm is the core of operation in the in-process joint of operation, and the safety problem that present mechanical arm used in work in man-machine environment mainly is the rigidity that each joint of mechanical arm was operated is great, and each joint in the mechanical arm moves the compliance poor, and in-process because of the rigidity that each joint of mechanical arm was operated is great, the mechanical arm can the rigidity touch peripheral object cause the injury under the mistake operation, has influenced the security in the mechanical arm use, has consequently caused the not enough of mechanical arm and human in-process safety of using alternately, leads to the mechanical arm to be unable to be suitable for the security requirement in the man-machine environment that coexists with the human.
Disclosure of Invention
The invention aims at: the flexible rotary joint module and the pneumatic mechanical arm are provided, and the problems that the operation flexibility of each joint of the mechanical arm is poor and the mechanical arm cannot be suitable for safety requirements in a man-machine environment coexisting with human in the related art are solved.
The technical scheme adopted by the invention is as follows:
the utility model provides a flexible rotary joint module, includes the installation shell and installs two axis parallel each other's on the bottom face of installation shell cylinder, two piston rod on the cylinder all runs through the bottom face of installation shell and extends to the inner chamber of installation shell in, the internally mounted of installation shell has the conversion mechanism who is used for converting the rectilinear motion of piston rod into rotary motion.
Preferably, the extension plates are fixedly connected to the top end surfaces of the two piston rods, the conversion mechanism comprises a driving wheel, a driving belt and an output shaft which are rotatably connected to the inside of the installation shell, two ends of the driving belt are respectively connected with one extension plate, the inner side surface of the driving belt is a tooth surface and is meshed with the outer teeth of the driving wheel for transmission, an opening is formed in the installation shell, and the output shaft is rotatably installed in the opening through a bearing and is axially transmitted with the driving wheel.
Preferably, the opening is formed in a pair of opposite side walls of the mounting shell, two conversion mechanisms are sequentially arranged along the axis of the output shaft, the opposite ends of the output shafts on the two conversion mechanisms are respectively rotatably mounted in the opening, and the output shafts on the two conversion mechanisms are coaxially connected into a whole.
The pneumatic mechanical arm comprises N arm bodies and N-1 joint modules which are sequentially arranged, wherein the arm bodies and the joint modules are staggered and sequentially connected; along the arrangement direction, the arm bodies are a first arm body, a second arm body, a third arm body … … and an nth arm body in sequence, and the joint modules are a first joint module, a second joint module, a third joint module … … and an nth-1 joint module in sequence;
the joint module is the flexible rotary joint module, the installation shell of the N-1 joint module is connected with the N-1 arm body, and the output shaft of the N-1 joint module is connected with the N arm body.
Preferably, N is 4; the first arm body is a cross rod, the second arm body is a large arm connecting rod, the third arm body is a small arm connecting rod, and the fourth arm body is a wrist connecting piece; the first joint module is a first flexible rotary joint module, the second joint module is a second flexible rotary joint module, and the third joint module is a third flexible rotary joint module;
the left end face of the installation shell on the first flexible rotary joint module is fixedly connected with the cross rod, one end of the large arm connecting rod facing the first flexible rotary joint module is fixedly connected with the output shaft of the right end of the installation shell on the first flexible rotary joint module, one end face of the large arm connecting rod facing the second flexible rotary joint module is fixedly connected with the left end face of the installation shell on the second flexible rotary joint module, the output shaft of the right end face of the installation shell on the second flexible rotary joint module is fixedly connected with the small arm connecting rod through the first connecting piece, the installation cavity is formed in the small arm connecting rod, the third flexible rotary joint module is fixedly installed in the installation cavity, and the output shafts of the left end and the right end of the installation shell on the third flexible rotary joint module are fixedly connected with the wrist connecting piece.
Preferably, the left end face of the installation shell on the first flexible rotary joint module is fixedly connected with the cross rod, one end of the large arm connecting rod facing the first flexible rotary joint module is fixedly connected with the output shaft of the right end of the installation shell on the first flexible rotary joint module, one end face of the large arm connecting rod facing the second flexible rotary joint module is fixedly connected with the left end face of the installation shell on the second flexible rotary joint module, the output shaft on the right end face of the installation shell on the second flexible rotary joint module is fixedly connected with the small arm connecting rod through the first connecting piece, the installation cavity is formed in the small arm connecting rod, the third flexible rotary joint module is fixedly installed in the installation cavity, and the output shafts of the left end and the right end of the installation shell on the third flexible rotary joint module are fixedly connected with the wrist connecting piece.
Preferably, the wrist connecting piece is provided with an assembly hole.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. according to the invention, through the mutual matching of the air cylinder, the mounting shell and the conversion mechanism, the conversion mechanism can convert the linear motion of the piston rod on the air cylinder into the rotary motion, the flexible rotary joint module is driven in a gas driving mode, the joint flexibility can be regulated by regulating the pressure of driving gas in the air cylinder, the compressibility of the gas can generate a buffer effect, and the flexible rotary joint module has the characteristic of passive compliance, so that the problem of poor operation compliance of the mechanical arm joint is solved.
2. According to the invention, the piston rods on the two cylinders can reciprocate up and down to drive the transmission belt to drive, so that the driving wheel meshed with the transmission belt can convert the linear motion of the piston rods into rotary motion, and then the output shaft outputs the rotary motion of the driving wheel to rotate, thereby ensuring that the linear motion of the piston rods can be stably converted into rotary motion.
3. According to the invention, through the two conversion mechanisms, the output shafts arranged at the left end and the right end of the installation shell on the flexible rotary joint module can synchronously output and rotate the rotary motion of the two driving wheels on the left end and the right end of the installation shell on the flexible rotary joint module, so that the rotary joint module is convenient to use.
4. According to the invention, through the mutual matching of the first flexible rotary joint module, the second flexible rotary joint module, the third flexible rotary joint module, the cross rod, the large arm connecting rod, the small arm connecting rod and the wrist connecting piece, the flexibility effect of the operation of each joint of the mechanical arm is good, when the mechanical arm is driven by gas to move, the mechanical arm is in unexpected contact with the external environment, the mechanical arm can realize flexible collision by utilizing the flexibility of the flexible rotary joint module, the damage caused by rigid collision is avoided, the safety of man-machine cooperation is improved, and the problem that the safety requirement in the man-machine environment coexisting with human cannot be met by the mechanical arm at present is solved.
5. According to the invention, through the mutual matching of the first flexible rotary joint module, the fourth flexible rotary joint module and the second connecting piece, the output shaft at the right end of the installation shell on the first flexible rotary joint module can drive the whole of the fourth flexible rotary joint module and the large arm connecting rod to swing in the front-back direction through the second connecting piece, and meanwhile, the output shafts at the left end and the right end of the installation shell on the fourth flexible rotary joint module can drive the large arm connecting rod to swing in the left-right direction, so that the pneumatic mechanical arm can rotate in multiple directions, and the flexibility of the pneumatic mechanical arm is improved.
6. According to the invention, the clamping jaws with different operations can be adaptively arranged on the wrist connecting piece through the assembly holes, so that the clamping jaw is convenient to use.
Drawings
FIG. 1 is a front view of a flexible rotary joint module of the present invention;
FIG. 2 is a rear view of the flexible rotary joint module of the present invention;
FIG. 3 is a perspective view of a flexible rotary joint module according to the present invention;
FIG. 4 is a schematic view of a mechanical arm according to the present invention;
FIG. 5 is a perspective view of a robot arm according to the present invention;
FIG. 6 is a second perspective view of the robot arm according to the present invention;
fig. 7 is a schematic view of the structure of the cross bar in the present invention.
The marks in the figure: 100. a flexible rotary joint module; 1. a mounting shell; 2. a cylinder; 201. a piston rod; 202. an extension plate; 3. driving wheels; 301. a transmission belt; 4. an opening; 5. an output shaft; 6. a cross bar; 7. a large arm connecting rod; 8. a forearm link; 801. a mounting cavity; 9. a first flexible rotary joint module; 10. a second flexible rotary joint module; 11. a third flexible rotary joint module; 111. a first connector; 12. a fourth flexible rotary joint module; 13. a second connector; 14. a wrist connection; 15. a fitting hole; 16. a first mounting cavity; 17. a second mounting cavity; 18. a vertical rod; 19. a cross base.
Detailed Description
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Example 1
Referring to fig. 1-3, a flexible rotary joint module 100 comprises a mounting shell 1 and two cylinders 2 with axes parallel to each other and mounted on the bottom end surface of the mounting shell 1, piston rods 201 on the two cylinders 2 penetrate through the bottom end surface of the mounting shell 1 and extend into an inner cavity of the mounting shell 1, the cylinders 2 are preferably rolling film cylinders, the two rolling film cylinders are mounted on the bottom end surface of the mounting shell 1 through 1/2-20UNF threads of a front part of each cylinder, a conversion mechanism for converting the linear motion of the piston rods 201 into rotary motion is mounted in the mounting shell 1, extension plates 202 are fixedly connected to the top end surfaces of the two piston rods 201, the conversion mechanism comprises a driving wheel 3, a driving belt 301 and an output shaft 5 which are rotatably connected to the inside of the mounting shell 1, two ends of the driving belt 301 are respectively connected with one extension plate 202, the inner side surface of the driving belt 301 is a tooth surface and is in meshed transmission with outer teeth of the driving wheel 3, the mounting shell 1 is provided with an opening 4, the output shaft 5 is rotatably mounted in the opening 4 through a bearing and is in axial direction of the driving wheel 3, the output shaft 5 is axially driven by the driving wheel 3, the driving wheel 3 is driven by the driving wheel 3 and the driving wheel 3 is driven by the driving wheel 3 to rotate by the driving belt 301, and the driving wheel 201 is driven by the driving wheel 3 to rotate by the driving wheel 3 and the driving wheel 3 to rotate 2 and is driven by the driving wheel 3; or the components in the conversion mechanism can be a gear, a chain and an output shaft 5, the piston rod 201 drives the chain in a straight line, and the chain and the gear are meshed to convert the straight line motion of the piston rod 201 into rotary motion;
working principle:
when the air chamber in one cylinder 2 is inflated, the piston rod 201 can be pushed to move outwards, namely one end of the transmission belt 301 is driven to move along the axial direction of one cylinder 2, then the piston rod 201 of the other cylinder 2 is pulled to be recovered, and the driving wheel 3 is driven to rotate, so that the output shaft 5 can output rotary motion, and further the flexible rotary joint module 100 converts the linear motion of the cylinder 2 into rotary motion in a belt wheel transmission mode, and drives the flexible rotary joint module 100 in a gas driving mode, the joint flexibility can be regulated by regulating the pressure of driving gas in the cylinder 2, and the gas compressibility can generate a buffer effect, so that the flexible rotary joint module 100 has the characteristic of passive compliance, and the problem of poor operation flexibility of a mechanical arm joint is solved.
Example 2
Referring to fig. 1 to 3, further defined on the basis of embodiment 1, the opening 4 is formed in a pair of opposite side walls of the mounting case 1, two conversion mechanisms are provided, the two conversion mechanisms are sequentially arranged along the axis of the output shaft 5, the output shafts 5 on the two conversion mechanisms are rotatably mounted in the opening 4 at opposite ends of each other, and the output shafts 5 on the two conversion mechanisms are coaxially connected to each other as a whole;
two belt clamps are arranged on each extension plate 202, two ends of a belt 301 are fixedly connected with the belt clamps on the extension plates 202 through bolts, and the tightness of the belt 301 can be adjusted by adjusting the length of the belt 301 at the belt clamps through mutual matching of the belt clamps, the belt 301 and the bolts, so that the belt 301 and the driving wheel 3 can be adjusted to be in tight engagement, and the belt 301 is convenient for driving the driving wheel 3 and the output shaft 5.
Working principle:
through two conversion mechanisms, install the output shaft 5 at the left and right sides both ends of installation shell 1 on flexible rotary joint module 100, can be with the rotary motion of two drive wheels 3 on the left and right sides both ends of installation shell 1 on flexible rotary joint module 100 synchronous output rotation, facilitate the use.
Example 3
1-7, further defined on the basis of embodiment 2, a pneumatic mechanical arm includes N sequentially arranged arm bodies and N-1 joint modules, wherein the arm bodies and the joint modules are staggered and sequentially connected; along the arrangement direction, the arm bodies are a first arm body, a second arm body, a third arm body … … and an nth arm body in sequence, and the joint modules are a first joint module, a second joint module, a third joint module … … and an nth-1 joint module in sequence;
the joint module is a flexible rotary joint module in the embodiment 2, the installation shell 1 of the N-1 joint module is connected with the N-1 arm body, and the output shaft 5 of the N-1 joint module is connected with the N arm body;
n is 4; the first arm body is a cross rod 6, the second arm body is a large arm connecting rod 7, the third arm body is a small arm connecting rod 8 and the fourth arm body is a wrist connecting piece 14; the first joint module is a first flexible rotary joint module 9, the second joint module is a second flexible rotary joint module 10, and the third joint module is a third flexible rotary joint module 11;
the bottom end surface of the cross rod 6 is provided with a trunk mechanism for supporting the cross rod 6, and the trunk mechanism comprises a vertical rod 18 fixedly connected to the bottom end surface of the cross rod 6 and a cross base 19 fixedly connected to the bottom end surface of the vertical rod 18 for supporting;
the left end face of the installation shell 1 on the first flexible rotary joint module 9 is fixedly connected with the cross rod 6, a first installation cavity 16 is formed in the direction of the cross rod 6 towards one end face of the first flexible rotary joint module 9, and an output shaft 5 at the left end of the installation shell 1 on the first flexible rotary joint module 9 is inserted into the first installation cavity 16 in a clearance manner;
one end of the large arm connecting rod 7 facing the first flexible rotary joint module 9 is fixedly connected with the output shaft 5 at the right end of the mounting shell 1 on the first flexible rotary joint module 9, and when the output shaft 5 at the right end on the first flexible rotary joint module 9 rotates in a clockwise or anticlockwise reciprocating manner, the whole part on the large arm connecting rod 7 can be driven to swing along the front-back direction;
one end face of the large arm connecting rod 7, which faces the second flexible rotary joint module 10, is fixedly connected with the left end face of the mounting shell 1 on the second flexible rotary joint module 10, a second mounting cavity 17 is formed in one end face of the large arm connecting rod 7, which faces the second flexible rotary joint module 10, and the left end output shaft 5 of the mounting shell 1 on the second flexible rotary joint module 10 is inserted into the second mounting cavity 17 in a clearance manner;
the output shaft 5 on the right end face of the installation shell 1 on the second flexible rotary joint module 10 is fixedly connected with the forearm connecting rod 8 through a first connecting piece 111, the first connecting piece 111 is preferably a first connecting flange, the output shaft 5 on the right end of the installation shell 1 on the second flexible rotary joint module 10 is in interference fit connection with an inner hole of the first connecting flange, and when the output shaft 5 on the right end of the second flexible rotary joint module 10 reciprocates clockwise or anticlockwise, the integral part on the forearm connecting rod 8 can be driven to rotate in the left-right direction;
the installation cavity 801 is formed in the forearm connecting rod 8, the third flexible rotary joint module 11 is fixedly installed in the installation cavity 801, the output shafts 5 at the left end and the right end of the installation shell 1 on the third flexible rotary joint module 11 are fixedly connected with the wrist connecting piece 14, two installation barrels are fixedly connected to one end of the wrist connecting piece 14, which faces the third flexible rotary joint module 11, of the output shafts 5 at the left end and the right end of the installation shell 1 on the third flexible rotary joint module 11 are respectively correspondingly inserted into the inner cavity of one installation barrel in an interference mode, and when the output shafts 5 at the left end and the right end of the installation shell 1 on the third flexible rotary joint module 11 rotate anticlockwise or clockwise, the wrist connecting piece 14 can be driven to swing in the front-back direction.
Working principle:
according to the invention, through the mutual matching of the first flexible rotary joint module 9, the second flexible rotary joint module 10, the third flexible rotary joint module 11, the cross rod 6, the large arm connecting rod 7, the small arm connecting rod 8 and the wrist connecting piece 14, each joint of the mechanical arm is the flexible rotary joint module 100, the flexibility effect of the flexible rotary joint module 100 is good, when the mechanical arm is driven by gas to move, the mechanical arm is in unexpected contact with the external environment, the mechanical arm can realize flexible collision by utilizing the flexibility of the flexible rotary joint module 100, the damage caused by rigid collision is avoided, the safety of man-machine cooperation is improved, and the problem that the mechanical arm cannot be suitable for the safety requirement in the man-machine environment coexisting with human at present is solved.
Example 4
Referring to fig. 1-6, further defined on the basis of embodiment 3, a flexible rotary joint module and a second connecting piece 13 are provided between the first flexible rotary joint module 9 and the big arm connecting rod 7, and the flexible rotary joint module located between the first flexible rotary joint module 9 and the big arm connecting rod 7 is defined as a fourth flexible rotary joint module 12, one end face of the second connecting piece 13 is fixedly connected to the front end face of the mounting shell 1 on the fourth flexible rotary joint module 12, the output shaft 5 on the right end of the mounting shell 1 on the first flexible rotary joint module 9 is fixedly connected to the front end face of the mounting shell 1 on the fourth flexible rotary joint module 12 through the second connecting piece 13, the second connecting piece 13 is preferably a second connecting flange, the output shaft 5 on the right end of the mounting shell 1 on the first flexible rotary joint module 9 is in interference fit in the interior of the mounting hole on the second connecting flange, one end of the big arm connecting rod 7 close to the fourth flexible rotary joint module 12 is fixedly connected to the output shafts 5 on the left and right ends of the mounting shells 1 on the fourth flexible rotary joint module 12, the big arm connecting rod 7 is in interference fit in the hollow plates 5 on the two hollow sides of the mounting shells 1.
Working principle:
according to the invention, through the mutual matching of the first flexible rotary joint module 9, the fourth flexible rotary joint module 12 and the second connecting piece 13, the output shaft 5 at the right end of the installation shell 1 on the first flexible rotary joint module 9 can drive the whole of the fourth flexible rotary joint module 12 and the large arm connecting rod 7 to swing in the front-back direction through the second connecting piece 13, and meanwhile, the output shafts 5 at the left end and the right end of the installation shell 1 on the fourth flexible rotary joint module 12 can drive the large arm connecting rod 7 to swing in the left-right direction, so that the pneumatic mechanical arm can rotate in multiple directions, and the flexibility of the pneumatic mechanical arm is improved.
Example 5
With reference to fig. 6, further defined on the basis of any one of embodiments 3 to 4, the wrist connecting piece 14 is provided with an assembly hole 15, and clamping jaws with different operations can be mounted on the wrist connecting piece 14 in an adapting manner through the assembly hole 15, so that the use is convenient.
Claims (3)
1. A flexible rotary joint module is characterized by comprising a mounting shell (1) and two cylinders (2) with axes parallel to each other and arranged on the bottom end surface of the mounting shell (1), piston rods (201) on the two cylinders (2) penetrate through the bottom end surface of the mounting shell (1) and extend into an inner cavity of the mounting shell (1), a conversion mechanism for converting rectilinear motion of the piston rods (201) into rotary motion is arranged in the mounting shell (1), extension plates (202) are fixedly connected on the top end surfaces of the two piston rods (201), the conversion mechanism comprises a driving wheel (3), a driving belt (301) and an output shaft (5) which are rotatably connected in the mounting shell (1), two ends of the driving belt (301) are respectively connected with one extension plate (202), the inner side surface of the driving belt (301) is a tooth surface and is in meshed transmission with the outer teeth of the driving wheel (3), an opening (4) is formed in the mounting shell (1), the output shaft (5) is rotatably arranged in the opening (4) through a bearing and is fixedly connected with the top end surfaces of the driving wheel (3) and the driving belt (201) which are fixedly connected with the driving belt (5), the two ends of the driving belt (301) are respectively connected with an extension plate (202), the inner side surface of the driving belt (301) is a tooth surface and is meshed with the outer teeth of the driving wheel (3) for transmission, an opening (4) is formed in the mounting shell (1), and the output shaft (5) is rotatably mounted in the opening (4) through a bearing and is axially transmitted with the driving wheel (3).
2. A pneumatic mechanical arm comprises N arm bodies and N-1 joint modules which are sequentially arranged, wherein the arm bodies and the joint modules are distributed in a staggered manner and are sequentially connected; along the arrangement direction, the arm bodies are a first arm body, a second arm body, a third arm body … … and an nth arm body in sequence, and the joint modules are a first joint module, a second joint module, a third joint module … … and an nth-1 joint module in sequence; the flexible rotary joint module is characterized in that the joint module is a flexible rotary joint module according to claim 1, a mounting shell (1) of the N-1 joint module is connected with an N-1 arm body, and an output shaft (5) of the N-1 joint module is connected with the N arm body.
3. The pneumatic mechanical arm of claim 2, wherein N is 4; the first arm body is a cross rod (6), the second arm body is a large arm connecting rod (7), the third arm body is a small arm connecting rod (8), and the fourth arm body is a wrist connecting piece (14); the first joint module is a first flexible rotary joint module (9), the second joint module is a second flexible rotary joint module (10), and the third joint module is a third flexible rotary joint module (11); the left end face of the installation shell (1) on the first flexible rotary joint module (9) is fixedly connected with the cross rod (6), one end of the large arm connecting rod (7) facing the first flexible rotary joint module (9) is fixedly connected with the output shaft (5) at the right end of the installation shell (1) on the first flexible rotary joint module (9), one end face of the large arm connecting rod (7) facing the second flexible rotary joint module (10) is fixedly connected with the left end face of the installation shell (1) on the second flexible rotary joint module (10), the output shaft (5) at the right end face of the installation shell (1) on the second flexible rotary joint module (10) is fixedly connected with the forearm connecting rod (8) through the first connecting piece (111), an installation cavity (801) is formed in the forearm connecting rod (8), the third flexible rotary joint module (11) is fixedly installed inside the installation cavity (801), and the output shafts (5) at the left end and the right end of the installation shell (1) on the third flexible rotary joint module (11) are fixedly connected with the wrist; the flexible rotary joint module is characterized in that a flexible rotary joint module and a second connecting piece (13) are arranged between the first flexible rotary joint module (9) and the big arm connecting rod (7), the flexible rotary joint module between the first flexible rotary joint module (9) and the big arm connecting rod (7) is defined as a fourth flexible rotary joint module (12), one end face of the second connecting piece (13) is fixedly connected to the front end face of the mounting shell (1) on the fourth flexible rotary joint module (12), an output shaft (5) on the right end of the mounting shell (1) on the first flexible rotary joint module (9) is fixedly connected with the front end face of the mounting shell (1) on the fourth flexible rotary joint module (12) through the second connecting piece (13), and meanwhile one end, close to the fourth flexible rotary joint module (12), of the big arm connecting rod (7) is fixedly connected with the output shafts (5) on the left end and the right end of the mounting shell (1) on the fourth flexible rotary joint module (12), and an assembly hole (15) is formed in the wrist connecting piece (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011430823.XA CN112621809B (en) | 2020-12-09 | 2020-12-09 | Flexible rotary joint module and pneumatic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011430823.XA CN112621809B (en) | 2020-12-09 | 2020-12-09 | Flexible rotary joint module and pneumatic mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112621809A CN112621809A (en) | 2021-04-09 |
| CN112621809B true CN112621809B (en) | 2023-06-23 |
Family
ID=75309038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011430823.XA Active CN112621809B (en) | 2020-12-09 | 2020-12-09 | Flexible rotary joint module and pneumatic mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112621809B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479274B (en) * | 2021-08-19 | 2022-07-22 | 安徽理工大学 | Hydraulic foot type robot single-leg mechanism with passive flexible knee joint |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010018003A1 (en) * | 2010-04-23 | 2011-10-27 | Weiß GmbH Sondermaschinentechnik | Method for operating a rotary actuator |
| CN106915012A (en) * | 2015-12-15 | 2017-07-04 | 刘立群 | Push-swing device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3610438A (en) * | 1970-03-16 | 1971-10-05 | Westinghouse Electric Corp | Manipulator arm |
| CN104175311B (en) * | 2013-05-27 | 2016-04-06 | 北京理工大学 | Flexible massage robot |
| CN104669295A (en) * | 2013-11-29 | 2015-06-03 | 徐建 | All-around adjusted robot side limb joint |
| GB2541369B (en) * | 2015-07-22 | 2021-03-31 | Cmr Surgical Ltd | Drive mechanisms for robot arms |
| CN105082114B (en) * | 2015-09-18 | 2017-03-01 | 哈尔滨博实自动化股份有限公司 | Robot |
| CN105459090A (en) * | 2016-01-04 | 2016-04-06 | 江苏科技大学 | Instructive six-degree-of-freedom carrying manipulator |
| CN106175935B (en) * | 2016-06-29 | 2019-01-22 | 微创（上海）医疗机器人有限公司 | Mechanical arm and orthopedic robot |
| CN109849049B (en) * | 2019-01-13 | 2020-09-22 | 浙江大学 | Double-freedom-degree hydraulic mechanical arm joint adopting cross joint connection |
-
2020
- 2020-12-09 CN CN202011430823.XA patent/CN112621809B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010018003A1 (en) * | 2010-04-23 | 2011-10-27 | Weiß GmbH Sondermaschinentechnik | Method for operating a rotary actuator |
| CN106915012A (en) * | 2015-12-15 | 2017-07-04 | 刘立群 | Push-swing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112621809A (en) | 2021-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108214535B (en) | Synchronous control manipulator | |
| CN112621809B (en) | Flexible rotary joint module and pneumatic mechanical arm | |
| CN107717959B (en) | Partially-decoupled SCARA high-speed parallel manipulator | |
| CN103056882B (en) | Inchworm gait imitation climbing robot | |
| CN108687790A (en) | A kind of gear-rack drive formula catching robot | |
| CN111844119A (en) | Variable-stroke soft pneumatic clamping device and working method thereof | |
| CN106514697A (en) | Two-freedom-degree orthogonal type robot joint module and six-freedom-degree mechanical arm | |
| CN208629464U (en) | A kind of gear-rack drive formula catching robot | |
| CN212421348U (en) | Stroke-variable soft pneumatic clamping device | |
| CN104325465A (en) | Wrist structure of industrial robot and installation method | |
| CN204913888U (en) | Four degree of freedom robots | |
| CN213320147U (en) | Linear high-speed carrying manipulator | |
| CN202763838U (en) | Rear-motor transmission structure for fifth shaft and sixth shaft of multi-joint industrial robot | |
| CN211890833U (en) | Mechanical arm | |
| CN110355740B (en) | Parallel mechanism with two motion modes of 1R1T and 3T | |
| CN105382834B (en) | Three-freedom-degree controllable mechanical manipulator | |
| CN111842688A (en) | High-speed carrying device | |
| CN214818685U (en) | Display device for industrial robot | |
| CN105479451A (en) | Planar redundant robot | |
| CN204913894U (en) | Three degree of freedom robots | |
| CN109664277B (en) | Full-direct-acting hydraulic cylinder driving mechanical arm | |
| CN210307806U (en) | Wire transmission walking structure based on under-actuated decoupling | |
| CN209903207U (en) | Full-direct-acting hydraulic cylinder driving mechanical arm | |
| CN110733203A (en) | airplane box forming equipment | |
| KR20200142712A (en) | Parallel Robot Equipped With An End Stage Using A Hollow Actuator Module Capable Of Expanding Degrees Of Freedom |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |