CN206484590U - A kind of superelastic alloy piece mechanical arm - Google Patents
A kind of superelastic alloy piece mechanical arm Download PDFInfo
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- CN206484590U CN206484590U CN201620856442.0U CN201620856442U CN206484590U CN 206484590 U CN206484590 U CN 206484590U CN 201620856442 U CN201620856442 U CN 201620856442U CN 206484590 U CN206484590 U CN 206484590U
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- bracing wire
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Abstract
The utility model provides a kind of superelastic alloy piece mechanical arm, including Minor articulus body, large joint body, superelastic alloy piece, front end camera and drive mechanism, and joint body and drive mechanism are mechanically connected by bracing wire.The mechanical arm connects each joint by superelastic alloy piece instead of bearing, mitigates weight, without mechanical clearance, and kinematic accuracy is high, simple in construction；There are some driven joint pieces, the flexibility of the mechanical brachiocylloosis of increase between joint between orthogonal connection, adjacent main movable joint；The bracing wire hole of joint drive bracing wire uses cross, effectively reduces coupling during motion between bracing wire, improves control accuracy；Drive mechanism uses lever actuated, and the rotating shaft of each lever is in the form that axle aligns, and lever rotation echelon is uniformly arranged, and can be reduced the quantity of driver element, be reduced the volume of drive mechanism；Using tower activation configuration, each central connector uses modular form, can arbitrarily be laminated, and is easy to increase and decrease driver element.
Description
Technical field
The present invention relates to a kind of superelastic alloy piece mechanical arm and its structure, belong to robotic technology field.
Background technology
Mechanical arm is as the mainstream product of automatic field, and more and more applied to each working environment, it goes out
Hand labor is now not only instead of, operating efficiency is improved, and in high-risk, the working environment of high request, embodied solely
Special advantage.Traditional industrial machine arm is bulky, and rotational freedom is limited, and its degree of flexibility is not high, it is impossible to apply narrow
Narrow job space, therefore occur in that multivariant Snakelike mechanical arm.Snakelike mechanical arm makes it due to the design feature of its imitative snake
, can be easily by curved pipe, narrow space etc., so as to cause the interest of researcher with the higher free degree.But
The Snakelike mechanical arm of current most of Snakelike mechanical arms, especially line drive form, has that complicated, control difficulty is big, drive
Dynamic mechanism cumbersome, the problems such as bracing wire campaign coupling is serious, which also limits the further research of Snakelike mechanical arm with popularizing.
The content of the invention
The defect that the present invention exists for existing structure, it is proposed that a kind of connection of use superelastic alloy piece, with new
Type wiring configuration, the multi-joint mechanical arm that drive mechanism is simplified.The mechanical arm is driven using lever construction, and driver uses tower
Formula structure is installed, and effectively reduces the quantity of drive mechanism；Bracing wire uses criss-cross winding displacement form, when effectively reducing bracing wire campaign
Coupled problem.
The technical scheme that the present invention takes is：A kind of superelastic alloy piece mechanical arm, including joint of mechanical arm body and driving
Mechanism, joint of mechanical arm body and drive mechanism are mechanically connected by bracing wire.
The joint of mechanical arm body includes Minor articulus body, large joint body, superelastic alloy piece, front end camera and riveting
Nail.
The drive mechanism includes drive mechanism shell, chassis, electric pushrod, lever and connector.
The front end camera is arranged on joint of mechanical arm body foremost, can gather and transmit the figure of working environment in real time
Picture, front end camera can replace with the instruments such as manipulator according to need of work.
The joint of mechanical arm body include two kinds of models of Minor articulus body and large joint body, wherein the first half of mechanical arm by
In the negligible amounts of the bracing wire passed through, while the weight in order to mitigate overall mechanical arm, using the less Minor articulus body of radius；
The latter half of mechanical arm due to through bracing wire quantity it is more, using the large joint body that radius is larger.
The Minor articulus body and large joint body again include active joint and driven joint, per two adjacent active joints it
Between the form that orthogonal connection is used between N number of driven joint, N >=1, each active joint, active joint and driven pass are installed
Parallel connection is realized by superelastic alloy piece between section, riveting is passed through between superelastic alloy piece and active joint and driven joint
Nail is fixed through axis hole.
There is cross bracing wire via on the Minor articulus body and large joint body, each active joint is symmetrical solid by two
Fixed bracing wire is driven, and driven joint is only drawstring through, and when active articulation, driven joint passes through superelastic alloy
The flexural deformation of piece, follows active joint to rotate in the same plane.
The electric pushrod of the drive mechanism is fixed on chassis by mounting ring, and the push rod of each electric pushrod is by pushing away
Lever attachment hole is connected with lever, and lever is connected further through shaft hole with the rotating shaft on connector, the stacking connection of each connector, and
It is fixed on by newel on chassis, so that the rotating shaft of each lever is on same axis.
The drive mechanism uses tower structure, and each lever is superimposed by central connector level, and rotation is presented in lever
The uniform arrangement of echelon, each central connector can arbitrarily be superimposed, be connected by fixing bolt, and connector screw hole is in circle
All uniform arrangements, and connector screw hole number is corresponding with central connector number, is installed per two neighboring central connector
Afterwards, its slotted eye has the alternate angle of certain angle, and so after central connector is all connected, institute's grooved hole is on 360 degree of circumference
Uniformly stagger.
The bracing wire is drawstring through the bracing wire hole on drive mechanism shell, buckle by holding cap to be fixed on active joint
Top installed in lever bracing wire hole, bracing wire card cap is stuck on buckle, is drawstring through lever bracing wire hole and is fixed on lever, works as electricity
During dynamic push rod work, lever rotation is driven, so as to drive bracing wire, and then corresponding active articulation is driven.
Because above-mentioned technical proposal is used, the present invention has following advantages and effect compared with prior art：
The effect of the present invention is, connects each joint instead of bearing by superelastic alloy piece, mitigates weight, do not have
There is mechanical clearance, kinematic accuracy is high, simple in construction；
The effect of the present invention is there are some driven joints between orthogonal connection, adjacent main movable joint between joint
Piece, the flexibility of the mechanical brachiocylloosis of increase；
The effect of the present invention is that the bracing wire hole of joint drive bracing wire uses cross, effectively reduces bracing wire
Between move when coupling, improve control accuracy；
The effect of the present invention is that drive mechanism uses lever actuated, and the rotating shaft of each lever is alignd in axle
Form, lever rotation echelon uniformly arranges, can reduce the quantity of driver element, reduce the volume of drive mechanism；
The effect of the present invention is that, using tower activation configuration, each central connector uses modular form,
It can arbitrarily be laminated, be easy to increase and decrease driver element.
Brief description of the drawings
Fig. 1 is mechanical arm overall structure diagram；
Fig. 2 is joint of mechanical arm body subdivision schematic diagram；
Fig. 3 is one group of orthogonal joint body schematic diagram of mechanical arm；
Fig. 4 is joint of mechanical arm body schematic diagram；
Fig. 5 is joint of mechanical arm body bending schematic diagram；
Fig. 6 is drive mechanism sectional view；
Fig. 7 is drive mechanism fixed support and end joint schematic diagram；
Fig. 8 is drive mechanism shell schematic diagram；
Fig. 9 is drive mechanism fixed support and shell schematic diagram；
Figure 10 is end joint and drive mechanism shell scheme of installation；
Figure 11 is simple joint scheme of installation；
Figure 12 is drive mechanism schematic diagram；
Figure 13 is drive mechanism top view；
Figure 14 is drive mechanism close-up schematic view；
Figure 15 is central connector assembling body-side view；
Figure 16 is central connector assembly top view；
Figure 17 is lever schematic diagram；
Figure 18 is chassis schematic diagram；
Figure 19 is bracing wire schematic diagram；
Figure 20 is camera connection diagram.
In accompanying drawing, the part representated by each label：1st, joint of mechanical arm body 2, drive mechanism 3, Minor articulus body 4, high point
Save body 5, active joint 6, driven joint 7, bracing wire via 8, axis hole 9, front end camera 10, drive mechanism shell 11,
Electric pushrod 12, lever 13, chassis 14, bracing wire hole 15, push rod 16, erection support 17, buckle 18, central connector
19th, rotating shaft 20, push rod connecting hole 21, shaft hole 22, lever bracing wire hole 23, newel 24, rivet 25, bracing wire 26, drawing
Line card cap 27, end cap 28, superelastic alloy piece 29, slotted eye 30, fixing bolt 31, connector screw hole 32, fixed branch
Frame 33, mounting hole 34, end joint
Embodiment
The present invention is described further below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of superelastic alloy piece mechanical arm, it is characterised in that including joint of mechanical arm body 1 and driving machine
Structure 2, joint of mechanical arm body 1 and drive mechanism 2 are mechanically connected by bracing wire 25.
As shown in Fig. 2~Fig. 5, the joint of mechanical arm body 1 includes Minor articulus body 3, large joint body 4, superelastic alloy piece
28th, front end camera 9 and rivet 24；The wherein first half of mechanical arm is by the negligible amounts of bracing wire 25 passed through, together
When in order to mitigate the weight of overall mechanical arm, using the less Minor articulus body 3 of radius；The latter half of mechanical arm due to through
The quantity of bracing wire 25 is more, using the large joint body 4 that radius is larger.As shown in figure 1, front end camera 9 could alternatively be manipulator
Deng other instruments.
As shown in figure 4, the Minor articulus body 3 and large joint body 4 are again including active joint 5 and driven joint 6, per adjacent
The shape that orthogonal connection is used between N number of (N >=1) driven joint 6, each active joint 5 is installed between two active joints 5
Formula, parallel connection is realized between active joint 5 and driven joint 6 by superelastic alloy piece 28.Superelastic alloy piece 28 and master
It is fixed between movable joint 5 and driven joint 6 by rivet 24 through axis hole 8, as shown in Figure 5.
There is cross bracing wire via 7 on the Minor articulus body 3 and large joint body 4, as shown in figure 4, each actively close
Section 5 is driven by two bracing wires 25 symmetrically fixed, and bracing wire 25 is by holding cap 27 to be fixed on active joint 5, driven joint 6
Only bracing wire 25 is passed through, and when active joint 5 is rotated, driven joint 6 follows master by the flexural deformation of superelastic alloy piece 28
Movable joint 5 is rotated in the same plane.
As shown in Fig. 6, Fig. 8, Fig. 9, Figure 12, Figure 13, Figure 14, Figure 15, the drive mechanism 2 mainly includes outside drive mechanism
Shell 10, chassis 13, electric pushrod 11, lever 12, chassis 13, bracing wire hole 14, erection support 16, buckle 17, central connector 18,
Fixed support 32, mounting hole 33.The electric pushrod 11 of the drive mechanism 2 is fixed on chassis 13 by erection support 16, often
The push rod 15 of individual electric pushrod 11 is connected by the push rod connecting hole 20 of lever 12 with lever 12, and lever 12 is further through shaft hole 21
It is connected with the rotating shaft 19 on central connector 18, as shown in figure 16, buckle 17 is arranged on lever bracing wire hole 22 for the position of rotating shaft 19
Top.The stacking connection of each central connector 18, and be fixed on by the newel 23 on chassis 13 on chassis 13, such as Figure 19 institutes
Show, so that the rotating shaft 19 of each lever 12 is on same axis.The schematic diagram of lever 12 is as shown in figure 18.
The drive mechanism 2 uses tower structure, and each lever 12 is superimposed by the level of central connector 18, and lever 12 is in
The uniform arrangement of echelon is now rotated, each central connector 18 can arbitrarily be superimposed, be connected by fixing bolt 30, connector
The circumferentially uniform arrangement, and the number of connector screw hole 31 is corresponding with the number of central connector 18 of screw hole 31, per adjacent two
After individual central connector 18 is installed, its slotted eye 29 has the alternate angle of certain angle.Spiral shell as shown in figure 15, is fixed in the position of slotted eye 29
Bolt 30, connector screw hole 31 position it is as shown in figure 17.
As shown in Fig. 7~11, the joint of mechanical arm body 1 is connected by end joint 34 with drive mechanism shell 10, end
Joint 34 is held to be arranged on fixed support 32, fixed support 32 is fixed by mounting hole 33 with drive mechanism shell 10, wherein institute
End joint 34 is stated with certain altitude so that driving bracing wire 25 has at the bracing wire hole 14 by drive mechanism shell 10
Certain radian transition.
As shown in figure 20, bracing wire 25 passes through the bracing wire hole 14 on drive mechanism shell 10, the position of bracing wire hole 14 such as Fig. 8 institutes
Show.The buckle 17 of drive mechanism 2 is arranged on the top in lever bracing wire hole 22, and bracing wire card cap 26 is stuck on buckle 17, and bracing wire 25 is worn
Cross lever bracing wire hole 22 to be fixed on lever 12, when electric pushrod 11 works, drive lever 12 to rotate, so as to drive bracing wire
25, and then drive corresponding active joint 5 to rotate.
The foregoing description of the disclosed embodiments, this hair can be realized or use by being only used for professional and technical personnel in the field
It is bright.A variety of modifications to these embodiments will be apparent for those skilled in the art, therefore the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to consistent with principles disclosed herein and innovative point
Most wide scope.
Claims (8)
1. a kind of superelastic alloy piece mechanical arm, it is characterised in that including joint of mechanical arm body (1) and drive mechanism (2), machinery
Shoulder joint body (1) and drive mechanism (2) are mechanically connected by bracing wire (25)；
The joint of mechanical arm body (1) includes Minor articulus body (3), large joint body (4), superelastic alloy piece (28), front end shooting
Head (9), the Minor articulus body (3) and large joint body (4) include active joint (5) and driven joint (6), each active joint again
(5) form of orthogonal connection is used between, it is real by superelastic alloy piece (28) between active joint (5) and driven joint (6)
Existing parallel connection, front end camera (9) is arranged on joint of mechanical arm body (1) foremost；
The drive mechanism (2) includes drive mechanism shell (10), chassis (13), electric pushrod (11), lever (12) and center
Connector (18), electric pushrod (11) is fixed on chassis (13), each electric pushrod (11), central connector (18) and lever
(12) it is connected, it is internal that electric pushrod (11), lever (12) and central connector (18) are arranged on drive mechanism shell (10).
2. a kind of superelastic alloy piece mechanical arm as claimed in claim 1, it is characterised in that the front end camera (9) can
Gather and transmit in real time the image of working environment.
3. a kind of superelastic alloy piece mechanical arm as claimed in claim 1, it is characterised in that the joint of mechanical arm body (1)
Including (4) two kinds of models of Minor articulus body (3) and large joint body, the wherein first half of mechanical arm uses the less Minor articulus of radius
Body (3)；The latter half of mechanical arm is using the larger large joint body (4) of radius.
4. a kind of superelastic alloy piece mechanical arm as claimed in claim 1, it is characterised in that per two adjacent active joints
(5) N number of driven joint (6), N >=1 are installed between.
5. a kind of superelastic alloy piece mechanical arm as claimed in claim 1, it is characterised in that the Minor articulus body (3) and greatly
Have axis hole (8) on joint body (4) and cross bracing wire via (7), superelastic alloy piece (28) and active joint (5) and from
It is fixed between movable joint (6) by rivet (24) through axis hole (8), what each active joint (5) was symmetrically fixed by two
Bracing wire (25) is driven, and driven joint (6) only has bracing wire (25) to pass through, when active joint (5) are rotated, driven joint (6)
By the flexural deformation of superelastic alloy piece (28), active joint (5) is followed to rotate in the same plane.
6. a kind of superelastic alloy piece mechanical arm as claimed in claim 1, it is characterised in that the electricity of the drive mechanism (2)
Dynamic push rod (11) is fixed on chassis (13) by erection support (16), and the push rod (15) of each electric pushrod (11) passes through push rod
Connecting hole (20) is connected with lever (12), and lever (12) is further through the rotating shaft (19) on shaft hole (21) and central connector (18)
It is connected, the stacking connection of each central connector (18), and be fixed on by newel (23) on chassis (13), so that each
The rotating shaft (19) of lever (12) is on same axis.
7. a kind of superelastic alloy piece mechanical arm as claimed in claim 1, it is characterised in that the drive mechanism (2) uses
Tower structure, each lever (12) is superimposed by central connector (18) level, and lever (12) is presented rotation echelon and uniformly arranged
Structure, each central connector (18) can be arbitrarily superimposed, and be connected by fixing bolt (30), and connector screw hole (31) is in circle
All uniform arrangements, and connector screw hole (31) number is corresponding with central connector (18) number, connects per two neighboring center
After fitting (18) is installed, its slotted eye (29) has the alternate angle of certain angle.
8. a kind of superelastic alloy piece mechanical arm as claimed in claim 1, it is characterised in that the joint of mechanical arm body (1)
It is connected by end joint (34) with drive mechanism shell (10), end joint (34) are arranged on fixed support (32), it is fixed
Support (32) is fixed by mounting hole (33) and drive mechanism shell (10), wherein the end joint (34) has certain height
Degree so that driving bracing wire (25) is at bracing wire hole (14) by drive mechanism shell (10), with certain radian transition；Institute
Bracing wire (25) is stated by holding cap (27) to be fixed on active joint (5), bracing wire (25) passes through the drawing on drive mechanism shell (10)
String holes (14), buckle (17) is arranged on the top in lever bracing wire hole (22), and bracing wire card cap (26) is stuck on buckle (17), bracing wire
(25) it is fixed on through lever bracing wire hole (22) on lever (12), when electric pushrod (11) works, drives lever (12) to rotate,
So as to drive bracing wire (25), and then corresponding active joint (5) is driven to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620856442.0U CN206484590U (en) | 2016-08-09 | 2016-08-09 | A kind of superelastic alloy piece mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620856442.0U CN206484590U (en) | 2016-08-09 | 2016-08-09 | A kind of superelastic alloy piece mechanical arm |
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| CN206484590U true CN206484590U (en) | 2017-09-12 |
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| CN201620856442.0U Active CN206484590U (en) | 2016-08-09 | 2016-08-09 | A kind of superelastic alloy piece mechanical arm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695879A (en) * | 2016-08-09 | 2017-05-24 | 北京动力京工科技有限公司 | Ultra-elastic alloy slice mechanical arm |
| CN110215240A (en) * | 2019-05-30 | 2019-09-10 | 南开大学 | A kind of end effector mechanism of single-hole laparoscopic surgery |
| CN110368091A (en) * | 2019-07-23 | 2019-10-25 | 南开大学 | A kind of single hole abdominal operation robot system |
-
2016
- 2016-08-09 CN CN201620856442.0U patent/CN206484590U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695879A (en) * | 2016-08-09 | 2017-05-24 | 北京动力京工科技有限公司 | Ultra-elastic alloy slice mechanical arm |
| CN110215240A (en) * | 2019-05-30 | 2019-09-10 | 南开大学 | A kind of end effector mechanism of single-hole laparoscopic surgery |
| CN110368091A (en) * | 2019-07-23 | 2019-10-25 | 南开大学 | A kind of single hole abdominal operation robot system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Guangzhou seate Intelligent Technology Co., Ltd. Assignor: Dong Lei|Beijing Dongli Jinggong Technology Co., Ltd. Contract record no.: 2018440000047 Denomination of utility model: Ultra-elastic alloy slice mechanical arm Granted publication date: 20170912 License type: Common License Record date: 20180402 |
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| EE01 | Entry into force of recordation of patent licensing contract |