CN206393667U - The radial flexible mechanical arm driven based on rope - Google Patents
The radial flexible mechanical arm driven based on rope Download PDFInfo
- Publication number
- CN206393667U CN206393667U CN201621342184.0U CN201621342184U CN206393667U CN 206393667 U CN206393667 U CN 206393667U CN 201621342184 U CN201621342184 U CN 201621342184U CN 206393667 U CN206393667 U CN 206393667U
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- link
- rope
- inside casing
- hole
- joint
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Abstract
A kind of radial flexible mechanical arm driven based on rope, it includes support, Bei Shen mechanisms, end effector and driving rope；Described Bei Shen mechanisms are in series by some joint units, and one end of Bei Shen mechanisms is fixed on support by terminal pad, i.e. the end of other end Bei Shen mechanisms is connected with end effector；The driving rope is circumferentially uniform three, and one end of every rope is fixed on arm body mechanism end, and the cable-through hole that the other end sequentially passes through each joint unit is connected in support on the roller of motor；Described joint unit includes housing link, inside casing link, sliding sleeve, tie rod and corresponding clamp nut, and housing link and inside casing link are connected using tie rod, constitute the joint unit of radial.The utility model has arm body light weight, and load is big, and the good advantage of mobility both ensure that the flexibility of flexible mechanical arm, again the use scope of the flexible mechanical arm of extension.
Description
Technical field
The utility model belongs to robot field, more particularly to a kind of mechanical arm.
Background technology
Mechanical arm is one kind of robot, and traditional mechanical arm is rigid link composition, generally there is series, parallel or string
And three kinds of structures of series-parallel connection.The characteristics of this kind of mechanical arm be with discrete joint and being rigidly connected, an also class be based on octopus arm, as
The bionical non-individual body mechanical arm of the biologic-organs such as nose.Because non-individual body mechanical arm can produce plastic deformation in any part, so
With very strong avoidance ability, non-structure environment can be preferably adapted to, irregularly shaped object is preferably captured.This kind of mechanical arm was both
Clamping device crawl object can be loaded onto in end as tradition machinery arm, object can also be rolled in itself using mechanical arm.
From the structure of this kind of mechanical arm, its is powerful, with good compliance and adaptability；From the application of this kind of robot
Angle sees that the operation object of these mechanical arms is often the irregular shape target in some complex environments.
Nineteen ninety-five, the KSI tentacle type manipulators that Immega etc. is designed and produced, the manipulator mainly have air bag, servomotor,
6 rope compositions, using soft rope and gas combination drive；2001, Hannan and Walker et al. have developed hyper-redundant as
Nose humanoid robot, the robot is made up of 16 U-shaped joints of 2DOF, overall length 82.32cm, can be divided into 4 that length is not waited
Part, wherein each part includes 4 joints.Each joint mixes realization mixing control with spring by rope；2003,
Peirs et al. have developed a kind of flexible bending joint section for endoscope robot surgical operation.Sequential machine people is by micro-
Electromechanical super-elastic NiTi compo pipe is constituted, and is driven using 4 tendons, with 2 frees degree, can bend 90 in any opposite direction
Degree；2007, Harada et al. have developed a kind of flexible laser operations hand, the manipulator maximum gauge 2.4mm, can to appoint
Meaning direction bending, maximum bend angle is 90 degree；2011, German Fei Situo companies developed and designed according to the characteristics of big trunk
Novel bionic machine processing system " bionical operation assistant " out, it can smoothly carry heavy duty, and principle is its
Each section vertebra can be extended and be shunk by the compression and inflation of air bag；2014, Chinese patent CN203804991U,
A kind of flexible trunk mechanical arm of spring line traffic control is disclosed, the utility model includes the joint for the multi-stage series being arranged on support,
The one end in the first joint is fixed on support in the joint wherein connected, and the other end in the first joint and one end of second joint are solid
Surely link together, thereafter the like, being fixed with support in elastic support and joint unit, joint unit has driving bullet
Spring, the series connection arthrodesis is on elastic support, and driving spring passes through series connection joint.
These above mentioned class flexible mechanical arms are divided according to type of drive, can be divided into three classes：It is interior driving, outer
Driving and mixed type.Fluid-operated mode is filled in interior driving general use bellows, outer driving use lightweight is continuous
Body adds the mode of remote boot server, and mixed type driving is the comprehensive hybrid plan for adopting inside and outside two kinds of drivings.Outer driving or mixing
The possibility elastic rod of lightweight non-individual body in driving scheme is realized without vertebra as vertebra or with cylindrical spring.At present,
From the point of view of bearing capacity, type of drive is higher using the outer type of drive bearing capacity of rope, but the mechanical arm body of this kind of mechanical arm
It is heavier, it have impact on the further raising of flexibility, mobility and the bearing capacity of this kind of mechanical arm.
The content of the invention
The purpose of this utility model is to provide a kind of light weight, and mobility is good, large carrying capacity based on rope driving
Radial flexible mechanical arm.
The utility model includes support, Bei Shen mechanisms, end effector and driving rope, and wherein support is included outside support
Shell, 3 motors, power supply and control unit, motor, power supply and control unit are fixed in machine base outer shell；Bei Shen mechanisms are by some
Group joint unit is in series by cross-garnet butt, and one end of Bei Shen mechanisms is fixed on support by terminal pad, its other end
It is connected with end effector, for capturing target object；It is circumferentially uniform three to drive rope, and one end of every rope is fixed
In arm body mechanism end, the cable-through hole that its other end sequentially passes through each joint unit is connected to 3 electricity in support
On the roller of machine；The terminal pad is the ring flange with unthreaded hole, and its one side being connected with support is plane, and its another side is provided with one
Individual U-shaped ear mount with holes, the joint unit adjacent thereto to connect.
Described joint unit includes housing link, inside casing link, sliding sleeve, tie rod and corresponding clamp nut,
It is a pipe in the middle part of inside casing link, pipe two ends are respectively equipped with a ring flange that 20 ° are tilted to opposite direction, two methods
It is equipped with symmetrical a pair U-shaped ear mounts with holes in the opposite one side of blue disk, and the U-shaped ear in adjacent two joint units
Seat offsets one from another 30 degree on position dimension along inside casing link axis, and two ring flanges of inside casing link are equipped with circumference
Three groups of uniform connecting holes, one group two-by-two of this three groups of connecting holes；Housing link is provided with three groups of circumferential connecting holes put, often
Four holes of group, and it is at an angle to each other；One end of tie rod is begun to crop up the connection linked in inside casing link by elbow bend and spheroidal
In hole, its other end is fixed in the connecting hole of housing link by the screw thread and clamp nut on tie rod, described housing
Provided with three cable-through holes being arranged circumferentially on the inside of link, sliding sleeve, and adjacent two joint unit are installed in cable-through hole
Between uniform three springs, the two ends of spring are against the ear that two adjacent joint unit housing links carry cable-through hole respectively
On seat and it is enclosed on the outer of sliding sleeve, the axis of each spring is overlapped with the axis of cable-through hole.
The one side of the inside casing link for the joint unit being connected with end effector is provided with ring flange with threaded hole.
Described terminal pad, housing link, inside casing link are aluminum alloy material, and tie rod and clamp nut are stainless
Steel matter, sliding sleeve is brass material, and driving rope is high strength wire rope.
The utility model motion general principle be：Some motor, which is rotated, drives driving rope to tighten up, two other electricity
Machine suitably loosen driving rope, or certain two motor drives driving ropes to tighten up, and another motor loosens driving rope,
Can also three motors tighten up driving rope simultaneously, it is possible to achieve flexible mechanical arm space multiple directions are bent.Control three simultaneously
Root drive rope folding and unfolding length, can with the soft or hard degree of control arm body mechanism, can Shi Bei bodies mechanism keep current pose or
It is freely sagging.
The utility model has the following advantages that compared with prior art：
Arm body light weight, load is big, and mobility is good, both ensure that the flexibility of flexible mechanical arm, again the flexible machine of extension
The use scope of tool arm.
Brief description of the drawings
Fig. 1 is three-dimensional simplified schematic diagram of the present utility model.
Fig. 2 is the simplified schematic diagram of the utility model terminal pad.
Fig. 3 is the simplified schematic diagram of joint unit of the present utility model.
Fig. 4 is inside casing link structure schematic diagram of the present utility model.
Fig. 5 is the connection signal sketch of two adjacent joint units of the utility model.
Fig. 6 is the joint unit simplified schematic diagram that the utility model is connected with end effector.
In figure：1- drivings rope, 2- machine base outer shells, 3- power supplys, 4- control units, 5- motors, 6- terminal pads, 7- arm body machines
Structure, 8- end effectors, 9- housings link, 10- inside casings link, 11- tie rods, 12- clamp nuts, 13- sliding sleeves, 14- ten
Word axle, 15- springs, 16- and the inside casing link of end effector connection.
Embodiment
In the radial flexible mechanical arm schematic diagram driven based on rope shown in Fig. 1, motor 5, power supply 3 and control unit
Part 4 is fixed in machine base outer shell 2；Bei Shen mechanisms 7 are in series by some groups of joint units by cross-garnet butt, Bei Shen mechanisms
One end is fixed on support by terminal pad 6, and its other end is connected with end effector 8, and driving rope 1 is circumferentially uniform three
Root, one end of every rope is fixed on arm body mechanism end, and its other end sequentially passes through the cable-through hole point of each joint unit
On the roller for not being connected to 3 motors in support；As shown in Fig. 2 the terminal pad is the ring flange with unthreaded hole, itself and support
The one side of connection is plane, and its another side is provided with a U-shaped ear mount with holes, the joint unit adjacent thereto to connect.
As shown in Figure 3, Figure 4, joint unit includes housing link, inside casing link, sliding sleeve, tie rod and corresponding tight
Gu nut, the middle part of inside casing link 10 is a pipe, pipe two ends are respectively equipped with a flange that 20 ° are tilted to opposite direction
Symmetrical one U-shaped ear mount with holes, and two adjacent joint units are equipped with disk, the opposite one side of two ring flanges
On U-shaped ear mount offset one from another 30 degree along inside casing link axis on position dimension, two ring flanges of inside casing link
Circumferential three groups of uniform connecting holes are equipped with, one group two-by-two of this three groups of connecting holes, housing link 9 is circumferentially put provided with three groups
Connecting hole, every group of four holes, and at an angle to each other, one end of tie rod 11 is begun to crop up by elbow bend and spheroidal to be linked in inside casing
In the connecting hole of link, its other end is fixed on the connecting hole of housing link by the screw thread on tie rod and clamp nut 12
It is interior, provided with three cable-through holes being arranged circumferentially on the inside of described housing link, sliding sleeve 13 is installed in cable-through hole.
As shown in figure 5, by cross axle 14 by two adjacent U on the inside casing link of the adjacent joint unit of each two
Type ear mount is connected, and constitutes cross pair, makes have two-freedom motion between each two joint unit.It is uniform between two joint unit
Three springs 15 play a supportive role, and the two ends of spring are against two adjacent joint unit housing links with cable-through hole respectively
Ear mount on and be enclosed on the outer of sliding sleeve, the axis of each spring is overlapped with the axis of cable-through hole.
As shown in fig. 6, the one side of the inside casing link 16 for the joint unit being connected with end effector is provided with threaded
The ring flange in hole.
Described terminal pad, housing link, inside casing link are aluminum alloy material, and tie rod and clamp nut are stainless
Steel matter, sliding sleeve is brass material, and driving rope is high strength wire rope.
Claims (2)
1. a kind of radial flexible mechanical arm driven based on rope, it includes support, Bei Shen mechanisms, end effector and driving
Rope, wherein support include machine base outer shell, 3 motors, power supply and control unit, and motor, power supply and control unit are fixed on machine
In seat shell, it is characterised in that：The Bei Shen mechanisms are in series by some groups of joint units by cross-garnet butt, Bei Shen mechanisms
One end be fixed on by terminal pad on support, its other end is connected with end effector, for capturing target object；Driving rope
Rope is circumferentially uniform three, and one end of every rope is fixed on arm body mechanism end, and its other end sequentially passes through each pass
The cable-through hole of section unit is connected on the roller of 3 motors in support；The terminal pad is the ring flange with unthreaded hole, its
The one side being connected with support is plane, and its another side is provided with a U-shaped ear mount with holes, and the joint adjacent thereto to connect is single
Member；
Described joint unit includes housing link, inside casing link, sliding sleeve, tie rod and corresponding clamp nut, inside casing
It is a pipe in the middle part of link, pipe two ends are respectively equipped with a ring flange that 20 ° are tilted to opposite direction, two ring flanges
It is equipped with symmetrical a pair U-shaped ear mounts with holes in opposite one side, and the U-shaped ear mount in adjacent two joint units exists
Offset one from another 30 degree along inside casing link axis on position dimension, two ring flanges of inside casing link are equipped with circumferentially uniformly
Three groups of connecting holes, one group two-by-two of this three groups of connecting holes；Housing link is provided with three groups of circumferential connecting holes put, every group four
Individual hole, and it is at an angle to each other；One end of tie rod is begun to crop up by elbow bend and spheroidal and linked in the connecting hole of inside casing link,
Its other end is fixed in the connecting hole of housing link by the screw thread and clamp nut on tie rod, described housing link
Inner side is provided with three cable-through holes being arranged circumferentially, cable-through hole and is provided between sliding sleeve, and adjacent two joint unit
Three springs of cloth, the two ends of spring are against in ear mount of the two adjacent joint unit housing links with cable-through hole simultaneously respectively
It is enclosed on the outer of sliding sleeve, the axis of each spring is overlapped with the axis of cable-through hole；The joint being connected with end effector
The one side of the inside casing link of unit is provided with ring flange with threaded hole.
2. the radial flexible mechanical arm according to claim 1 driven based on rope, it is characterised in that：Described connection
Disk, housing link, inside casing link are aluminum alloy material, and tie rod and clamp nut are stainless steel, and sliding sleeve is brass
Material, driving rope is high strength wire rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621342184.0U CN206393667U (en) | 2016-12-08 | 2016-12-08 | The radial flexible mechanical arm driven based on rope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621342184.0U CN206393667U (en) | 2016-12-08 | 2016-12-08 | The radial flexible mechanical arm driven based on rope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206393667U true CN206393667U (en) | 2017-08-11 |
Family
ID=59508545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621342184.0U Withdrawn - After Issue CN206393667U (en) | 2016-12-08 | 2016-12-08 | The radial flexible mechanical arm driven based on rope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206393667U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514703A (en) * | 2016-12-08 | 2017-03-22 | 燕山大学 | Spoke type flexible mechanical arm based on rope driving |
| CN108340363A (en) * | 2018-01-26 | 2018-07-31 | 深圳市风力源科技有限公司 | Flexible mechanical arm and unmanned plane |
| CN113291182A (en) * | 2021-06-22 | 2021-08-24 | 广州锐速智能科技股份有限公司 | Intelligent movable direct-current rapid charging pile and intelligent charging method |
| CN113733153A (en) * | 2021-10-19 | 2021-12-03 | 中国民航大学 | Seven-degree-of-freedom flexible mechanical arm based on offset cross shaft hinge joint |
| CN113733154A (en) * | 2021-10-19 | 2021-12-03 | 中国民航大学 | Flexible mechanical arm based on cross shaft hinge joint |
| CN117598648A (en) * | 2024-01-23 | 2024-02-27 | 浙江大学 | End effector of neuroendoscopic robot operation using compliant joint |
-
2016
- 2016-12-08 CN CN201621342184.0U patent/CN206393667U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514703A (en) * | 2016-12-08 | 2017-03-22 | 燕山大学 | Spoke type flexible mechanical arm based on rope driving |
| CN106514703B (en) * | 2016-12-08 | 2019-07-26 | 燕山大学 | Spoke type flexible mechanical arm based on rope driving |
| CN108340363A (en) * | 2018-01-26 | 2018-07-31 | 深圳市风力源科技有限公司 | Flexible mechanical arm and unmanned plane |
| CN113291182A (en) * | 2021-06-22 | 2021-08-24 | 广州锐速智能科技股份有限公司 | Intelligent movable direct-current rapid charging pile and intelligent charging method |
| CN113733153A (en) * | 2021-10-19 | 2021-12-03 | 中国民航大学 | Seven-degree-of-freedom flexible mechanical arm based on offset cross shaft hinge joint |
| CN113733154A (en) * | 2021-10-19 | 2021-12-03 | 中国民航大学 | Flexible mechanical arm based on cross shaft hinge joint |
| CN113733154B (en) * | 2021-10-19 | 2023-09-26 | 中国民航大学 | Flexible mechanical arm based on cross shaft hinge |
| CN113733153B (en) * | 2021-10-19 | 2023-09-29 | 中国民航大学 | Seven-degree-of-freedom flexible mechanical arm based on offset cross shaft hinge |
| CN117598648A (en) * | 2024-01-23 | 2024-02-27 | 浙江大学 | End effector of neuroendoscopic robot operation using compliant joint |
| CN117598648B (en) * | 2024-01-23 | 2024-04-09 | 浙江大学 | End effector of neuroendoscopic robot operation using compliant joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170811 Effective date of abandoning: 20190726 |