CN115574058A - Bending-controllable folding chain structure - Google Patents
Bending-controllable folding chain structure Download PDFInfo
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- CN115574058A CN115574058A CN202211159672.8A CN202211159672A CN115574058A CN 115574058 A CN115574058 A CN 115574058A CN 202211159672 A CN202211159672 A CN 202211159672A CN 115574058 A CN115574058 A CN 115574058A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
- F16H21/16—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for interconverting rotary motion and reciprocating motion
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
Abstract
The invention discloses a bending-controllable chain folding structure, which comprises a series of similar connecting rod units based on a plane four-connecting-rod structure, wherein each connecting rod unit comprises a pressure rod, a lifting rod, a pressure rod connecting rod and a lifting rod connecting rod; the lifting rod is respectively hinged with a through hole at one end of the pressing rod and a through hole at one end of the pressing rod of the next unit through holes at two ends, and the three rods are folded into a Z shape; the folding chain structure in zigzag arrangement is formed by arranging and folding the pressing rods one by one. The multi-curvature bending robot is used as a motion body of the mechanical arm, can realize multi-curvature bending operation in a narrow space, has the characteristics of small footprint, large corner, high load, light weight, rear drive and internal wiring, and meets the operation requirements of miniaturization, refinement and high performance of the robot, particularly a minimally invasive surgery robot, in the operation in the narrow space.
Description
Technical Field
The invention relates to a mechanical transmission structure, in particular to a bending-controllable folding chain structure.
Background
Towards the dexterous operation that becomes more meticulous in narrow space, the arm needs reduction size, retrencies volume, reduction in mass, keeps more degrees of freedom, higher load-carrying capacity, great motion range simultaneously. These requirements are all contradictory, often leading to a compromise. The existing scheme mainly comprises a rigid joint arm and a flexible continuum, wherein the rigid joint arm can be built in a joint by a micro motor, so that the advantage of rear drive is abandoned, but the micro motor cannot provide larger load capacity; the mode of combining rope transmission with pulleys at joints can also be adopted, a rear motor pulls a steel wire rope to drive the pulleys to drive the joints to rotate, but the rotation range is limited, and larger pretightening force is needed to prevent the pulleys from slipping; these solutions have extremely high difficulty in internal wiring, and require more space for movement of transmission cables, communication lines and power supply lines. The flexible continuum adopts an elastic pipe material, is naturally suitable for hollow wiring, can realize flexible bending motion form due to deformation of the elastic body, is easy to be influenced by external force of the environment, is difficult to realize accurate positioning and has low load.
Disclosure of Invention
In order to meet the requirement of the mechanical arm on operation in a narrow space and simultaneously have the excellent characteristics of small footprint, large rotation angle, high load, light weight, rear drive and internal routing, the invention provides a bending-controllable folding chain structure based on a rigid connecting rod structure to realize a unique curvature bending motion form of a flexible continuous body.
Aiming at the defects of the prior art, the invention adopts the technical scheme that: a controllable bending folding chain structure is formed by connecting any number of connecting rod units in series, wherein each connecting rod unit comprises a pressure rod, a lifting rod, a pressure rod connecting rod and a lifting rod connecting rod;
the pressing rod and the lifting rod are provided with through holes at two ends and a through hole at the middle part, and the axes of the three holes are parallel to each other; the compression bar connecting rod and the lifting bar connecting rod are provided with through holes at two ends, and the axes of the two holes are parallel to each other;
the unit lifting rod is hinged with a through hole at one end of the unit pressing rod and a through hole at one end of the next unit pressing rod through holes at two ends respectively, and the three rods are folded into a Z shape; the chain folding structures which are arranged in a zigzag manner are formed by arranging and folding up the pressing rods one by one;
the unit lifting rod connecting rod is respectively hinged and restrained with the unit lifting rod middle through hole and the next unit lifting rod middle through hole through holes at two ends; the unit pressure bar connecting rod is respectively hinged and restrained with the middle through hole of the unit pressure bar and the middle through hole of the next unit pressure bar through the through holes at the two ends.
Furthermore, the compression bar, the lifting bar, the compression bar connecting rod of the unit and the compression bar of the next unit form a reverse four-bar structure, so that the compression bar connecting rod and the lifting bar of the unit are crossed to present an 8-shaped structure; the lifting rod and the lifting connecting rod of the unit and the pressure rod and the lifting rod of the next unit form a reverse four-bar structure, so that the lifting connecting rod of the unit and the pressure rod of the next unit are crossed to present an 8-shaped structure;
the two 8-shaped structures are provided with the lifting rod of the unit and the pressing rod of the next unit, so that an included angle is shared mutually, and the two inverse four-bar structures are coupled in pairs to form a dual inverse four-bar structure.
Furthermore, the same design parameters are adopted for the pressure lever and the lifting lever of the unit, the same design parameters are adopted for the pressure lever connecting rod and the lifting lever connecting rod, the two 8-shaped structures are mirror images of each other, and the unique internal stagger angles of the two structures corresponding to the shared included angle are equal to form a conjugate inverse four-bar connecting rod structure.
Furthermore, the included angle theta between the lifting rod and the pressing rod of the unit k The angle between the lifting rod of the unit and the pressure rod of the next unit
The functional relation between the stagger angles in the inverse four-bar linkage structure is satisfied; the included angle between the lifting rod of the unit and the pressing rod of the next unit is enabled to be formed by the reverse four-bar linkage structures arranged in pairs
Included angle theta between the pressure rod and the lifting rod of the next unit k+1 Another functional relation between the internal stagger angles of the inverse four-bar linkage structure is satisfied;
the center distance of through holes at two ends of the pressure rod is set to be m, the pressure rod is divided into two sections by a middle through hole, the length of a connecting section with the lifting rod of the unit is m 1 The length of the connecting section with the upper unit lifting rod is m 2 ，m 1 +m 2 = m; the center distance of the through holes at the two ends of the lifting rod is n, and the lifting rod is provided with a middle through holeIs divided into two sections, the length of the connecting section of the pressure bar of the unit is n 1 The length of the connecting section with the next unit pressure lever is n 2 ，n 1 +n 2 = n; the length of the pressure lever connecting rod is d 1 The length of the lifting connecting rod is d 2 ；
When n is 1 ＝m 1 ，n 2 ＝m 2 ，d 1 ＝d 2 When there is theta k+1 ＝θ k And is
At this time, the movement form of the laminated chain structure is expressed by circular arc bending, and the condition of equal curvature bending is satisfied.
Further, if m is changed 1 And m 2 The ratio of (a) is that the chain-folding structure still meets the equal-curvature bending, but the bending strokes at the two sides are different;
when d is 1 ≠d 2 Or m is not equal to n, the equal-curvature bending condition is destroyed, the trend of the bending curvature generates a positive feedback adjusting effect according to linear transmission, and the bending curvature is larger or smaller, so that the variable-curvature bending is generated.
Furthermore, in the dual-reverse four-bar structure, the middle through hole of the pressure bar is divided into two parts, and the pressure bar connecting bar of the unit and the pressure bar connecting bar of the next unit respectively occupy one of the two parts; and/or the middle through hole of the lifting rod is split into two parts, and the lifting rod connecting rod of the unit and the lifting rod connecting rod of the next unit respectively occupy one of the two parts.
Furthermore, two split middle through holes of the compression bar/lifting bar are both designed on the connecting line of the through holes at the two ends of the compression bar/lifting bar, or the two split middle through holes are distributed at the two sides of the connecting line of the through holes at the two ends of the compression bar/lifting bar.
Furthermore, the chain folding structure can break the hinged relation between the rising rod of the unit and the pressing rod of the next unit at any position, the next unit is turned over, two rods which originally form an included angle are placed in parallel, the connection mode of the pressing rod connecting rod and the rising rod connecting rod is kept unchanged, two supplement rods are added, the rising rod of the unit, the pressing rod of the next unit and the two supplement rods form a parallelogram structure, two anti-four connecting rod structures do not share one included angle, but an inner diagonal angle of the parallelogram structure is respectively formed, the moving directions of the two anti-four connecting rod structures are opposite, and the dual anti-four connecting rod structure is changed into an S-shaped dual anti-four connecting rod structure.
Furthermore, the chain folding structure is applied to a mechanical arm, the mechanical arm is formed by connecting a plurality of units in series, and a pressure lever and a lifting lever are designed into square frames to ensure that the mechanical arm is hollow and can be wired; the mechanical arm can be used as a module, a plurality of modules are assembled, the cable is laid on the base through a hollow wiring design, joint motion decoupling can be achieved, each module is independently controlled to move, and multi-degree-of-freedom mechanical arm movement is achieved.
Furthermore, the driving end is arranged to control the four-bar unit in various modes, including changing an included angle between the pressure bar connecting rod and the pressure bar and changing a relative distance between the pressure bar connecting rod and the pressure bar connecting rod, and can also be arranged to control the whole linear mechanical arm, including eccentrically arranging the units in which the cables are connected in series to sequentially pass through all the pressure bars from the fixed end to the base, and realizing integral bending through drawing the cables.
The invention has the beneficial effects that:
in the chain folding structure, the included angle theta between the lifting rod and the pressing rod of the unit k Included angle between the press rod of the unit and the lifting rod of the next unit
The function relation between the inner stagger angles of the reverse four-bar linkage mechanism is satisfied, and the included angle is realized through the reverse four-bar linkage structure arranged in a mirror image manner
Angle theta with the next unit k+1 And satisfies another functional relation between the internal stagger angles of the new inverse four-bar linkage mechanism. Thus by varying the angle theta singly k The entire laminated chain structure can be driven. Under the specific design parameters, if the two functional relationships are the same, the included angle θ between the sides of the chain-folding structure k Are all equal and have an included angle on the other side
And the units are also equal, and a plurality of units form an arc-shaped structure with equal curvature and bending. Furthermore, through changing design parameters, the units can move according to different rotation angles to generate a variable-curvature curved linear structure. The linear arrangement of the chain folding structure has good trafficability, and the characteristic of generating small footprints is achieved; through the combination of N units, the bending of one unit can be amplified by N times, and the characteristic of large corner is generated; the connecting rod structure can transmit motion, the drive can be placed in any one unit, the motion form transmits linearly, and the rear drive characteristic is achieved; the truss-like structure formed by the connecting rod structure reflects good stability and rigidity and has high load capacity; the connecting rod structure can be made into a hollow structure, the motion range of a single module is small, enough space is provided for accommodating other various cables to pass through, and the connecting rod structure has the characteristic of routing inside.
Drawings
FIG. 1 is a mechanical schematic diagram of a dual anti-four-bar linkage structure;
FIG. 2 is a parameter labeling diagram of a dual anti-four-bar linkage structure;
FIG. 3 is a schematic view of a planar inverse four-bar linkage structure;
FIG. 4 is a diagram of an example of a linkage structure based on a conjugate inverse four-bar linkage structure;
FIG. 5 is a design of different bending strokes of a conjugate anti-four link structure;
FIG. 6 is a diagram of an example of a folded chain structure based on a dual-inverse four-bar linkage structure;
FIG. 7 is a cross-hole design of a generalized conjugate anti-four bar linkage structure;
FIG. 8 is a structural analysis diagram of a staggered hole design for a dual anti-four bar linkage structure;
FIG. 9 is a diagram of an example of a stacked structure of hollow traces;
FIG. 10 is a diagram of an example of a rear-drive laminated link structure;
FIG. 11 is a view showing an example of a structure which is assembled modularly;
FIG. 12 is a cross-hole design of a conjugate anti-four bar linkage structure;
FIG. 13 is a mechanical schematic diagram of an S-shaped dual anti-four-bar linkage structure.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1, the invention provides a controllably bent folding chain structure, which is formed by connecting any number of link units in series, each link unit comprises a compression bar, a lifting bar, a compression bar link and a lifting bar link, and the compression bar, the lifting bar, the compression bar link and the lifting bar link of the kth link unit are respectively marked as k.1, k.2, k.3 and k.4.
The pressing rod k.1 and the lifting rod k.2 are in long rod structures, two through holes are formed in two ends of each rod, a small through hole is formed in the middle of each rod, and the axes of the three holes are parallel to each other; the compression bar connecting rod k.3 and the lifting connecting rod k.4 are provided with but not limited to long rod structures, two through holes are formed in two ends of each rod, and the axes are parallel to each other.
Furthermore, the lifting rod k.2 is hinged with a through hole at one end of the pressing rod k.1 and a through hole at one end of the pressing rod (k + 1) 1 of the next unit respectively through holes at two ends, and the three rods are folded into a Z shape. The folding chain structure with zigzag arrangement is formed by arranging and folding a pressing rod k.1 and a lifting rod k.2 in a staggered way.
Furthermore, the lifting rod connecting rod k.4 is respectively hinged and constrained with the middle through hole of the lifting rod k.2 of the unit and the middle through hole of the lifting rod (k + 1) 2 of the next unit through holes at two ends; correspondingly, the compression bar connecting rod k.3 is respectively hinged and constrained with the through hole in the middle of the compression bar k.1 of the unit and the through hole in the middle of the compression bar (k + 1) 1 of the next unit through holes at two ends.
Furthermore, the press rod k.1, the rising rod k.2, the press rod connecting rod k.3 and the press rod (k + 1) 1 of the next unit of the unit form a reverse four-bar structure, so that the press rod connecting rod k.3 and the rising rod k.2 are crossed to form an 8-shaped structure; the lifting rod k.2 and the lifting rod connecting rod k.4 of the unit form a reverse four-bar linkage structure with the pressing rod (k + 1) 1 and the lifting rod (k + 1) 2 of the next unit, so that the lifting rod connecting rod k.4 is crossed with the pressing rod (k + 1) 1 of the next unit to present the same 8-shaped structure; and the two 8-shaped structures are both provided with the lifting rod k.2 and the pressure rod (k + 1) 1 of the next unit, so that an included angle is shared mutually, and the two inverse four-bar structures are coupled in pairs to form a dual inverse four-bar structure.
Further, the same design parameters are adopted for the compression bar k.1 and the lifting bar k.2, the same design parameters are adopted for the compression bar connecting rod k.3 and the lifting bar connecting rod k.4, the two 8-shaped structures are mirror images of each other, the unique internal stagger angles of the two structures corresponding to the shared included angle are equal, and a conjugate inverse four-bar connecting rod structure is formed.
Specifically, the included angle theta between the lifting rod k.2 and the pressing rod k.1 of the unit k Included angle between the lifting rod k.2 of the unit and the pressure rod (k + 1) 1 of the next unit
The functional relation between the inner stagger angles of the inverse four-bar linkage structure is satisfied. The center distance of through holes at two ends of the pressure rod is set to be m, the pressure rod is divided into two sections by a middle through hole, the length of a connecting section with the lifting rod of the unit is m 1 The length of the connecting section with the upper unit lifting rod is m 2 ，m 1 +m 2 = m; the center distance of through holes at two ends of the lifting rod is n, the lifting rod is divided into two sections by a middle through hole, the length of the connecting section of the lifting rod and the unit pressure rod is n 1 The length of the connecting section with the next unit pressure lever is n 2 ，n 1 +n 2 And (n). Considering the strut link c as shown in FIGS. 2 and 3 k C k+1 Length d of 1 The method comprises the following steps:
finishing to obtain formula 1:
this formula describes the included angle theta k And angle of inclination
The functional relation between the two included angles is not negative in consideration of the normal working state, and the formula is as follows through a limit coordinate point 1:
limit coordinate point 2:
the respective working ranges of the two included angles can be analyzed.
By means of pairs of four-bar linkages, the included angle is made
Angle theta with the next unit k+1 And satisfies another functional relation between the stagger angles in the novel inverse four-bar linkage structure. Considering the lifting-bar linkage D k D k+1 Length d of 2 Corresponding to formula 1, there is formula 2:
it can be found that when n 1 ＝m 1 ，n 2 ＝m 2 ，d 1 ＝d 2 When the two formulas are completely consistent, there is theta k+1 ＝θ k Same principle of
The movement pattern of the laminated chain structure is the simplest and is represented by a circular arc curve, as shown in fig. 4. The above formula is referred to as an iso-curvature condition.
If m is changed 1 And m 2 The ratio of (a) and (b) is still satisfied with equal curvature bending, but the bending strokes at two sides are different, and the solution results of the ratio and the solution results of the limit coordinate points 1 and 2 are different, as shown in fig. 5, the left and right bending strokes are different.
Changing other conditions, e.g. d 1 ≠d 2 Or m ≠ n, then the equal-curvature bending condition is violated, and the trend of the bending curvature is assumed to produce a positive-feedback regulation effect according to a linear transfer, as shown in fig. 6The bending curvature is larger or smaller, so that the variable curvature bending is generated, and the solution needs to be combined with the formula 1 and the formula 2.
Further, in the dual anti-four-bar structure, the pressure bar connecting rods k.3 of all the units do not need to be connected end to share a hinge hole in the middle of the pressure bar k.1, but the through holes in the middle of the pressure bar k.1 are split into two through holes, the pressure bar connecting rod k.3 of the unit and the pressure bar connecting rod (k + 1) 3 of the next unit respectively occupy one of the through holes, the lifting bar k.2 can also be processed in the same way, and in order to simplify the processing, the split two through holes are both designed on the connecting lines of the through holes at the two ends of the connecting rod, as shown in fig. 7. The split of the symmetrical middle through hole will not destroy the characteristics of the dual reverse four-bar linkage, thereby more flexibly arranging the positions of the compression bar linkage k.3 and the lifting linkage k.4. Without loss of generality, it is contemplated that the central through-holes are distributed on both sides of the connecting line at both ends of the connecting rod, as shown in fig. 8. At this time, an angle shared by the dual anti-four link structure is only partially shared. For θ, each share
Consider that
Is equal to
The theta angles of the dual anti-four link structure still satisfy the equality relationship, and as such, are considered to be such that
Is equal to
Of dual anti-four-bar construction
The angles still satisfy the equality relationship. The center distance of through holes at two ends of the pressure rod is set to be m, the through hole in the middle of the pressure rod is divided into an upper connecting through hole and a lower connecting through hole, the length of the upper connecting through hole and the connecting section of the lifting rod of the unit is m 1 The length of the connecting section of the lower connecting through hole and the upper unit lifting rod is m 2 ，m 1 +m 2 Not equal to m; the center distance of the through holes at the two ends of the lifting rod is n, the through hole at the middle part of the lifting rod is divided into an upper connecting through hole and a lower connecting through hole, the length of the connecting section of the lower connecting through hole and the pressure rod of the unit is n 1 The length of the connecting section of the upper connecting through hole and the next unit pressure lever is n 2 ，n 1 +n 2 Not equal to n. Variant 3 of formula 1 can thus be obtained:
and variant 4 of formula 2:
from equations 3 and 4, it can be seen that the iso-curvature condition is still used for equations 3 and 4. At this time, the conjugate four-bar linkage structure is changed to a generalized conjugate four-bar linkage structure, and as shown in the right mechanical schematic diagram of fig. 7, the circular arc type curvature of the equal curvature is perfectly satisfied.
Furthermore, the hinge structure of the lifting rod k.2 of the unit and the pressing rod (k + 1) 1 of the next unit can be broken at any position, the next unit and subsequent parts are turned over, two rods which originally form an included angle are placed in parallel, the connection mode of the pressing rod connecting rod k.3 and the lifting rod connecting rod k.4 is kept unchanged, and the supplement rod s.1 and the supplement rod s.2 are added. The supplement rod s.1 and the supplement rod s.2 are completely the same, and have the same structures as the lifting connecting rod k.4 and the compression rod connecting rod k.3, and the lengths can be different. The unit lifting rod k.2, the next unit pressing rod (k + 1) 1 and the two supplement rods s.1 and s.2 form a parallelogram structure. The two inverse four-bar linkage structures contained in the original dual inverse four-bar linkage structure do not share an included angle, but respectively have an inner opposite angle of a parallelogram structure. Because the inner opposite angles of the parallelogram are equal, the equations 1 and 2 are still satisfied, but after the parallelogram structure is inserted, the motion directions of the two anti-four connecting rod structures are opposite, as shown in fig. 12, and the dual anti-four connecting rod structure is changed into an S-shaped dual anti-four connecting rod structure, as shown in fig. 13.
[ example 1 ]
The chain folding structure is applied to the mechanical arm, the whole mechanical arm is formed by connecting a plurality of units in series, the design of equal curvature conditions is considered, the pressing rod k.1 and the lifting rod k.2 are designed into square frames, and the hollow routing is ensured, as shown in figure 9. The fixed end adopts the design of the brake cable similar to a bicycle, the cable in the drawing line pipe changes the included angle between the first unit lifting rod and the pressure rod, and as shown in figure 10, the whole mechanical arm is driven to generate equal bending movement to finish the operation.
[ example 2 ] A method for producing a polycarbonate
In addition to embodiment 1, the design of the generalized conjugate four-bar linkage structure is considered, and as shown in fig. 7 and 9, different staggered hole designs are adopted, and equal curvature bending is satisfied.
[ example 3 ]
On the basis of embodiment 2, the whole mechanical arm is used as a module, a plurality of modules are assembled, cables are laid on the base through a hollow wiring design, the modules can be decoupled through joint movement, the movement of each module is independently controlled, and the movement of the mechanical arm with multiple degrees of freedom is realized as shown in fig. 9 and fig. 11.
[ example 4 ] A method for producing a polycarbonate
According to actual requirements, parameters of the four-bar linkage unit are modified, for example, a pressure bar linkage k.3 is arranged close to the left, and a lifting bar linkage k.4 is arranged close to the right, as shown in fig. 6, the movement of curvature-variable bending can be realized, the rotation angle of the unit close to the far end is larger and larger, and the scene requirement of the tail end large rotation angle is met.
[ example 5 ] A method for producing a polycarbonate
According to actual needs, the S-shaped dual anti-four connecting rod structure is inserted into the chain folding mechanism consisting of the dual anti-four connecting rod structures, as shown in fig. 13, S-shaped bending movement can be achieved, the S-shaped bending movement can be inserted into different positions, or different parameters can be modified, different bending effects can be achieved, and specific scene requirements can be met.
[ example 6 ] A method for producing a polycarbonate
From the transmission angle, the driving end can be set to be controlled in various forms of the four-bar unit, for example, the included angle between the pressure bar connecting bar k.3 and the pressure bar k.1 is changed, and the relative distance between the lifting connecting bar k.4 and the pressure bar connecting bar k.3 is changed. The linear mechanical arm can be integrally controlled, for example, units which are eccentrically arranged and connected in series with cables sequentially pass through all pressure levers from fixed ends to a base (through holes are formed in the pressure levers along the direction), the cables are drawn to realize integral bending, and due to the copying characteristic of the units, all the units can still keep the same bending curvature.
[ example 7 ]
From the sensing point of view, the sensor can be arranged on any unit, and the monitoring of the motion of any unit can represent the motion form of the whole mechanical arm.
One skilled in the art can readily devise many variations and modifications of the present invention without departing from the spirit and scope of the invention as defined by the appended claims, along with the accompanying drawings and claims. Any modifications and equivalent variations of the above-described embodiments, which are based on the technical idea and essence of the invention, are within the scope of protection defined by the claims of the present invention.
Claims (10)
1. A controllably-bent chain folding structure is characterized by being formed by connecting any number of connecting rod units in series, wherein each connecting rod unit comprises a pressure rod, a lifting rod, a pressure rod connecting rod and a lifting rod connecting rod;
the pressing rod and the lifting rod are provided with through holes at two ends and a through hole at the middle part, and the axes of the three holes are parallel to each other; the compression bar connecting rod and the lifting bar connecting rod are provided with through holes at two ends, and the axes of the two holes are parallel to each other;
the unit lifting rod is hinged with a through hole at one end of the unit pressing rod and a through hole at one end of the next unit pressing rod through holes at two ends respectively, and the three rods are folded into a Z shape; the chain folding structures which are arranged in a zigzag manner are formed by arranging and folding up the pressing rods one by one;
the unit lifting rod connecting rod is respectively hinged and restrained with the unit lifting rod middle through hole and the next unit lifting rod middle through hole through holes at two ends; the connecting rod of the unit pressing rod is respectively hinged and restrained with the through hole in the middle of the unit pressing rod and the through hole in the middle of the next unit pressing rod through the through holes at the two ends.
2. The bendable folding chain structure as claimed in claim 1, wherein the press bar, the lifting bar, the press bar link of the unit and the press bar of the next unit form a four bar linkage structure, such that the press bar link and the lifting bar of the unit are crossed to present a 8-shaped structure; the lifting rod and the lifting connecting rod of the unit and the pressure rod and the lifting rod of the next unit form a reverse four-bar structure, so that the lifting connecting rod of the unit and the pressure rod of the next unit are crossed to present an 8-shaped structure;
the two 8-shaped structures are provided with the lifting rod of the unit and the pressing rod of the next unit, so that an included angle is shared mutually, the two inverse four-bar structures are coupled in pairs, and the dual inverse four-bar structure is formed.
3. The bendable folding chain structure as claimed in claim 2, wherein the same design parameters are used for the pressing rod and the lifting rod of the present unit, and the same design parameters are used for the pressing rod connecting rod and the lifting rod connecting rod, so that the two 8-shaped structures are mirror images of each other, and the unique stagger angles of the two structures corresponding to the common included angle are equal, thereby forming a conjugate reverse four-bar structure.
4. A bendable folding chain structure according to claim 2, wherein the angle θ between the rising bar and the pressing bar of the unit is k Included angle between the lifting rod of the unit and the pressure rod of the next unit
The functional relation between the stagger angles in the inverse four-bar linkage structure is satisfied; the included angle between the lifting rod of the unit and the pressing rod of the next unit is enabled to be formed by the reverse four-bar linkage structures arranged in pairs
Included angle theta between the pressure rod and the lifting rod of the next unit k+1 Another functional relation between the internal stagger angles of the inverse four-bar linkage structure is satisfied;
the center distance of through holes at two ends of the pressure rod is set to be m, the pressure rod is divided into two sections by a middle through hole, the length of a connecting section with the lifting rod of the unit is m 1 The length of the connecting section with the upper unit lifting rod is m 2 ，m 1 +m 2 = m; the center distance of through holes at two ends of the lifting rod is n, the lifting rod is divided into two sections by a middle through hole, the length of the connecting section of the lifting rod and the unit pressure rod is n 1 The length of the connecting section with the next unit pressure lever is n 2 ，n 1 +n 2 = n; the length of the pressure lever connecting rod is d 1 The length of the lifting connecting rod is d 2 ；
When n is 1 ＝m 1 ，n 2 ＝m 2 ，d 1 ＝d 2 When there is theta k+1 ＝θ k And is provided with
At this time, the movement form of the laminated chain structure is expressed as circular arc bending, and is called to satisfy the equal curvature bending condition.
5. A bendable interlinking structure as defined in claim 4, wherein if m is changed 1 And m 2 The folding chain structure still meets the equal curvature bending, but the bending strokes at the two sides are different;
when d is 1 ≠d 2 Or m is not equal to n, the equal-curvature bending condition is destroyed, the trend of the bending curvature generates a positive feedback regulation effect according to linear transmission, and the bending curvature is larger or smaller, so that the variable-curvature bending is generated.
6. A bendable folding chain structure according to claim 2, wherein in the dual counter four-bar linkage structure, the middle through hole of the press bar is split into two, and the press bar linkage of the present unit and the press bar linkage of the next unit occupy one of them; and/or the middle through hole of the lifting rod is split into two parts, and the lifting rod connecting rod of the unit and the lifting rod connecting rod of the next unit respectively occupy one of the two parts.
7. A bendable folding chain structure according to claim 6, wherein the two split middle through holes of the compression bar/lifting bar are both designed on the connecting line of the two through holes of the compression bar/lifting bar, or the two split middle through holes are distributed on both sides of the connecting line of the two through holes of the compression bar/lifting bar.
8. The bendable folding chain structure as claimed in claim 2, wherein the folding chain structure can break the hinged relationship between the lifting rod of the unit and the pressing rod of the next unit at any position, turn the next unit over, so that the two rods originally having an included angle are placed in parallel, the connection between the pressing rod connecting rod and the lifting rod connecting rod is kept unchanged, and two supplement rods are added, the lifting rod of the unit, the pressing rod of the next unit and the two supplement rods form a parallelogram structure, so that the two anti-four-bar structures do not share an included angle, but respectively have an inner diagonal angle of the parallelogram structure, the two anti-four-bar structures move in opposite directions, and the dual anti-four-bar structure becomes an S-type dual anti-four-bar structure.
9. The bendable folding chain structure as claimed in any one of claims 1-8, wherein the folding chain structure is applied to a mechanical arm, the mechanical arm is formed by connecting a plurality of units in series, and the pressing rod and the lifting rod are designed into a square frame to ensure hollow routability; the mechanical arm can be used as a module, a plurality of modules are assembled, the cable is laid on the base through a hollow wiring design, joint motion decoupling can be achieved, each module is independently controlled to move, and multi-degree-of-freedom mechanical arm movement is achieved.
10. A bendable folding chain structure according to any one of claims 1-8, characterized in that the driving end is configured to operate the four bar linkage unit in multiple forms, including changing the angle between the press bar linkage and the press bar, changing the relative distance between the lifting bar linkage and the press bar linkage, and also configured to operate the linear manipulator as a whole, including eccentrically arranging the cable to pass through all the press bars from the fixed end to the base, and realizing the whole bending by pulling the cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211159672.8A CN115574058A (en) | 2022-09-22 | 2022-09-22 | Bending-controllable folding chain structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211159672.8A CN115574058A (en) | 2022-09-22 | 2022-09-22 | Bending-controllable folding chain structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115574058A true CN115574058A (en) | 2023-01-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211159672.8A Pending CN115574058A (en) | 2022-09-22 | 2022-09-22 | Bending-controllable folding chain structure |
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| Country | Link |
|---|---|
| CN (1) | CN115574058A (en) |
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2022
- 2022-09-22 CN CN202211159672.8A patent/CN115574058A/en active Pending
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