CN206426121U - A kind of flexible automaton human arm - Google Patents
A kind of flexible automaton human arm Download PDFInfo
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- CN206426121U CN206426121U CN201621210174.1U CN201621210174U CN206426121U CN 206426121 U CN206426121 U CN 206426121U CN 201621210174 U CN201621210174 U CN 201621210174U CN 206426121 U CN206426121 U CN 206426121U
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- flexible
- arm
- oil
- flexible arm
- automaton
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Abstract
The utility model is related to a kind of flexible automaton human arm, including base, column, column top surface sets turntable, and turntable top surface is provided with swing arm, and swing arm one end is provided with rotating disk, rotating disk both sides are respectively provided with a mounting seat, each mounting seat installs a flexible arm, and flexible arm includes oil inlet pipe, oil return pipe, point food tray, and point food tray is provided with oil input channel and back oil road, at least three elastic capsules are connected between two points of food trays, flexible arm end is provided with fixed seat.The different distortions of flexible arm are realized in the elastic capsule expansion that the utility model is distributed using three annular arrays, the free degree of flexible arm is big, simple in construction using a point food tray distribution hydraulic oil, part is few, service life is long, and external part is few, not high to operating environment requirements, shaping loop and expanding ring control the expansion direction of elastic capsule, so that flexible arm is more controllable, cause that the free degree of flexible arm is bigger using turntable and rotating disk, flexibility is bigger.
Description
Technical field
The utility model is related to robot arm, more particularly to a kind of flexible automaton human arm.
Background technology
With the development of industrial technology, robot arm is in life and production using more and more extensive, existing machine
Human arm, as arm, is swung, wherein structure is complicated generally using multiple connecting rods by hydraulic cylinder or cylinder drive link,
Service life is short, and the environmental requirement to workplace is high.
Utility model content
In view of the shortcomings of the prior art, the purpose of this utility model is to provide a kind of flexible automaton human arm.
The utility model solves the technical scheme that its technical problem used：A kind of flexible automaton human arm, bag
Base, the column being vertically arranged on the base are included, the column top surface is provided with the turntable rotated along vertical axis, described
Turntable top surface is provided with swing arm, and described swing arm one end is provided with the rotating disk around own axis, and the column top surface turns provided with level
Servo motor, the main shaft that the level turns servo motor is connected with the turntable, and described swing arm one end is provided with upset servo motor,
The main shaft of the upset servo motor is connected with the rotating disk, and the rotating disk both sides are respectively provided with a mounting seat, each peace
Fill and a flexible arm is installed on seat, the flexible arm includes oil inlet pipe, oil return pipe, point food tray, described point of food tray is provided with
At least three elastic capsules are connected between oil input channel and back oil road, two points of food trays, the elastic capsule is around the flexible hand
Arm central axis annular uniform array distribution, the elastic capsule tail end connects with the oil input channel on elastic capsule portion food tray
Logical, the back oil road that the elastic capsule head is divided on food tray with elastic capsule head is connected, the elastic capsule and back oil road it
Between be connected with oil return Perfected electromagnetic metering valve, oil-feed Perfected electromagnetic metering valve, the flexibility are connected between the elastic capsule and oil input channel
Arm end, which is provided with fixed seat, the fixed seat, is provided with head servo motor, is connected in the rotating shaft of the head servo motor
There is mounting disc, the elastic capsule includes rubber tube, the shaping loop and expanding ring being arranged on the rubber tube, the shaping loop
Diameter is more than the diameter after expanding ring shrinks, and the shaping loop and expanding ring are spaced on the rubber tube, described flexible
Enclose as elastomeric material, the shaping loop is non-elastic material.
Realize that the different of flexible arm distort using the elastic capsule expansion of three annular array distributions in above-mentioned design, it is soft
Property arm the free degree it is big, using a point food tray distribution hydraulic oil, simple in construction, part is few, and service life is long, and external part is few,
It is not high to operating environment requirements, the expansion direction of shaping loop and expanding ring control elastic capsule so that flexible arm is more controllable,
Cause that the free degree of flexible arm is bigger using turntable and rotating disk, flexibility is bigger.
As the further improvement of the design, it is characterized in that, the oil-feed pipe diameter is less than after expanding ring contraction
Diameter, is easy to the free bend of flexible arm.
As the further improvement of the design, it is characterized in that, the shaping loop is aramid fiber rope, and the expanding ring is spandex
Rope, intensity is high, lightweight.
As the further improvement of the design, the mounting disc is provided with swivel becket, described turn towards described fixed seat one end
Ball is provided with the inside of rotating ring, the fixed seat outer circumference surface is easy to connect with flexible arm provided with the annular groove for accommodating the ball
The gripper connect is rotated smoothly.
As the further improvement of the design, at least provided with two spaces track and localization device in each mounting disc, it is easy to pair
Mounting disc is more relocated so that flexible arm precision is higher.
As the further improvement of the design, described point of food tray is nearer and distribution density is bigger apart from rotating disk, is easy to improve
Flexible arm bearing capacity.
The beneficial effects of the utility model are：The utility model is real using the elastic capsule expansion of three annular array distributions
The different distortions of existing flexible arm, the free degree of flexible arm is big, and using a point food tray distribution hydraulic oil, simple in construction, part is few,
Service life is long, and external part is few, not high to operating environment requirements, the expansion side of shaping loop and expanding ring control elastic capsule
To so that flexible arm is more controllable, causes that the free degree of flexible arm is bigger using turntable and rotating disk, flexibility is bigger.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is overall structure diagram of the present utility model.
Fig. 2 is flexible arm partial cutaway schematic of the present utility model.
Fig. 3 is the horizontal schematic cross-sectional view of flexible arm of the present utility model.
Fig. 4 is elastic capsule partial schematic diagram of the present utility model.
Fig. 5 is fixed seat of the present utility model and mounting disc connection diagram.
1. base in figure, 2. columns, 3. levels turn servo motor, and 4. turntables, 5. mounting seats, 6. swing arms, 7. upsets are watched
Take motor, 8. rotating disks, 9. flexible arms, 10. points of food trays, 11. elastic capsules, 12. oil inlet pipes, 13. oil return pipes, 14. back oil roads,
15. oil input channel, 16. oil-feed Perfected electromagnetic metering valves, 17. oil return Perfected electromagnetic metering valves, 18. fixed seats, 19. head servo motors, 20. rollings
Pearl, 21. annular grooves, 22. mounting discs, 23. shaping loops, 24. expanding rings, 25. rubber tubes, 26. swivel beckets, 27. spaces tracking is fixed
Position device.
Embodiment
Describe the utility model in detail below in conjunction with accompanying drawing and specific embodiment, illustrative examples therein with
And illustrate only to be used for explaining the utility model, but be not intended as limiting of the present utility model.
Embodiment：A kind of flexible automaton human arm, including base 1, the column 2 that is vertically arranged on the base 1,
The top surface of column 2 is provided with the turntable 4 rotated along vertical axis, and the top surface of turntable 4 is provided with swing arm 6, described one end of swing arm 6
Provided with the rotating disk 8 around own axis, the top surface of column 2 turns servo motor 3 provided with level, and the level turns servo motor
3 main shaft is connected with the turntable 4, and described one end of swing arm 6 is provided with upset servo motor 7, the main shaft of the upset servo motor 7
It is connected with the rotating disk 8, the both sides of rotating disk 8 are respectively provided with a mounting seat 5, a flexibility is installed in each mounting seat 5
Arm 9, the flexible arm 9 includes oil inlet pipe 12, oil return pipe 13, point food tray 10, and described point of food tray 10 is provided with oil input channel 15
With back oil road 14, at least three elastic capsules 11 are connected between two points of food trays 10, the elastic capsule 11 is around the flexibility
On the annular uniform array distribution of the central axis of arm 9, the tail end of elastic capsule 11 and the portion food tray 10 of elastic capsule 11
Oil input channel 15 is connected, and the head of elastic capsule 11 is connected with the back oil road 14 on the food tray 10 of the head of elastic capsule 11 point, described
Oil return Perfected electromagnetic metering valve 17 is connected between elastic capsule 11 and back oil road 14, is connected between the elastic capsule 11 and oil input channel 15
Oil-feed Perfected electromagnetic metering valve 16 is connected to, the end of flexible arm 9, which is provided with fixed seat 18, the fixed seat 18, is provided with head servo
Mounting disc 22 is connected with motor 19, the rotating shaft of the head servo motor 19, the elastic capsule 11 includes rubber tube 25, set
Shaping loop 23 and expanding ring 24 on the rubber tube 25 are put, the diameter of shaping loop 23 is more than straight after expanding ring 24 shrinks
Footpath, the shaping loop 23 and expanding ring 24 are spaced on the rubber tube 25, and the expanding ring 24 is elastomeric material, described
Shaping loop 23 is non-elastic material.
Expanded in above-mentioned design using the elastic capsule 11 of three annular array distributions and realize that the different of flexible arm 9 are turned round
Song, the free degree of flexible arm 9 is big, and using point distribution hydraulic oil of food tray 10, simple in construction, part is few, and service life is long, external
Part is few, not high to operating environment requirements, the expansion direction of shaping loop 23 and the control elastic capsule 11 of expanding ring 24 so that flexible
Arm 9 is more controllable, make it that the free degree of flexible arm 9 is bigger using turntable 4 and rotating disk 8, flexibility is bigger.
As the further improvement of the design, it is characterized in that, the diameter of oil inlet pipe 12 shrinks less than the expanding ring 24
Diameter afterwards, is easy to the free bend of flexible arm 9.
As the further improvement of the design, it is characterized in that, the shaping loop 23 is aramid fiber rope, and the expanding ring 24 is ammonia
Synthetic fibre rope, intensity is high, lightweight.
As the further improvement of the design, the mounting disc 22 is provided with swivel becket 26 towards described one end of fixed seat 18,
The inner side of swivel becket 26 is provided with ball 20, and the outer circumference surface of fixed seat 18 is provided with the annular groove 21 for accommodating the ball 20,
It is easy to rotate smoothly with the gripper that flexible arm 9 is connected.
As the further improvement of the design, at least provided with two spaces track and localization device 27 in each mounting disc 22, just
More relocated in mounting disc 22 so that the precision of flexible arm 9 is higher.
As the further improvement of the design, described point of food tray 10 is nearer and distribution density is bigger apart from rotating disk 8, is easy to carry
The bearing capacity of high flexibility arm 9.
Embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited, it is every
The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or be directly or indirectly used in
Other related technical fields, are similarly included in scope of patent protection of the present utility model.
Claims (6)
1. a kind of flexible automaton human arm, it is characterised in that including base, the column being vertically arranged on the base,
The column top surface is provided with the turntable rotated along vertical axis, and the turntable top surface is provided with swing arm, and described swing arm one end is provided with
Around the rotating disk of own axis, the column top surface turns servo motor provided with level, and the level turns the main shaft of servo motor
It is connected with the turntable, described swing arm one end is provided with upset servo motor, main shaft and the rotating disk of the upset servo motor
Connection, the rotating disk both sides are respectively provided with a mounting seat, and a flexible arm, the flexible hand are installed in each mounting seat
Arm includes oil inlet pipe, oil return pipe, point food tray, and described point of food tray is provided between oil input channel and back oil road, two points of food trays and connected
There are at least three elastic capsules, the elastic capsule is around the annular uniform array distribution of the flexible arm central axis, the bullet
Property capsule tail end connected with the oil input channel on elastic capsule portion food tray, the elastic capsule head and elastic capsule head point
Back oil road connection on food tray, is connected with oil return Perfected electromagnetic metering valve, the elastic capsule between the elastic capsule and back oil road
Oil-feed Perfected electromagnetic metering valve is connected between oil input channel, the flexible arm end is provided with fixed seat, the fixed seat and is provided with
Mounting disc is connected with head servo motor, the rotating shaft of the head servo motor, the elastic capsule includes rubber tube, set
Shaping loop and expanding ring on the rubber tube, the sizing loop diameter are more than the diameter after expanding ring shrinks, the sizing
Circle and expanding ring are spaced on the rubber tube, and the expanding ring is elastomeric material, and the shaping loop is non-elastic material.
2. a kind of flexible automaton human arm according to claim 1, it is characterized in that, the oil-feed pipe diameter is less than institute
State the diameter after expanding ring shrinks.
3. a kind of flexible automaton human arm according to claim 1, it is characterized in that, the shaping loop is aramid fiber rope,
The expanding ring is spandex rope.
4. a kind of flexible automaton human arm according to claim 1, it is characterized in that, the mounting disc is towards described solid
Reservation one end, which is provided with the inside of swivel becket, the swivel becket, is provided with ball, and the fixed seat outer circumference surface is provided with the receiving ball
Annular groove.
5. a kind of flexible automaton human arm according to claim 1, it is characterized in that, in each mounting disc at least provided with
Two spaces track and localization device.
6. a kind of flexible automaton human arm according to claim 1, it is characterized in that, described point of food tray is got over apart from rotating disk
It is near and distribution density is bigger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621210174.1U CN206426121U (en) | 2016-11-10 | 2016-11-10 | A kind of flexible automaton human arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621210174.1U CN206426121U (en) | 2016-11-10 | 2016-11-10 | A kind of flexible automaton human arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206426121U true CN206426121U (en) | 2017-08-22 |
Family
ID=59588420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621210174.1U Expired - Fee Related CN206426121U (en) | 2016-11-10 | 2016-11-10 | A kind of flexible automaton human arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206426121U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116922446A (en) * | 2023-09-18 | 2023-10-24 | 中国科学技术大学 | Self-growing movable flexible mechanical arm |
-
2016
- 2016-11-10 CN CN201621210174.1U patent/CN206426121U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116922446A (en) * | 2023-09-18 | 2023-10-24 | 中国科学技术大学 | Self-growing movable flexible mechanical arm |
| CN116922446B (en) * | 2023-09-18 | 2024-01-05 | 中国科学技术大学 | Self-growing movable flexible mechanical arm |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170822 Termination date: 20201110 |