CN112847429A

CN112847429A - Continuous flexible operating arm based on spring structure

Info

Publication number: CN112847429A
Application number: CN202011644796.6A
Authority: CN
Inventors: 朱延河; 赵杰; 李长乐
Original assignee: Luoyang Shangqi Robot Technology Co ltd
Current assignee: Luoyang Shangqi Robot Technology Co ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-05-28

Abstract

The invention discloses a continuous flexible operating arm based on a spring structure, which effectively solves the problems of heavy weight, limited motion range and poor flexibility of the existing rigid robot operating arm; the device comprises a base, a compression spring and an extension spring, wherein one end of the extension spring is fixed on the base, the central aperture of the compression spring is equal to the outer diameter of the extension spring, the extension spring is positioned in the compression spring, one end of the compression spring is provided with an upper mounting plate and is fixed with the other end of the extension spring through the upper mounting plate, the upper mounting plate is provided with a plurality of transmission ropes, the plurality of transmission ropes are uniformly distributed along the circumferential direction of the compression spring, the base is provided with a driving structure corresponding to the plurality of transmission ropes, the other end of each transmission rope is wound on the driving structure on the corresponding side of the transmission rope, the other end of the compression spring is provided with a lower mounting plate, and; the flexibility of the operating arm is improved, and the operating arm can be bent in multiple directions conveniently.

Description

Continuous flexible operating arm based on spring structure

Technical Field

The invention belongs to the technical field of mechanical arms, and particularly relates to a continuum flexible operating arm based on a spring structure.

Background

The robot operating arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of the unique operation flexibility, the method is widely applied to the fields of industrial assembly, safety, explosion prevention and the like; most of the existing robot operating arms mainly adopt rigid structures, and are heavy, limited in movement range and poor in flexibility when in use.

Disclosure of Invention

The invention aims to provide a continuum flexible operating arm based on a spring structure, and effectively solves the problems of heavy weight, limited motion range and poor flexibility of the existing rigid robot operating arm.

The technical scheme adopted by the invention is as follows:

the utility model provides a flexible operation arm of continuum based on spring structure, which comprises a base, compression spring and extension spring, extension spring's one end is fixed on the base, compression spring's central aperture equals with extension spring's external diameter, and extension spring is located compression spring, compression spring's one end is equipped with the mounting panel, and it is fixed with extension spring's the other end through last mounting panel, be equipped with a plurality of driving ropes on going up the mounting panel, a plurality of driving ropes along compression spring's circumferencial direction equipartition, be equipped with the drive structure corresponding with a plurality of driving ropes on the base, the other end of every driving rope all twines on its drive structure that corresponds the side, compression spring's the other end is equipped with down the mounting panel, mounting panel and base fixed connection.

Preferably, the compression spring is provided with a plurality of bearing pulleys through optical axis screws, and each transmission rope passes through the bearing pulley on the corresponding side.

Preferably, the upper mounting plate is provided with an upper mounting hole fixed with the extension spring.

Preferably, the lower mounting plate is provided with a lower mounting hole fixed with the extension spring.

Preferably, the lower mounting plate is fixedly connected with the base through bolts.

Preferably, the driving structure comprises a rope pulley and a motor, the transmission rope is wound on the rope pulley, and the rope pulley is fixed with the output end of the motor.

In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:

1. in the invention, the extension spring is used as a framework to press the surrounding structure of the compression spring, so that the load capacity of the operating arm is improved, the transmission rope is used for driving the whole operating arm to bend, the flexibility of the operating arm is improved, and the multi-directional bending of the operating arm is facilitated.

2. According to the invention, the arrangement of the bearing pulley reduces the friction force applied to the transmission rope in the winding and unwinding process, and prolongs the service life of the transmission rope.

Drawings

Fig. 1 is a front view of the present invention.

Fig. 2 is a bottom view of the present invention.

FIG. 3 is an enlarged view of A of FIG. 1 according to the present invention.

The labels in the figure are: the device comprises a base 1, a compression spring 2, an extension spring 3, an upper mounting plate 4, a transmission rope 5, a driving structure 6, a rope pulley 601, a motor 602, a lower mounting plate 7, a bearing pulley 8, an upper mounting hole 9 and a lower mounting hole 10.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments.

Example 1:

by figure 1, a continuum flexible operation arm based on spring structure, including base 1, compression spring 2 and extension spring 3, extension spring 3's one end is fixed on base 1, compression spring 2's central aperture equals with extension spring 3's external diameter, and extension spring 3 is located compression spring 2, compression spring 2's one end is equipped with mounting panel 4, and it is fixed with extension spring 3's the other end through last mounting panel 4, be equipped with a plurality of driving ropes 5 on going up mounting panel 4, a plurality of driving ropes 5 along compression spring 2's circumferencial direction equipartition, by figure 2, be equipped with the drive structure 6 corresponding with a plurality of driving ropes 5 on base 1, every driving rope 5's the other end all twines on the drive structure 6 of its corresponding side, compression spring 2's the other end is equipped with down mounting panel 7, lower mounting panel 7 and base 1 fixed connection.

The working principle is as follows: drive structure 6 stimulates the driving rope 5 of one side, and driving rope 5 drives compression spring 2 compression through last mounting panel 4, because the stay cord spring can't continue the compression, and driving rope 5 makes the mounting panel to the lopsidedness, can correspond the driving rope 5 of side with the pulling as required, makes the all-round bending of operation arm.

Example 2:

in this embodiment, on the basis of embodiment 1, preferably, as shown in fig. 3, a plurality of bearing pulleys 8 are mounted on the compression spring 2 via optical axis screws, and each transmission rope 5 passes through the bearing pulley 8 on the corresponding side. The friction force in the retracting and releasing process of the transmission rope 5 can be effectively reduced, and the service life of the transmission rope 5 is prolonged.

Example 3:

in this embodiment, on the basis of embodiment 1, it is preferable that as shown in fig. 1, the upper mounting plate 4 is provided with an upper mounting hole 9 fixed to the extension spring 3. And the lower mounting plate 7 is provided with a lower mounting hole 10 fixed with the extension spring 3. The lower mounting plate 7 is fixedly connected with the base 1 through bolts. The operation arm is convenient to install and disassemble, and the working efficiency of workers is improved.

Example 4:

in this embodiment, on the basis of embodiment 1, preferably, as shown in fig. 2, the driving structure 6 includes a rope pulley 601 and a motor 602, the driving rope 5 is wound around the rope pulley 601, and the rope pulley 601 is fixed to the output end of the motor 602.

The working principle is as follows: the motor 602 is started, the motor 602 drives the rope pulley 601 to rotate, the transmission rope 5 is wound on the rope pulley 601 on the corresponding side, the length of the transmission rope 5 is controlled, and finally the transmission rope 5 bends the operation arm.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A continuum flexible operating arm based on a spring structure comprises a base (1), compression springs (2) and extension springs (3), and is characterized in that one ends of the extension springs (3) are fixed on the base (1), the central aperture of each compression spring (2) is equal to the outer diameter of each extension spring (3), each extension spring (3) is located in each compression spring (2), an upper mounting plate (4) is arranged at one end of each compression spring (2) and fixed with the other end of each extension spring (3) through the upper mounting plate (4), a plurality of transmission ropes (5) are arranged on the upper mounting plate (4), the transmission ropes (5) are uniformly distributed along the circumferential direction of the compression springs (2), driving structures (6) corresponding to the transmission ropes (5) are arranged on the base (1), the other end of each transmission rope (5) is wound on the driving structure (6) on the corresponding side of each transmission rope, the other end of the compression spring (2) is provided with a lower mounting plate (7), and the lower mounting plate (7) is fixedly connected with the base (1).

2. The continuum flexible manipulator arm based on a spring structure as claimed in claim 1, characterized in that a plurality of bearing pulleys (8) are mounted on the compression spring (2) through optical axis screws, and each driving rope (5) passes through the bearing pulley (8) on the corresponding side.

3. The continuum flexible operating arm based on the spring structure as claimed in claim 1, wherein the upper mounting plate (4) is provided with an upper mounting hole (9) fixed with the extension spring (3).

4. The continuum flexible operating arm based on the spring structure as claimed in claim 1, wherein the lower mounting plate (7) is provided with a lower mounting hole (10) fixed with the extension spring (3).

5. The continuum flexible manipulator arm based on a spring structure as claimed in claim 1 characterized in that the lower mounting plate (7) is fixed to the base (1) by bolts.

6. A continuum flexible manipulator arm based on a spring structure as claimed in claim 1 characterized in that said driving structure (6) comprises a rope pulley (601) and a motor (602), the transmission rope (5) is wound around the rope pulley (601), and the rope pulley (601) is fixed with the output end of the motor (602).