CN114407072A - Flexible joint structure of S-shaped arm - Google Patents
Flexible joint structure of S-shaped arm Download PDFInfo
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- CN114407072A CN114407072A CN202210040583.5A CN202210040583A CN114407072A CN 114407072 A CN114407072 A CN 114407072A CN 202210040583 A CN202210040583 A CN 202210040583A CN 114407072 A CN114407072 A CN 114407072A
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- flexible joint
- plate
- joint structure
- steering engine
- bottom plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
Abstract
The invention discloses a flexible joint structure of a snake-shaped arm, and relates to the technical field of movable structures; including single snakelike arm flexible joint structure and many snakelike arm flexible joint structure, single snakelike arm flexible joint structure includes the vice connecting rod of upper plate, lower plate and U type, the upper plate with support through spring coupling ware connecting spring between the lower plate, many snakelike arm flexible joint structure is through one single snakelike arm flexible joint structure does not take other the lower plate or does not take the single snakelike arm flexible joint structure of upper plate utilizes spring coupling ware and spring to connect gradually the equipment and forms.
Description
Technical Field
The invention discloses a structure, relates to the technical field of movable structures, and particularly relates to a flexible joint structure of a snake-shaped arm.
Background
With the rapid development of economy and science and technology and the continuous increase of labor cost, mechanical devices which replace manpower in a mechanized mode are produced. The mechanical arm can replace people to complete a plurality of operation functions, the application scene of the mechanical arm is more diversified, and the requirements of the corresponding technical layer on the mechanical arm are continuously increased.
In a plurality of mechanical arm products, the control scheme adopts a mode of adopting a single motor to match a speed reducer to design the mechanical arm joint module, so that the whole weight of the joint module is heavier, and the motion flexibility of the whole mechanical arm is insufficient.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a flexible joint structure of a snake-shaped arm, which can realize the structural motion of a mechanical arm under different working conditions, and has the advantages of low processing and installation cost and simple control scheme.
The specific scheme provided by the invention is as follows:
a snake-shaped arm flexible joint structure comprises a single snake-shaped arm flexible joint structure and a multi-snake-shaped arm flexible joint structure, wherein the single snake-shaped arm flexible joint structure comprises an upper bottom plate, a lower bottom plate and a U-shaped auxiliary connecting rod,
a rotary joint is connected between side rods on two sides of the upper end of the U-shaped auxiliary connecting rod, the rotary joint is connected with the upper bottom plate through a connecting rod, one end of the rotary joint passes through the side rod on one side of the U-shaped auxiliary connecting rod and is connected with an output shaft of a first steering engine, the first steering engine is supported by a steering engine supporting plate connected on the outer side of the side rod, the bottom of the steering engine supporting plate is connected with a reinforced supporting plate, the first steering engine controls the rotary joint to drive the upper bottom plate to rotate vertical to a horizontal plane,
the lower end of the U-shaped auxiliary connecting rod is connected with a lower bottom plate through a second steering engine, the second steering engine drives the U-shaped auxiliary connecting rod to rotate in the horizontal plane,
the upper bottom plate and the lower bottom plate are connected with a spring through a spring connector for supporting,
the multi-serpentine arm flexible joint structure is formed by sequentially connecting and assembling other single-serpentine arm flexible joint structures without the upper base plate or the lower base plate by using a spring connector and a spring through one single-serpentine arm flexible joint structure.
Preferably, in the snake-shaped arm flexible joint structure, the steering engine supporting plate comprises a bottom plate and a side plate, the bottom plate supports the first steering engine, and the side plate limits and blocks the first steering engine.
Preferably, in the snake-shaped arm flexible joint structure, one end of the reinforcing support plate is connected with the outer side of the bottom of the steering engine support plate, and the other end of the reinforcing support plate is connected with a side rod of the U-shaped auxiliary connecting rod.
Preferably, the reinforcing support plate in the flexible joint structure with the snake-shaped arm is provided with a strip-shaped hole, so that the weight of the support plate structure is reduced.
Preferably, in the flexible joint structure with the snake-shaped arm, the upper base plate and the lower base plate have the same structure, and the upper base plate and the lower base plate are symmetrically provided with long holes, so that the weight of the base plate is reduced.
Preferably, in the flexible joint structure with the serpentine arm, the upper base plate and the lower base plate are both provided with wiring holes.
Preferably, in the flexible joint structure with the snake-shaped arm, spring connector connecting holes are uniformly and symmetrically formed between the upper base plate and the lower base plate, and the spring connectors are accommodated to connect springs to support the upper base plate and the lower base plate.
The invention also provides application of the flexible joint structure of the snake-shaped arm in a mechanical arm.
The invention has the advantages that:
the invention provides a snake-shaped arm flexible joint structure which can be in a single snake-shaped arm flexible joint structure or a multi-snake-shaped arm flexible joint structure, wherein the upper end of a U-shaped auxiliary connecting rod of the single snake-shaped arm flexible joint structure is connected with a rotary joint, the rotary joint can be controlled by a first steering engine to drive an upper base plate to rotate vertical to a horizontal plane, the lower end of the U-shaped auxiliary connecting rod is connected with a lower base plate through a second steering engine, the second steering engine drives the U-shaped auxiliary connecting rod to rotate in the horizontal plane, and the upper base plate and the lower base plate are connected with a spring through a spring connector to be supported.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of a single serpentine arm flexible joint configuration of the present invention.
FIG. 2 is a schematic diagram of a double-serpentine-arm flexible joint structure according to the present invention.
FIG. 3 is a schematic view of a baseplate structure in a serpentine arm flexible joint structure.
FIG. 4 is a schematic diagram of the leftward bending position of the double-serpentine-arm flexible joint structure.
FIG. 5 is a schematic diagram of a rightward bending position of the double-serpentine-arm flexible joint structure.
Description of the drawings:
1-an upper bottom plate, 2-a spring, 3-a first steering engine, 4-a steering engine support frame, 5-a second steering engine, 6-a lower bottom plate, 7 and 9-spring connectors, 8-a rotating joint, 10-a steering engine support plate, 11-U-shaped auxiliary connecting rods, 16-round holes, 17 and 19-half moon holes, 18-a hollow strip hole and 20 mounting holes.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
The invention provides a snake-shaped arm flexible joint structure, which comprises a single snake-shaped arm flexible joint structure and a multi-snake-shaped arm flexible joint structure, wherein the single snake-shaped arm flexible joint structure comprises an upper bottom plate, a lower bottom plate and a U-shaped auxiliary connecting rod,
a rotary joint is connected between side rods on two sides of the upper end of the U-shaped auxiliary connecting rod, the rotary joint is connected with the upper bottom plate through a connecting rod, one end of the rotary joint passes through the side rod on one side of the U-shaped auxiliary connecting rod and is connected with an output shaft of a first steering engine, the first steering engine is supported by a steering engine supporting plate connected on the outer side of the side rod, the bottom of the steering engine supporting plate is connected with a reinforced supporting plate, the first steering engine controls the rotary joint to drive the upper bottom plate to rotate vertical to a horizontal plane,
the lower end of the U-shaped auxiliary connecting rod is connected with a lower bottom plate through a second steering engine, the second steering engine drives the U-shaped auxiliary connecting rod to rotate in the horizontal plane,
the upper bottom plate and the lower bottom plate are connected with a spring through a spring connector for supporting,
the multi-serpentine arm flexible joint structure is formed by sequentially connecting and assembling other single-serpentine arm flexible joint structures without the upper base plate or the lower base plate by using a spring connector and a spring through one single-serpentine arm flexible joint structure.
The invention is convenient for flexible deformation through the form of a single snake-shaped arm flexible joint structure or a multi-snake-shaped arm flexible joint structure, can realize the mechanical arm structure movement under different working conditions, reduces the processing and installation cost, and has simple control scheme and easy realization.
In specific application, in some embodiments of the present invention, a single serpentine arm flexible joint structure is taken as an example, and the single serpentine arm flexible joint structure includes an upper base plate 1, a lower base plate 6 and a U-shaped auxiliary link 11,
a rotary joint 8 is connected between side rods on two sides of the upper end of the U-shaped auxiliary connecting rod 11, the rotary joint 8 is connected with the upper bottom plate 1 through a connecting rod, one end of the rotary joint 8 penetrates through the side rod on one side of the U-shaped auxiliary connecting rod 11 to be connected with an output shaft of a first steering engine 3, the first steering engine 3 is supported through a steering engine supporting plate 10 connected to the outer side of the side rod, the steering engine supporting plate 10 comprises a bottom plate and a side plate, the bottom plate supports the first steering engine 3, the side plate limits and blocks the first steering engine 3,
the bottom of the steering engine supporting plate 10 is connected with a reinforced supporting plate 4, wherein one end of the reinforced supporting plate 4 is connected with the outer side of the bottom plate at the bottom of the steering engine supporting plate 10, the other end of the reinforced supporting plate 4 is connected with a side lever of the U-shaped auxiliary connecting rod 11, a square strip-shaped hole is arranged on the upper surface of the reinforced supporting plate 4, the structural weight of the supporting plate is reduced, the supporting force is reinforced,
the first steering engine 3 controls the rotating joint 8 to drive the upper bottom plate 1 to rotate vertically to a horizontal plane, namely the first steering engine 3 drives the rotating joint 8 to rotate around the Y direction to realize the Y-direction rotation of a single joint, referring to figure 1,
the lower end of the U-shaped auxiliary connecting rod 11 is connected with the lower bottom plate 6 through a second steering engine 5, the second steering engine 5 drives the U-shaped auxiliary connecting rod 11 to rotate in the horizontal plane, namely the U-shaped auxiliary connecting rod 11 rotates around the Z axis, the Z-direction rotation of the whole single-snake-shaped arm flexible joint structure is realized,
spring connector connecting holes 17 are uniformly and symmetrically formed between the upper base plate 1 and the lower base plate 6, the accommodating spring connectors 9 are connected with springs 2 to support the upper base plate 1 and the lower base plate 1, the upper base plate 1 and the lower base plate 6 are supported by 4 springs 2, the springs generate angle change along with the rotation of a single joint, the springs 2 generate corresponding deformation, the relative motion angle between the upper base plate 1 and the lower base plate 6 is guaranteed, and the effects of supporting and stretching the upper base plate and the lower base plate are achieved.
In other embodiments of the present invention, the serpentine arm flexible joint structure is taken as an example, and the multi-serpentine arm flexible joint structure is assembled by connecting one single serpentine arm flexible joint structure to another single serpentine arm flexible joint structure without the upper base plate 1 or without the lower base plate 6 in sequence by using the spring connector 9 and the spring 2. Besides a single serpentine arm flexible joint structure, in order to reduce weight, the upper bottom plate 1 and the lower bottom plate 2 can be set to be in the same structure, and the upper bottom plate 1 and the lower bottom plate 6 are symmetrically provided with a strip hole 18 and a wiring hole 16, so that the weight of the bottom plate is reduced. Refer to fig. 2 and 3.
And when carrying out many serpentine arm flexible joint structure's flexible deformation, fixed first serpentine arm flexible joint structure lower plate 6 of below, the second steering wheel 5 drive U type auxiliary connecting rod 11 of first serpentine arm flexible joint structure takes place to rotate round the Z axle, first steering wheel 3 drive rotation joint 8 rotates 75 around Y axle anticlockwise, the same bottom plate is shared to upper plate 1 of first serpentine arm flexible joint structure and the lower plate 6 of second serpentine arm flexible joint structure, the motion principle of second serpentine arm flexible joint structure is with first serpentine arm flexible joint structure, second steering wheel 5 drive U type auxiliary connecting rod 11 of second serpentine arm flexible joint structure takes place to rotate round the Z axle, first steering wheel 3 drive rotation joint 8 rotates 75 around Y axle anticlockwise. As shown in the left bent position in fig. 4.
As shown in the right bending position of fig. 5, a first snake-shaped arm flexible joint structure lower bottom plate 6 at the bottom is fixed, a second steering engine 5 of the first snake-shaped arm flexible joint structure drives a U-shaped auxiliary connecting rod 11 to rotate around a Z axis, a first steering engine 3 drives a rotary joint 8 to rotate clockwise around the Y axis by 75 degrees, an upper bottom plate 1 of the first snake-shaped arm flexible joint structure and the lower bottom plate 6 of the second snake-shaped arm flexible joint structure share the same bottom plate, the motion principle of the second snake-shaped arm flexible joint structure is the same as that of the first snake-shaped arm flexible joint structure, a second steering engine 5 of the second snake-shaped arm flexible joint structure drives the U-shaped auxiliary connecting rod 11 to rotate around the Z axis, and the first steering engine 3 drives the rotary joint 8 to rotate clockwise around the Y axis by 75 degrees.
When the flexible joint structure of the second snake-shaped arm is fixed, the second steering engine 5 of the flexible joint structure of the first snake-shaped arm is rotated, 360-degree rotation of the whole mechanical arm can be realized, and the bending degree is 75 degrees. When a plurality of snake-shaped arm flexible joint structures are connected in series for motion control, more complex flexible joint motions can be realized.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (8)
1. A snakelike arm flexible joint structure is characterized by comprising a single snakelike arm flexible joint structure and a multi-snakelike arm flexible joint structure, wherein the single snakelike arm flexible joint structure comprises an upper bottom plate, a lower bottom plate and a U-shaped auxiliary connecting rod,
a rotary joint is connected between side rods on two sides of the upper end of the U-shaped auxiliary connecting rod, the rotary joint is connected with the upper bottom plate through a connecting rod, one end of the rotary joint passes through the side rod on one side of the U-shaped auxiliary connecting rod and is connected with an output shaft of a first steering engine, the first steering engine is supported by a steering engine supporting plate connected on the outer side of the side rod, the bottom of the steering engine supporting plate is connected with a reinforced supporting plate, the first steering engine controls the rotary joint to drive the upper bottom plate to rotate vertical to a horizontal plane,
the lower end of the U-shaped auxiliary connecting rod is connected with a lower bottom plate through a second steering engine, the second steering engine drives the U-shaped auxiliary connecting rod to rotate in the horizontal plane,
the upper bottom plate and the lower bottom plate are connected with a spring through a spring connector for supporting,
the multi-serpentine arm flexible joint structure is formed by sequentially connecting and assembling other single-serpentine arm flexible joint structures without the lower bottom plate or the upper bottom plate by using a spring connector and a spring through one single-serpentine arm flexible joint structure.
2. The snake-shaped arm flexible joint structure as claimed in claim 1, wherein the steering engine support plate comprises a bottom plate and a side plate, the bottom plate supports the first steering engine, and the side plate is limited to block the first steering engine.
3. The serpentine arm flexible joint structure as claimed in claim 1, wherein one end of the reinforcing support plate is connected to the outside of the bottom of the steering engine support plate, and the other end of the reinforcing support plate is connected to the side lever of the U-shaped auxiliary link.
4. A serpentine arm flexible joint structure as set forth in any one of claims 1 to 3, wherein the reinforcing support plate is formed with a strip-shaped hole to reduce the weight of the support plate structure.
5. The flexible joint structure of claim 1, wherein the upper plate and the lower plate have the same structure, and the upper plate and the lower plate are symmetrically provided with long holes to reduce the weight of the plates.
6. The flexible joint structure of claim 1 or 5, wherein said upper plate and said lower plate are provided with wire holes.
7. The flexible joint structure of claim 1, wherein spring connector connecting holes are symmetrically formed between the upper plate and the lower plate, and spring connector connecting springs are received to support the upper plate and the lower plate.
8. Use of a serpentine arm flexible joint structure according to any one of claims 1 to 7 in a robotic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210040583.5A CN114407072A (en) | 2022-01-14 | 2022-01-14 | Flexible joint structure of S-shaped arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210040583.5A CN114407072A (en) | 2022-01-14 | 2022-01-14 | Flexible joint structure of S-shaped arm |
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| Publication Number | Publication Date |
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| CN114407072A true CN114407072A (en) | 2022-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210040583.5A Pending CN114407072A (en) | 2022-01-14 | 2022-01-14 | Flexible joint structure of S-shaped arm |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8393422B1 (en) * | 2012-05-25 | 2013-03-12 | Raytheon Company | Serpentine robotic crawler |
| CN104691649A (en) * | 2015-01-06 | 2015-06-10 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Attitude control method for snake-like robot on rough pavement |
| WO2018177040A1 (en) * | 2017-03-30 | 2018-10-04 | 微创（上海）医疗机器人有限公司 | Snake-like joint for surgical robot, surgical instrument, and endoscope |
| CN109866210A (en) * | 2019-03-28 | 2019-06-11 | 合肥工业大学 | A kind of easy-to-assemble both arms six-DOF robot |
| CN113021323A (en) * | 2021-02-07 | 2021-06-25 | 嘉鲁达创业投资管理有限公司 | Snake-shaped robot and control method thereof |
| CN215149109U (en) * | 2021-06-03 | 2021-12-14 | 华中农业大学 | Snake-shaped arm |
-
2022
- 2022-01-14 CN CN202210040583.5A patent/CN114407072A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8393422B1 (en) * | 2012-05-25 | 2013-03-12 | Raytheon Company | Serpentine robotic crawler |
| CN104691649A (en) * | 2015-01-06 | 2015-06-10 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Attitude control method for snake-like robot on rough pavement |
| WO2018177040A1 (en) * | 2017-03-30 | 2018-10-04 | 微创（上海）医疗机器人有限公司 | Snake-like joint for surgical robot, surgical instrument, and endoscope |
| CN109866210A (en) * | 2019-03-28 | 2019-06-11 | 合肥工业大学 | A kind of easy-to-assemble both arms six-DOF robot |
| CN113021323A (en) * | 2021-02-07 | 2021-06-25 | 嘉鲁达创业投资管理有限公司 | Snake-shaped robot and control method thereof |
| CN215149109U (en) * | 2021-06-03 | 2021-12-14 | 华中农业大学 | Snake-shaped arm |
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