CN202726934U - Snake-shaped mechanical arm - Google Patents
Snake-shaped mechanical arm Download PDFInfo
- Publication number
- CN202726934U CN202726934U CN 201220293686 CN201220293686U CN202726934U CN 202726934 U CN202726934 U CN 202726934U CN 201220293686 CN201220293686 CN 201220293686 CN 201220293686 U CN201220293686 U CN 201220293686U CN 202726934 U CN202726934 U CN 202726934U
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- mechanical arm
- joint
- flange
- fixed
- draught line
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Abstract
The utility model discloses a snake-shaped mechanical arm. A plurality of joints are sequentially and movably connected to form an arm body of the snake-shaped mechanical arm. Cross-shaped shaft connection is adopted by two adjacent joints in the arm body. The two adjacent joints can achieve freely swinging up and down and left and right through a cross-shaped shaft. Effect of two groups of traction lines drives joints which correspond to the two groups of traction lines to achieve swinging up and down and left and right. The snake-shaped mechanical arm is designed by imitating of a snake. A joint portion of the two adjacent joints has two degrees of freedom. Dual motors respectively drive one degree of freedom. Arbitrary directional swinging of a whole mechanical arm is formed by overlying of a single joint, the mechanical arm self can bend at arbitrary angles, and the mechanical arm can form curved bending of a three-dimensional space. Snake-shaped design which is adopted by the snake-shaped mechanical arm enables combination of the whole mechanical arm to be tight as far as possible, and simultaneously ensures that the mechanical arm has an enough and wide bending range.
Description
Technical field:
The utility model relates to the mechanical automation product technical field, refers in particular to a kind of snakelike mechanical arm of realizing that any direction rotates, twists.
Background technology:
Often need to finish a few thing with mechanical arm in automated production, process, common mechanical arm comprises following several mode:
The first is to adopt X/Y/Z three axle travelling mechanisms, and namely this mechanical arm is installed on the platform of X/Y/Z three an axles stack operation, and by the operation of this platform on the X/Y/Z direction, the driving mechanical arm is realized the operation in three dimensions.
The second is to increase rotating mechanism on above-mentioned the first basis, to increase an operation on the direction of rotation.
The third is to adopt linkage, and namely this mechanical arm adopts many connecting rods to articulate, thereby controls the operation of mechanical arm on all directions by stretching of control link.
In addition, also above-mentioned several modes can be mutually combined, be combined to form the multi-purpose machinery arm.But above-mentioned mechanical arm exists the problem of a maximum to be exactly, and mechanical arm self is difficult to realize crooked at any angle.Although can realize certain crooked function by linkage, this mechanism only is only applicable to larger mechanical arm, for the sophisticated product of some small volumes, the complex structure of linkage is difficult to adapt to.
The utility model content:
Technical problem to be solved in the utility model just is to overcome the deficiencies in the prior art, and the snakelike mechanical arm that a kind of volume is little, can realize any direction rotation, distortion is provided.
In order to solve the problems of the technologies described above, the utility model has adopted following technical proposals: this snakelike mechanical arm comprises an arm body, and this arm body is flexibly connected shape successively by most joints; One drive division, this drive division comprises: the gripper shoe of plurality of drive unit and carrying driver element; A junction, this connecting portion are between arm body and drive division, and described drive division is fixedly connected on the rear end of connecting portion, and first joint is connected in the front end of connecting portion in the described arm body; Adopt cross axle to connect in the described arm body between the two adjacent joints, about realizing by cross axle between the two adjacent joints, the freely swinging of left and right directions; Except first joint, all the other joints whiles and two driver element interlocks, wherein each driver element is provided with one group of draught line, every group of draught line is connected to two relative directions of described joint, by about the affecting driving corresponding joint realized with it of two groups of draught lines, left and right directions swings.
Furthermore, in the technique scheme, described joint comprises: a sleeve pipe, be fixed on the flange of cannula tip and the connector that is fixedly connected with flange; Tube wall along sleeve pipe axially evenly offers the perforation of passing for draught line; The position of corresponding perforation offers corresponding with it through hole on the described flange; Form on the described connector with cross axle in one group of otic placode that relative pivot articulates.
Furthermore, in the technique scheme, described sleeve pipe offers fixing hole near on the sidewall of end; Described flange comprises: offer the end cap of through hole and insert the interior inner edge of sleeve pipe, wherein the sidewall in this inner edge is formed with the draw-in groove corresponding with the fixing hole position; Screw by passing the through hole on the flange and the buckle of draw-in groove are fixed on flange the end face of sleeve pipe.
Furthermore, in the technique scheme, the inside of described cannula tip is formed with a flange, is positioned over the end face of this flange behind the described connector insertion flange centre bore, and connector is fixed by screws on the end face of flange.
Furthermore, in the technique scheme, described driver element comprises: motor, draught line, slide block, screw mandrel and the guide rail that cooperates with slide block, wherein motor is by shaft coupling and screw mandrel interlock, described slide block set is located on the screw mandrel and with wire rod thread and is cooperated, drive the screw mandrel rotation by motor, drive slide block and move along guide rail; Two draught lines are set on every group of driver element, and wherein a draught line initiating terminal is fixed on the slide block, and the initiating terminal of another root draught line is fixed on the gripper shoe of drive division, and the end of two draught lines is connected to the opposite end of a joint.
Furthermore, in the technique scheme, the draught line centre that described initiating terminal is fixed on the gripper shoe is connected with an expanding tense machine, makes this draught line remain on the swelling state by this expanding tense machine.
Furthermore, in the technique scheme, the draught line that described initiating terminal is fixed on the slide block is walked around a fixed pulley that is fixed on the gripper shoe.
Furthermore, in the technique scheme, described connecting portion comprise with drive division in the fixing fixed part of gripper shoe, the fastening part that is fixedly connected with first joint in the arm body, wherein fixed part and fastening part are mutually permanently connected, and all offer the through hole that passes for draught line on fixed part and fastening part.
Furthermore, in the technique scheme, the quantity of described driver element is: the twice behind the joint Liang of the Shuoing – 1.
The utility model is that the simulation snake designs, and whole mechanical arm is mutually articulated by several joints and consists of, and adopts two-way pin-jointed structure between joint and the joint, about namely can realizing between two joints, swing.Each rotating joint draws by one group of draught line dragline, and draught line passes through drive unit drives, thereby can realize the mutual swing between the joint.This design concept is that two adjacent joint joint portions have two frees degree, drives respectively one of them free degree by Dual-motors Driving.The swing of this single joint stacks up and has just formed whole mechanical arm any direction swing, mechanical arm self also can form at any angle bending, and mechanical arm can form the curved bending of three dimensions.The utility model adopts this serpentine design, can make the combination of whole mechanical arm compact as far as possible, guarantees that simultaneously mechanical arm has enough and larger bending range.
Description of drawings:
Fig. 1 is stereogram of the present utility model;
Fig. 2 is front view of the present utility model;
Fig. 3 is assembling schematic diagram of the present utility model;
Fig. 4 is the three-dimensional exploded view of arm body initiating terminal in the utility model;
Fig. 5 is the stereogram at another visual angle of Fig. 4;
Fig. 6 is the stereogram of flange in the utility model;
Fig. 7 is the stereogram of connector in the utility model;
Fig. 8 is the stereogram of drive division in the utility model;
Fig. 9 is the front view of Fig. 8;
Figure 10 is the rearview of drive division among another embodiment of the utility model.
The specific embodiment:
Below in conjunction with specific embodiments and the drawings the utility model is further specified.
See shown in Fig. 1-9, the utility model is a kind of snakelike mechanical arm, this mechanical arm has arm body 10, drive division 20 and connecting portion 3 to consist of, wherein connecting portion 3 is between arm body 10 and drive division 20, described drive division 20 is fixedly connected on the rear end of connecting portion 3, and described arm body 10 is connected in the front end of connecting portion 3.Come actuating arm body 10 to realize crooked, swing by drive division 20.
See shown in Fig. 1,2,3, arm body 10 is interconnected to form by a plurality of joints 1, has adopted 5 joints in the present embodiment, about all can having between two adjacent joints 1, two frees degree on the left and right directions.Wherein first joint directly is fixedly connected on the connecting portion 3, and last joint is used for being connected with operate portions (such as manipulator, probe etc.).
Except first joint, all the other joints 1 simultaneously with drive division 3 in two driver element 2 interlocks, wherein each driver element 2 is provided with one group of draught line 22, every group of draught line 22 is connected to two relative directions of described joint 1, by about the affecting driving corresponding joint 1 realized with it of two groups of draught lines 22, left and right directions swings.
See shown in Fig. 4,5,6,7, described joint 1 comprises: a sleeve pipe 11, be fixed on the flange 12 of sleeve pipe 11 ends and the connector 13 that is fixedly connected with flange 12; Tube wall along sleeve pipe 11 axially evenly offers the perforation 110 of passing for draught line 22; The position of corresponding perforation 110 offers corresponding with it through hole 120 on the described flange 12; Form on the described connector 13 with cross axle 5 in one group of otic placode 130 that relative pivot articulates.Being connected the realization double freedom with two otic placodes 130 by cross axle 5 between two adjacent joints 1 rotates.
The end that first joint is connected with connecting portion 3 in the arm body 10 need not to arrange flange 12 and connector 13, and the end of arm body 10 last joint is connected with operate portions, need not to arrange flange 12 and connector 13.
Described sleeve pipe 11 offers fixing hole 111 near on the sidewall of end; Described flange 12 comprises: offer the end cap 121 of through hole 120 and the inner edge 122 in the insertion sleeve pipe 11, wherein the sidewall in this inner edge 122 is formed with the draw-in groove 123 corresponding with fixing hole 111 positions; Screw by passing the through hole 120 on the flange 12 and the buckle of draw-in groove 123 are fixed on flange 12 end face of sleeve pipe 11.
The inside of described sleeve pipe 11 ends is formed with a flange 112, is positioned over the end face of this flange 112 behind described connector 13 insertion flanges 12 centre bores, and connector 13 is fixed by screws on the end face of flange 112.
See shown in Fig. 8,9, described drive division 20 comprises: the gripper shoe 4 of several driver elements 2 and carrying driver element 2.Each driver element 2 comprises: motor 21, draught line 22, slide block 23, screw mandrel 24 and the guide rail 25 that cooperates with slide block 23, wherein motor 21 is by shaft coupling and screw mandrel 24 interlocks, described slide block 23 be sheathed on the screw mandrel 24 and with screw mandrel 24 threaded engagement, drive screw mandrel 24 rotations by motor 21, drive slide block 23 along guide rail 25 operations; Two draught lines 22 are set on every group of driver element 2, wherein draught line 22 initiating terminals are fixed on the slide block 23, the initiating terminal of another root draught line 22 is fixed on the gripper shoe 4 of drive division 20, and the end of two draught lines 22 is connected to the opposite end of a joint 1.
Draught line 22 centres that described initiating terminal is fixed on the gripper shoe 4 are connected with an expanding tense machine 26, make this draught line 22 remain on the swelling state by this expanding tense machine 26.
The draught line 22 that described initiating terminal is fixed on the slide block 23 is walked around a fixed pulley 27 that is fixed on the gripper shoe 4.
Each joint 1 needs two driver elements 2 to drive, so the quantity of driver element 2 is: the twice behind the joint 1 Shuo Liang – 1.In conjunction with the present embodiment, the quantity of driver element 2 is (5-1) * 2=8.
Described connecting portion 3 comprise with drive division 20 in the fixing fixed part 31 of gripper shoe 4, the fastening part 32 that is fixedly connected with first joint 1 in the arm body 10, wherein fixed part 31 is mutually permanently connected with fastening part 32, and all offers the through hole that passes for draught line 22 on fixed part 31 and fastening part 32.
Operation principle of the present utility model is: all draught lines 22 in the drive division 3 pass respectively perforation 110 corresponding on through hole corresponding on the connecting portion 3 and joint 1 middle sleeve 11.Wherein 4 of two driver elements 2 draught lines 22 just stop after passing second joint, and are fixed on this second joint, and fixed-direction is corresponding with the pivot direction of cross axle 5.One of them driver element is used for driving relative the first joint left-right rotation of this second joint in these two driver elements 2, and another driver element is used for driving this second joint and rotates up and down relative to the first joint.During concrete the driving, the draught line 22 that is fixed in the driver element 2 on the slide block 23 drives slide block realization tension by motor, and this moment, the second corresponding joint will be to correspondence direction deflection.Stop traction when this is fixed on draught line 22 on the slide block 23, another root is fixed on the gripper shoe 4 draught line 22 and will will realize straining by the expanding tense machine 26 of self, thereby realizes the round about deflection of the second joint.So, two driver elements just can drive second joint about, deflection on the left and right directions.
According to above-mentioned principle, except first fixing joint, other joint is all by two driver elements 2 and four draught lines 22 drivings, realizes the rotation on the Orthogonal Double direction of two adjacent joints.The swing of all joints stacks up and has just formed whole mechanical arm any direction swing in the arm body 10, mechanical arm self also can form at any angle bending, and mechanical arm can form the curved bending of three dimensions.
In above-described embodiment, 8 driver elements 2 adopt in the drive division 20 is symmetric design up and down, is about to 8 driver elements 2 and is divided into laterally zygomorphic two groups, then is fixedly mounted on the gripper shoe 4.It also can adopt other fixed forms, as shown in Figure 10, in the present embodiment 8 driver elements 2 is adopted annular equally distributed mode.
Certainly, the above only is specific embodiment of the utility model, be not to limit the utility model practical range, all equivalences of doing according to the described structure of the utility model claim, feature and principle change or modify, and all should be included in the utility model claim.
Claims (9)
1. snakelike mechanical arm, it is characterized in that: this mechanical arm comprises:
One arm body (10), this arm body (10) is flexibly connected shape successively by most joints (1);
One drive division (20), this drive division (20) comprising: the gripper shoe (4) of plurality of drive unit (2) and carrying driver element (2);
A junction (3), this connecting portion (3) is positioned between arm body (10) and the drive division (20), described drive division (20) is fixedly connected on the rear end of connecting portion (3), and (10 are connected in the front end of connecting portion (3) to first joint in the described arm body (10);
Adopt cross axle (5) to connect in the described arm body (10) between the two adjacent joints (1), between the two adjacent joints (1) by about cross axle (5) realization, the freely swinging of left and right directions;
Except first joint, all the other joints (1) while and two driver elements (2) interlock, wherein each driver element (2) is provided with one group of draught line (22), every group of draught line (22) is connected to two relative directions of described joint (1), by about the affecting driving corresponding joint (1) realized with it of two groups of draught lines (22), left and right directions swings.
2. a kind of snakelike mechanical arm according to claim 1, it is characterized in that: described joint (1) comprising: a sleeve pipe (11), be fixed on the flange (12) of sleeve pipe (11) end and the connector (13) that is fixedly connected with flange (12); Tube wall along sleeve pipe (11) axially evenly offers the perforation (110) of passing for draught line (22); The position of the upper corresponding perforation of described flange (12) (110) offers corresponding with it through hole (120); Form on the described connector (13) with cross axle (5) in one group of otic placode (130) that relative pivot articulates.
3. a kind of snakelike mechanical arm according to claim 2 is characterized in that: offer fixing hole (111) on the close sidewall of end of described sleeve pipe (11); Described flange (12) comprising: offer the end cap (121) of through hole (120) and insert the interior inner edge (122) of sleeve pipe (11), wherein the sidewall in this inner edge (122) is formed with the draw-in groove (123) corresponding with fixing hole (111) position; Screw by passing the through hole (120) on the flange (12) and the buckle of draw-in groove (123) are fixed on flange (12) end face of sleeve pipe (11).
4. a kind of snakelike mechanical arm according to claim 3, it is characterized in that: the inside of described sleeve pipe (11) end is formed with a flange (112), be positioned over the end face of this flange (112) behind described connector (13) insertion flange (12) centre bore, connector (13) is fixed by screws on the end face of flange (112).
5. the described a kind of snakelike mechanical arm of any one according to claim 1-4, it is characterized in that: described driver element (2) comprising: motor (21), draught line (22), slide block (23), screw mandrel (24) and the guide rail (25) that cooperates with slide block (23), wherein motor (21) is by shaft coupling and screw mandrel (24) interlock, described slide block (23) be sheathed on screw mandrel (24) upper and with screw mandrel (24) threaded engagement, drive screw mandrel (24) rotation by motor (21), drive slide block (23) and move along guide rail (25); Two draught lines (22) are set on every group of driver element (2), wherein a draught line (22) initiating terminal is fixed on the slide block (23), the initiating terminal of another root draught line (22) is fixed on the gripper shoe (4) of drive division (20), and the end of two draught lines (22) is connected to the opposite end of a joint (1).
6. a kind of snakelike mechanical arm according to claim 5, it is characterized in that: draught line (22) centre that described initiating terminal is fixed on the gripper shoe (4) is connected with an expanding tense machine (26), makes this draught line (22) remain on the swelling state by this expanding tense machine (26).
7. a kind of snakelike mechanical arm according to claim 5, it is characterized in that: the draught line (22) that described initiating terminal is fixed on the slide block (23) is walked around a fixed pulley (27) that is fixed on the gripper shoe (4).
8. a kind of snakelike mechanical arm according to claim 5, it is characterized in that: described connecting portion (3) comprises the fixed part (31) fixing with the middle gripper shoe (4) of drive division (20), the fastening part (32) that is fixedly connected with first joint (1) in the arm body (10), wherein fixed part (31) is mutually permanently connected with fastening part (32), and all offers the through hole that passes for draught line (22) on fixed part (31) and fastening part (32).
9. a kind of snakelike mechanical arm according to claim 1, it is characterized in that: the quantity of described driver element (2) is: the joint (twice behind the 1) Liang of the Shuoing – 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220293686 CN202726934U (en) | 2012-06-20 | 2012-06-20 | Snake-shaped mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220293686 CN202726934U (en) | 2012-06-20 | 2012-06-20 | Snake-shaped mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202726934U true CN202726934U (en) | 2013-02-13 |
Family
ID=47652676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220293686 Withdrawn - After Issue CN202726934U (en) | 2012-06-20 | 2012-06-20 | Snake-shaped mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202726934U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102744732A (en) * | 2012-06-20 | 2012-10-24 | 东莞东聚电子电讯制品有限公司 | Serpentine mechanical arm |
| CN105798896A (en) * | 2016-05-30 | 2016-07-27 | 天津大学 | Variable-stiffness continuous type mechanism based on air pressure locking principle |
| CN107486849A (en) * | 2017-08-30 | 2017-12-19 | 享奕自动化科技（上海）有限公司 | A kind of snakelike arm |
-
2012
- 2012-06-20 CN CN 201220293686 patent/CN202726934U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102744732A (en) * | 2012-06-20 | 2012-10-24 | 东莞东聚电子电讯制品有限公司 | Serpentine mechanical arm |
| CN105798896A (en) * | 2016-05-30 | 2016-07-27 | 天津大学 | Variable-stiffness continuous type mechanism based on air pressure locking principle |
| CN107486849A (en) * | 2017-08-30 | 2017-12-19 | 享奕自动化科技（上海）有限公司 | A kind of snakelike arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130213 Effective date of abandoning: 20150527 |
|
| RGAV | Abandon patent right to avoid regrant |