CN113459155A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN113459155A CN113459155A CN202110834216.8A CN202110834216A CN113459155A CN 113459155 A CN113459155 A CN 113459155A CN 202110834216 A CN202110834216 A CN 202110834216A CN 113459155 A CN113459155 A CN 113459155A
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- China
- Prior art keywords
- arm
- rolling
- telescopic
- telescopic arm
- actuator
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/005—Arms having a curved shape
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a mechanical arm, which comprises a first actuator, a first rolling arm, a first telescopic arm, a second rolling arm and a second actuator which are sequentially connected in series, wherein the first actuator and the second actuator are symmetrically arranged; the first rolling arm and the second rolling arm are symmetrically arranged to provide two rolling degrees of freedom; the first telescopic arm and the second telescopic arm are symmetrically arranged to provide two telescopic degrees of freedom; the first rolling arm, the first telescopic arm, the second telescopic arm and the second rolling arm are sequentially and rotatably connected to provide three pitching degrees of freedom. The symmetrically arranged actuator, the rolling arm, the telescopic arm and the pitching joint can reduce the workload required by the design and the manufacture of each part, thereby shortening the design and the manufacture period; by reducing the rotational degree of freedom and increasing the translational degree of freedom, the complexity of motion planning can be reduced.
Description
Technical Field
The invention relates to the technical field of aerospace engineering, in particular to a mechanical arm.
Background
The mechanical arm deployed in the space station can assist spacemen in completing in-orbit assembly and maintenance tasks in complex space environments, task risks of the spacemen are reduced, and space mechanical arms are also needed for capturing, carrying, assisting in butt joint and the like of large space facilities such as satellites and spacecraft cabin sections. In the related art, the structure of the mechanical arm is usually complex, each part needs to be designed and manufactured independently, the time span from the design and processing of the part to the final assembly and test of the mechanical arm is large, and the launching task of quick response is difficult to meet; moreover, the respective degrees of freedom of the mechanical arm are usually rotational degrees of freedom, and the control and motion planning of the mechanical arm are complex.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a mechanical arm which can shorten the design and manufacture period and reduce the complexity of motion planning.
The embodiment of the invention provides a mechanical arm, which comprises:
a first actuator;
one end of the first rolling arm is connected to the first actuator, and the first rolling arm can drive the first actuator to rotate around the axis of the first rolling arm;
one end of the first telescopic arm is rotatably connected to one end, far away from the first actuator, of the first rolling arm, the first telescopic arm can rotate around a direction perpendicular to the axis of the first rolling arm, and the first telescopic arm can be extended or shortened in the axial direction;
one end of the second telescopic arm is rotatably connected to one end, far away from the first rolling arm, of the first telescopic arm, the second telescopic arm can rotate around a direction perpendicular to the telescopic direction of the first telescopic arm, and the second telescopic arm can extend or shorten in the axial direction;
one end of the second rolling arm is rotatably connected to one end, far away from the first telescopic arm, of the second telescopic arm, and the second rolling arm can rotate around a direction perpendicular to the telescopic direction of the second telescopic arm;
the second actuator is connected to one end, far away from the second telescopic arm, of the second rolling arm, and the second rolling arm can drive the second actuator to rotate around the axis of the second rolling arm;
the first actuator, the first rolling arm, the first telescopic arm, the second rolling arm and the second actuator are symmetrical relative to the joint of the first telescopic arm and the second telescopic arm.
The mechanical arm provided by the embodiment of the invention at least has the following beneficial effects: the mechanical arm is provided with 2 symmetrically-arranged actuators, 2 symmetrically-arranged rolling arms and 2 symmetrically-arranged telescopic arms, the workload required by design and manufacture of each part can be reduced, so that the design and manufacture period is shortened, and the symmetrically-arranged actuators can realize head-to-tail exchange of the mechanical arm so as to perform crawling action; the connection mode among all the parts is simple, and the modular design is adopted, so that the parts can be conveniently replaced when a certain part fails, and the independent parts can be detached to form a new mechanical arm with less freedom; the mechanical arm has 2 rolling degrees of freedom, 2 telescopic degrees of freedom and 3 pitching degrees of freedom, and can reduce the complexity of motion planning.
In some embodiments of the present invention, each of the first telescopic arm and the second telescopic arm includes an outer rod and an inner rod, the outer rod is sleeved outside the inner rod and is slidably connected to the inner rod, and the outer rod and the inner rod can move relatively in an axial direction.
In some embodiments of the invention, the first telescopic arm and the second telescopic arm each further comprise a guide rail extending parallel to the axial direction of the inner rod, and the outer rod and the inner rod are slidably connected by the guide rails.
In some embodiments of the present invention, each of the first telescopic arm and the second telescopic arm further includes a telescopic driving member, the telescopic driving member is fixedly connected to the outer rod, an output end of the telescopic driving member is connected to the inner rod, and the telescopic driving member is configured to drive the inner rod and the outer rod to move relatively in an axial direction.
In some embodiments of the present invention, each of the first telescopic arm and the second telescopic arm further includes a screw rod, the inner rod is in threaded connection with the screw rod, the screw rod is connected to an output end of the telescopic driving member, and the telescopic driving member can drive the screw rod to rotate.
In some embodiments of the present invention, each of the first and second rolling arms includes a first rolling portion and a second rolling portion, the first rolling portion is coaxially connected with the second rolling portion, and the second rolling portion and the first rolling portion are relatively rotatable around an axis of the second rolling portion.
In some embodiments of the present invention, the first rolling part is a motor, and the first rolling part can drive the first rolling part and the second rolling part to rotate relatively around a central axis of the second rolling part.
In some embodiments of the present invention, each of the first rolling arm and the second rolling arm further includes a rolling driving member, the rolling driving member is connected to the first rolling portion and the second rolling portion, and the rolling driving member is configured to drive the second rolling portion and the first rolling portion to rotate relatively around a central axis of the second rolling portion.
In some embodiments of the present invention, the vehicle further comprises a pitch joint, the first roll arm and the first telescopic arm, the first telescopic arm and the second telescopic arm, and the second telescopic arm and the second roll arm are all rotationally connected through the pitch joint, the pitch joint comprises a pitch support and a pitch piece, and the pitch piece is hinged to the pitch support.
In some embodiments of the present invention, the pitch support is a motor, and the pitch support can drive the pitch piece and the pitch support to rotate relatively.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
FIG. 1 is a front view of a robotic arm according to some embodiments of the present invention;
FIG. 2 is a cross-sectional view of a first telescoping arm of the robotic arm shown in FIG. 1;
figure 3 is an exploded view of the first pitch joint of the robotic arm shown in figure 1.
Reference numerals:
the first actuator 100, the first rolling arm 200, the first rolling part 210, the second rolling part 220, the first telescopic arm 300, the outer rod 310, the inner rod 320, the guide rail 330, the telescopic driving part 340, the screw rod 350, the second telescopic arm 400, the second rolling arm 500, the second actuator 600, the pitch joint 700, the pitch support 710 and the pitch part 720.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplicity of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In the description of the present invention, reference to the description of "one embodiment," "some embodiments," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The embodiment of the invention provides a mechanical arm, which comprises:
a first actuator 100;
one end of the first rolling arm 200 is connected to the first actuator 100, and the first rolling arm 200 can drive the first actuator 100 to rotate around the axis of the first rolling arm 200;
a first telescopic arm 300, one end of the first telescopic arm 300 is rotatably connected to one end of the first roll arm 200 far from the first actuator 100, the first telescopic arm 300 can rotate around a direction perpendicular to the axis of the first roll arm 200, and the first telescopic arm 300 can be extended or shortened in the axial direction;
a second telescopic arm 400, one end of the second telescopic arm 400 is rotatably connected to one end of the first telescopic arm 300 away from the first roll arm 200, the second telescopic arm 400 can rotate around a direction perpendicular to the telescopic direction of the first telescopic arm 300, and the second telescopic arm 400 can be extended or shortened in the axial direction;
a second rolling arm 500, one end of the second rolling arm 500 being rotatably connected to one end of the second telescopic arm 400 far from the first telescopic arm 300, the second rolling arm 500 being capable of rotating in a direction perpendicular to the telescopic direction of the second telescopic arm 400;
the second actuator 600 is connected to one end of the second roll arm 500 away from the second telescopic arm 400, and the second roll arm 500 can drive the second actuator 600 to rotate around the axis of the second roll arm 500;
the first actuator 100, the first roll arm 200, the first telescopic arm 300, the second telescopic arm 400, the second roll arm 500, and the second actuator 600 are symmetrical with respect to the connection point of the first telescopic arm 300 and the second telescopic arm 400.
For example, as shown in fig. 1, the first actuator 100, the first roll arm 200, the first telescopic arm 300, the second telescopic arm 400, the second roll arm 500, and the second actuator 600 are sequentially connected in series, and two actuators, namely the first actuator 100 and the second actuator 600, are symmetrically arranged; the first rolling arm 200 and the second rolling arm 500 are symmetrically arranged to provide two rolling degrees of freedom; the first telescopic arm 300 and the second telescopic arm 400 are symmetrically arranged to provide two telescopic degrees of freedom; the first roll arm 200, the first telescopic arm 300, the second telescopic arm 400, and the second roll arm 500 are rotatably connected in sequence to provide three degrees of freedom in pitch. The symmetrically arranged actuators, the rolling arms and the telescopic arms can reduce the workload required by the design and the manufacture of each part, so that the design and the manufacture period is shortened, and the symmetrically arranged actuators can realize the head-to-tail exchange of the mechanical arm so as to perform crawling action; the connection mode among all the parts is simple, and the modular design is adopted, so that the parts can be conveniently replaced when a certain part fails, and the independent parts can be detached to form a new mechanical arm with less freedom; by reducing the rotational degree of freedom and increasing the translational degree of freedom, the complexity of motion planning can be reduced.
It should be noted that the first telescopic arm 300 and the second telescopic arm 400 both include an outer rod 310 and an inner rod 320, the outer rod 310 is sleeved outside the inner rod 320 and is slidably connected to the inner rod 320, and the outer rod 310 and the inner rod 320 can move relatively in the axial direction.
For example, as shown in fig. 2, the first telescopic arm 300 includes an outer rod 310 and an inner rod 320, the outer rod 310 is sleeved outside the inner rod 320 and is slidably connected to the inner rod 320, and the outer rod 310 and the inner rod 320 can move relatively in the axial direction. The second telescopic arm 400 also comprises the outer rod 310 and the inner rod 320 described above. The first telescopic arm 300 and the second telescopic arm 400 are telescopic through the sliding connection of the outer rod 310 and the inner rod 320, the structure is simple, and the assembly difficulty and the cost can be reduced.
It should be noted that the first telescopic arm 300 and the second telescopic arm 400 further each include a guide rail 330, the guide rail 330 extends parallel to the axial direction of the inner rod 320, and the outer rod 310 and the inner rod 320 are slidably connected through the guide rail 330.
For example, as shown in fig. 2, the first telescopic arm 300 further includes a guide rail 330, the guide rail 330 extends parallel to the axial direction of the inner rod 320, and the outer rod 310 and the inner rod 320 are slidably connected by the guide rail 330. Second telescoping arm 400 also includes guide rail 330. The guide rail 330 can guide the movement of the outer rod 310 and the inner rod 320, and improve the stability during the movement.
It will be appreciated that the number, size, etc. of the guide rails 330 are not limited, and a plurality of guide rails 330 may be provided in the circumferential direction of the inner rod 320 to further improve stability during movement.
It should be noted that both the first telescopic arm 300 and the second telescopic arm 400 further include a telescopic driving member 340, the telescopic driving member 340 is fixedly connected to the outer rod 310, an output end of the telescopic driving member 340 is connected to the inner rod 320, and the telescopic driving member 340 is used for driving the inner rod 320 and the outer rod 310 to move relatively in the axial direction.
For example, as shown in fig. 2, the first telescopic arm 300 further includes a telescopic driving member 340, the telescopic driving member 340 is fixedly connected to the outer rod 310, an output end of the telescopic driving member 340 is connected to the inner rod 320, and the telescopic driving member 340 is used for driving the inner rod 320 and the outer rod 310 to move relatively in the axial direction. Second telescoping arm 400 also includes telescoping drive 340. The telescopic driving member 340 can stably drive the inner rod 320 and the outer rod 310 to move relatively in the axial direction, so that the stability in the movement process is improved.
It is understood that the telescopic driving member 340 may be a linear motor, a combination of a motor and a screw rod, etc., and may drive the inner rod 320 and the outer rod 310 to move relatively in the axial direction.
It should be noted that both the first telescopic arm 300 and the second telescopic arm 400 further include a screw rod 350, the inner rod 320 is in threaded connection with the screw rod 350, the screw rod 350 is connected to an output end of the telescopic driving element 340, and the telescopic driving element 340 can drive the screw rod 350 to rotate.
For example, as shown in fig. 2, the first telescopic arm 300 further includes a screw 350, the inner rod 320 is in threaded connection with the screw 350, the screw 350 is connected to the output end of the telescopic driving member 340, and the telescopic driving member 340 can drive the screw 350 to rotate. Second telescoping arm 400 also includes lead screw 350. The screw 350 has high transmission precision, long service life, stable work and high reliability, and can improve the motion precision and prolong the service life.
Each of the first rolling arm 200 and the second rolling arm 500 includes a first rolling part 210 and a second rolling part 220, the first rolling part 210 and the second rolling part 220 are coaxially connected, and the second rolling part 220 and the first rolling part 210 are capable of relatively rotating around an axis of the second rolling part 220.
For example, as shown in fig. 1, the first rolling arm 200 includes a first rolling part 210 and a second rolling part 220, the first rolling part 210 and the second rolling part 220 are coaxially connected, and the second rolling part 220 and the first rolling part 210 are relatively rotatable around an axis of the second rolling part 220. The second roll arm 500 also includes a first roll portion 210 and a second roll portion 220. The rotationally connected first rolling part 210 and second rolling part 220 can provide a rolling degree of freedom, thereby adjusting the posture of the tip of the robot arm.
The first rolling unit 210 is a motor, and the first rolling unit 210 can drive the first rolling unit 210 and the second rolling unit 220 to rotate relatively around the central axis of the second rolling unit 220.
For example, as shown in fig. 1, the first rolling part 210 is a motor, and the first rolling part 210 can drive the first rolling part 210 and the second rolling part 220 to rotate relatively around the central axis of the second rolling part 220. The first rolling part 210 is provided as a motor, and a separate driving member is not required, so that the structures of the first rolling arm 200 and the second rolling arm 500 can be simplified, the assembly complexity can be reduced, the manufacturing period can be further shortened, and the production cost can be reduced.
The first rolling arm 200 and the second rolling arm 500 may also include rolling drivers connected to the first rolling part 210 and the second rolling part 220, and the rolling drivers are configured to drive the second rolling part 220 and the first rolling part 210 to rotate around a central axis of the second rolling part 220.
It is understood that the rolling driving member may be provided as a motor, and an output end thereof is connected to any one of the first rolling part 210 and the second rolling part 220 to drive the second rolling part 220 to rotate relative to the first rolling part 210 about a central axis of the second rolling part 220.
It should be noted that the robot arm further includes a pitch joint 700, the first roll arm 200 and the first telescopic arm 300, the first telescopic arm 300 and the second telescopic arm 400, and the second telescopic arm 400 and the second roll arm 500 are all rotatably connected through the pitch joint 700, the pitch joint 700 includes a pitch support 710 and a pitch member 720, and the pitch member 720 is hinged to the pitch support 710.
For example, as shown in fig. 1, the robot arm further includes a pitch joint 700, the first roll arm 200 and the first telescopic arm 300, the first telescopic arm 300 and the second telescopic arm 400, and the second telescopic arm 400 and the second roll arm 500 are rotatably connected through the pitch joint 700, as shown in fig. 3, the pitch joint 700 includes a pitch support 710 and a pitch member 720, and the pitch member 720 is hinged to the pitch support 710. The pitching joint 700 is provided with the pitching support 710 and the pitching member 720 which are hinged, so that the structure is simple, the assembly is convenient, the manufacturing period can be shortened, and the production cost can be reduced.
It should be noted that the pitch support 710 is a motor, and the pitch support 710 can drive the pitch member 720 and the pitch support 710 to rotate relatively.
For example, as shown in fig. 3, the pitch support 710 is a motor, and the pitch support 710 can drive the pitch member 720 to rotate relative to the pitch support 710. The pitching support 710 is set as a motor, and an independent driving part is not needed to be arranged, so that the structure of the pitching joint 700 can be simplified, the assembly complexity is reduced, the manufacturing period is further shortened, and the production cost is reduced.
A robotic arm according to an embodiment of the present invention is described in detail below in a complete embodiment with reference to fig. 1-3. It is to be understood that the following description is illustrative only and is not intended to be in any way limiting.
The mechanical arm comprises a first actuator 100, a first rolling arm 200, a first telescopic arm 300, a second telescopic arm 400, a second rolling arm 500 and a second actuator 600 which are sequentially connected in series, wherein the first rolling arm 200 and the first telescopic arm 300, the first telescopic arm 300 and the second telescopic arm 400, and the second telescopic arm 400 and the second rolling arm 500 are rotatably connected through a pitching joint 700.
The first rolling arm 200 and the second rolling arm 500 both include a first rolling portion 210 and a second rolling portion 220, the first rolling portion 210 and the second rolling portion 220 are coaxially connected, the second rolling portion 220 and the first rolling portion 210 can relatively rotate around a central axis of the second rolling portion 220, wherein the first rolling portion 210 is a motor for driving the first rolling portion 210 and the second rolling portion 220 to relatively rotate around the central axis of the second rolling portion 220. The first and second roll arms 200 and 500 can provide two degrees of roll freedom.
First telescopic boom 300 and second telescopic boom 400 all include outer pole 310, interior pole 320, guide rail 330, telescopic driving member 340 and lead screw 350, outer pole 310 cover is located the outside of interior pole 320 and is passed through guide rail 330 and interior pole 320 sliding connection, guide rail 330 is on a parallel with the axial extension of interior pole 320, be provided with a plurality of guide rails 330 in the circumference of interior pole 320, interior pole 320 and lead screw 350 threaded connection, lead screw 350 connects in telescopic driving member 340, telescopic driving member 340 can drive lead screw 350 and rotate in order to drive interior pole 320 relative outer pole 310 along axial displacement. First telescopic arm 300 and second telescopic arm 400 are capable of providing two degrees of freedom of extension and retraction.
The pitch joint 700 comprises a pitch support 710 and a pitch piece 720, the pitch piece 720 is hinged to the pitch support 710, the pitch support 710 is a motor, and the pitch support 710 can drive the pitch piece 720 and the pitch support 710 to rotate relatively.
It should be noted that the first rolling part 210 and the telescopic driving part 340 adopt the same motor, the first rolling arm 200 and the second rolling arm 500 have the same structure, the first telescopic arm 300 and the second telescopic arm 400 have the same structure, and the pitch joints 700 have the same structure, so that the consistency of parts with the same function can be improved, the design and manufacturing period can be shortened, the assembly difficulty can be reduced, and the actuators arranged symmetrically can realize the head-to-tail exchange of the mechanical arm, thereby performing crawling action; the connection mode among all the parts is simple, and the modular design is adopted, so that the parts can be conveniently replaced when a certain part fails, and the independent parts can be detached to form a new mechanical arm with less freedom; by reducing the rotational degree of freedom and increasing the translational degree of freedom, the complexity of motion planning can be reduced.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. A robotic arm, comprising:
a first actuator;
one end of the first rolling arm is connected to the first actuator, and the first rolling arm can drive the first actuator to rotate around the axis of the first rolling arm;
one end of the first telescopic arm is rotatably connected to one end, far away from the first actuator, of the first rolling arm, the first telescopic arm can rotate around a direction perpendicular to the axis of the first rolling arm, and the first telescopic arm can be extended or shortened in the axial direction;
one end of the second telescopic arm is rotatably connected to one end, far away from the first rolling arm, of the first telescopic arm, the second telescopic arm can rotate around a direction perpendicular to the telescopic direction of the first telescopic arm, and the second telescopic arm can extend or shorten in the axial direction;
one end of the second rolling arm is rotatably connected to one end, far away from the first telescopic arm, of the second telescopic arm, and the second rolling arm can rotate around a direction perpendicular to the telescopic direction of the second telescopic arm;
the second actuator is connected to one end, far away from the second telescopic arm, of the second rolling arm, and the second rolling arm can drive the second actuator to rotate around the axis of the second rolling arm;
the first actuator, the first rolling arm, the first telescopic arm, the second rolling arm and the second actuator are symmetrical relative to the joint of the first telescopic arm and the second telescopic arm.
2. The mechanical arm as claimed in claim 1, wherein the first telescopic arm and the second telescopic arm each comprise an outer rod and an inner rod, the outer rod is sleeved outside the inner rod and is connected with the inner rod in a sliding manner, and the outer rod and the inner rod can move relatively in the axial direction.
3. The mechanical arm of claim 2, wherein the first telescopic arm and the second telescopic arm each further comprise a guide rail extending parallel to the axial direction of the inner rod, and the outer rod and the inner rod are slidably connected through the guide rails.
4. A mechanical arm as claimed in claim 2 or 3, wherein the first telescopic arm and the second telescopic arm each further comprise a telescopic driving member, the telescopic driving member is fixedly connected to the outer rod, an output end of the telescopic driving member is connected to the inner rod, and the telescopic driving member is used for driving the inner rod and the outer rod to move relatively in the axial direction.
5. The mechanical arm as claimed in claim 4, wherein the first telescopic arm and the second telescopic arm each further comprise a screw rod, the inner rod is in threaded connection with the screw rod, the screw rod is connected to an output end of the telescopic driving member, and the telescopic driving member can drive the screw rod to rotate.
6. The mechanical arm of claim 1, wherein the first and second roll arms each comprise a first roll portion and a second roll portion, the first roll portion being coaxially connected to the second roll portion, the second roll portion and the first roll portion being relatively rotatable about an axis of the second roll portion.
7. The robotic arm of claim 6, wherein the first rolling portion is a motor, the first rolling portion being capable of driving the first rolling portion and the second rolling portion to rotate relative to each other about a central axis of the second rolling portion.
8. The mechanical arm of claim 6, wherein the first rolling arm and the second rolling arm each further comprise a rolling driving member, the rolling driving member is connected to the first rolling portion and the second rolling portion, and the rolling driving member is used for driving the second rolling portion and the first rolling portion to rotate relatively around a central axis of the second rolling portion.
9. The mechanical arm of claim 1, further comprising a pitch joint, wherein the first roll arm and the first telescopic arm, the first telescopic arm and the second telescopic arm, and the second telescopic arm and the second roll arm are rotatably connected through a pitch joint, and the pitch joint comprises a pitch support and a pitch piece, and the pitch piece is hinged to the pitch support.
10. The mechanical arm of claim 9, wherein the pitch support is a motor, and the pitch support is capable of driving the pitch member and the pitch support to rotate relatively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110834216.8A CN113459155A (en) | 2021-07-21 | 2021-07-21 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110834216.8A CN113459155A (en) | 2021-07-21 | 2021-07-21 | Mechanical arm |
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| CN113459155A true CN113459155A (en) | 2021-10-01 |
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| CN202110834216.8A Pending CN113459155A (en) | 2021-07-21 | 2021-07-21 | Mechanical arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114101931A (en) * | 2021-12-14 | 2022-03-01 | 安镁金属制品（深圳）有限公司 | Intelligent laser edge trimmer and edge trimming process |
| CN114800603A (en) * | 2022-04-20 | 2022-07-29 | 中国人民解放军国防科技大学 | Mechanical arm with chemical-like bonds |
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| KR20100118310A (en) * | 2009-04-28 | 2010-11-05 | 서울대학교산학협력단 | Inchiworm robot |
| CN201760879U (en) * | 2009-09-11 | 2011-03-16 | 华南理工大学 | Modularized miniature bionic climbing robot driven by steering engine |
| CN101664927A (en) * | 2009-09-15 | 2010-03-10 | 华南理工大学 | Modularized biomimetic climbing robot |
| CN102632505A (en) * | 2012-04-23 | 2012-08-15 | 哈尔滨工程大学 | Clamping type integral shrinking and overturning climbing robot |
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| CN106926224A (en) * | 2015-12-31 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of bionical mechanical arm climbed and operate |
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| CN112224299A (en) * | 2020-10-16 | 2021-01-15 | 哈尔滨工程大学 | Abalone-imitating type sucking disc wall-climbing robot |
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| CN114800603A (en) * | 2022-04-20 | 2022-07-29 | 中国人民解放军国防科技大学 | Mechanical arm with chemical-like bonds |
| CN114800603B (en) * | 2022-04-20 | 2023-09-05 | 中国人民解放军国防科技大学 | Chemical bond-like mechanical arm |
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