CN207155792U - Dexterous mechanical arm for the disaster relief - Google Patents
Dexterous mechanical arm for the disaster relief Download PDFInfo
- Publication number
- CN207155792U CN207155792U CN201721213149.3U CN201721213149U CN207155792U CN 207155792 U CN207155792 U CN 207155792U CN 201721213149 U CN201721213149 U CN 201721213149U CN 207155792 U CN207155792 U CN 207155792U
- Authority
- CN
- China
- Prior art keywords
- linkage board
- mechanical arm
- spheroid
- top plate
- disaster relief
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model discloses a kind of dexterous mechanical arm for the disaster relief, including mechanical arm body, bearing and drive device；Mechanical arm body includes top plate and some pieces of linkage boards being sequentially arranged at from top to bottom below top plate, is realized and connected by joint between the linkage board and adjacent linkage board of top plate and the top；Joint includes section body and spheroid, the top for saving body are fixedly connected with top plate bottom or linkage board bottom, and the bottom for saving body is fixedly connected with spheroid, and the top of linkage board is provided with the fossa glenoid for being used for that socket joint arrangement to be cooperatively formed with spheroid；Drive device includes at least three pull ropes and the motor for pulling pull rope, the via for coordinating with pull rope is circumferentially uniformly provided with linkage board, one end of pull rope down sequentially passes through the via of each linkage board under and is fixedly connected with top plate bottom, the other end is connected with the output end of motor；Motor is fixed on bearing, support bar is fixed with bearing, they sup-port is in the bottom of the linkage board of bottom.
Description
Technical field
It the utility model is related to a kind of relief device, more particularly to a kind of dexterous mechanical arm for the disaster relief.
Background technology
The skilful mechanical arm of oversoul (Hyper-DexterousManipulator, HDM) is a kind of complicated or non-structural
Can have surprising motion, operation and spirit as snake, trunk or octopus tentacle etc. in face of various unknown tasks in environment
The robot of skilful performance；Due to its skilful characteristic of intrinsic oversoul, the skilful mechanical arm of oversoul is in restricted clearance or small space in face of not
The motion and operational capacity for knowing task are far above traditional Joint Manipulator, in the fields such as spatial manipulation, industry and medical treatment
All there is important application value and potential value, embody the progress direction of robot technology.It is conventionally used to the machinery of the disaster relief
Arm often shows as extending a certain joint or a certain joint of rotation, and rescue detector is pressed close into broken stone or stone gap
In, the mechanical arm of the structure has certain rigidity, but is short of flexibility, and mechanical arm can not expand the inspection of rescue detector indirectly
Scope is surveyed, the accuracy of the disaster relief can not be lifted, especially under the conditions of earthquake or landslide etc..
Utility model content
In view of this, the purpose of this utility model is to provide a kind of dexterous mechanical arm for the disaster relief, using hard and soft coupling
The mode of conjunction, keep improving its flexibility while its rigidity so that mechanical arm can complete certain flexure operation, and then expand
The detection range of disaster relief equipment.
Dexterous mechanical arm of the present utility model for the disaster relief, including mechanical arm body, bearing and drive device；
The mechanical arm body includes top plate and some pieces of linkage boards being sequentially arranged at from top to bottom below top plate, the top
Realized and connected by joint between the linkage board and adjacent linkage board of plate and the top；The joint includes section body and spheroid,
The top of the section body is fixedly connected with top plate bottom or linkage board bottom, and the bottom of the section body is fixedly connected with spheroid,
The top of the linkage board is provided with the fossa glenoid for being used for that socket joint arrangement to be cooperatively formed with spheroid；
The drive device includes at least three pull ropes and the motor for pulling pull rope, on the linkage board
The via for coordinating with pull rope is circumferentially uniformly provided with, one end of the pull rope down sequentially passes through each linkage board under
Via and be fixedly connected with top plate bottom, the other end is connected with the output end of motor；
The motor is fixed on bearing, support bar is fixed with the bearing, the they sup-port is in most lower
The bottom of the linkage board of side.
Further, the mechanical arm also includes control system, and the control system includes processor, used on each linkage board
In the angular transducer of the articulation angle on the corresponding linkage board of real-time detection, the signal output part of the angular transducer with
The signal input part of processor is connected, and the signal input part of the motor is connected with the signal output part of processor, described
Processor is connected by communicator with host computer.
Further, the fossa glenoid by linkage board upper table downwards concave shape into and the longitudinal section of the fossa glenoid is in excellent
Arc with encase more than half include spheroid maximum gauge surface.
Further, pad is provided between the spheroid and fossa glenoid, the surface between the spheroid and fossa glenoid also applies
It is covered with lubricant.
Further, it is additionally provided between the linkage board and adjacent linkage board of the top plate and the top and is made of elastomeric material
Side cover, the joint is located to be closed in the articular cavity formed by side cover.
Further, the pull rope is steel wire rope.
Further, the quantity of the pull rope is four.
Further, the section body is in up big and down small coniform
The beneficial effects of the utility model：
Dexterous mechanical arm of the present utility model for the disaster relief is high with reference to the concussion of human spine buffering, postural stability
Feature, mechanical arm body is designed to the structure of imitative human spine, mechanical arm body is made up of rigid element and compliant member, is used
The vertebra of top plate, the bionical human spine of linkage board and joint, there is certain rigidity, with the flesh of the bionical human spine of pull rope
Meat, has certain flexibility, during driving by the stretching of pull rope and articulation, top plate and linkage board move；
Therefore, mechanical arm body employs the mode of Coupled Rigid-flexible, keeps improving its flexibility while its rigidity so that mechanical arm energy
Certain flexure operation is completed, and then expands the detection range of disaster relief equipment.
Brief description of the drawings
The utility model is further described with reference to the accompanying drawings and examples：
Fig. 1 is structural representation of the present utility model；
Fig. 2 is enlarged drawing at A in Fig. 1；
Fig. 3 is the structural representation of linkage board of the present utility model；
Fig. 4 is the theory diagram of control system of the present utility model.
Embodiment
As shown in Figures 1 to 4：The dexterous mechanical arm for the disaster relief of the present embodiment, including mechanical arm body, the and of bearing 3
Drive device；The mechanical arm body includes top plate 101 and some pieces of linkage boards for being sequentially arranged at the lower section of top plate 101 from top to bottom
102, realized and connected by joint between the top plate 101 and the linkage board 102 and adjacent linkage board 102 of the top；It is described
Joint includes section body 103 and spheroid 104, and the top of the section body 103 is fixed with the bottom of top plate 101 or the bottom of linkage board 102
Connection, the bottom of the section body 103 are fixedly connected with spheroid 104, and the top of the linkage board 102, which is provided with, to be used for and spheroid 104
Cooperatively form the fossa glenoid 1021 of socket joint arrangement；Save body 103 can be in it is up big and down small coniform, can by welding manner with
Corresponding plate and spheroid 104 are connected；The quantity of top plate 101 is one piece, and disaster relief equipment is fixed on top plate 101 during use, such as can
Ring flange is set on top plate 101；The quantity of linkage board 102 is at least two pieces (the present embodiment sets four pieces), linkage board 102
Quantity is more, and the movement of mechanical arm body is more flexible, but controls difficulty also to improve therewith, the linkage board 102 of bottom during use
It is fixed on bearing 3；The structure of top plate 101 is roughly the same with linkage board 102, such as can be discoideus；The drive device bag
Include at least three pull ropes 201 and the motor 202 for pulling pull rope 201, it is circumferentially uniform on the linkage board 102
Provided with the via 102a for coordinating with pull rope 201, one end of the pull rope down sequentially passes through each linkage board 102 under
Via 102a and be fixedly connected with the bottom of top plate 101, the other end is connected with the output end of motor 202；With reference to human body ridge
The concussion of post buffering, the characteristics of postural stability is high, mechanical arm body is designed to the structure of imitative human spine, mechanical arm body by
Rigid element and compliant member composition, with top plate 101, the vertebra of the bionical human spine of linkage board 102 and joint, have necessarily
Rigidity, with the muscle of 201 bionical human spine of pull rope, there is certain flexibility, during driving by the stretching of pull rope 201 and
So that articulation, top plate 101 and linkage board 102 move；Pull rope 201 is preferably steel wire rope；Motor 202 can be
Existing servomotor, can be set cheese on its output shaft, and steel wire rope is around being located on cheese, therefore the rotation of output shaft can drive
Steel wire rope carries out extensional motion；The quantity of steel wire rope can as needed depending on, preferably four, now on each linkage board 102
It is respectively provided with four via 102a, adjacent vias 102a's is separated by 90 ° on same linkage board 102；The motor 202 is fixed on
On bearing 3, support bar 301 is fixed with the bearing 3, the support bar 301 is supported in the bottom of the linkage board 102 of bottom
Portion；Bearing 3 is securable on a mobility-aid apparatus during use.
In the present embodiment, the mechanical arm also includes control system, and the control system includes processor 401, located at each
The angular transducer 402 for the articulation angle being used on dynamic plate 102 on the corresponding linkage board 102 of real-time detection, the angle pass
The signal output part of sensor 402 is connected with the signal input part of processor 401, the signal input part of the motor 202 with
The signal output part of processor 401 is connected, and the processor 401 is connected by communicator 403 with host computer 404；Processor 401
Can be existing PLC, and PLC is handled data using PID arithmetic mode, it is simple in construction, stability is good, reliable operation,
It is easy to adjust；Host computer 404 can be PC, have human-computer interaction interface, easy to operation；Angular transducer 402 detects joint and turned
Dynamic angle, is easy to that the case of bending of mechanical arm body is monitored and controlled；Communicator 403 is preferably wireless communicator 403
Structure, it can be realized and connected by wireless network, be easy to be laid out；Instruction is sent to processor 401 by host computer 404, so as to control
The driving condition of each motor 202 is made, the different drawing states of each pull rope 201 realize the differently curved of mechanical arm body
Form.
In the present embodiment, the fossa glenoid 1021 by the upper table of linkage board 102 downwards concave shape into, be easy to be manufactured,
And formation fossa glenoid 1021 has higher structural strength；And the longitudinal section of the fossa glenoid 1021 in major arc shape to encase half
The surface of maximum gauge including spheroid 104 above so that spheroid 104 is stayed in fossa glenoid 1021 by card, effectively prevents spheroid
104 depart from when by strong load, ensure the stability of mechanical arm body motion.
In the present embodiment, pad 105 is provided between the spheroid 104 and fossa glenoid 1021, in the spheroid 104 and joint
Surface between nest 1021 is also coated with lubricant；Pad 105 can be formed from a resin；105 and lubricant are padded using these,
Spheroid 104 can be made swimmingly to be rotated relative to fossa glenoid 1021, improve the flexibility of mechanical arm body motion.
In the present embodiment, it is additionally provided with and adopts between the top plate 101 and the linkage board 102 and adjacent linkage board 102 of the top
Side cover 5 made of elastomeric material, the joint is located to be closed in the articular cavity formed by side cover 5；Elastomeric material for example can be
Silica gel, and the longitudinal section of side cover 5 is in wavy so that side cover 5 can flexibly follow the action in joint without hindering articulation；
Side cover 5 can be fixed by bonding way；Side cover 5 forms the articular cavity of an opposing seal, pass with lower plate disposed thereon
Section is located in articular cavity, prevents joint from being polluted by introduced contaminants, extends joint service life.
Finally illustrate, above example is only unrestricted to illustrate the technical solution of the utility model, although ginseng
The utility model is described in detail according to preferred embodiment, it will be understood by those within the art that, can be to this
The technical scheme of utility model is modified or equivalent substitution, without departing from the objective and model of technical solutions of the utility model
Enclose, it all should cover among right of the present utility model.
Claims (8)
- A kind of 1. dexterous mechanical arm for the disaster relief, it is characterised in that：Including mechanical arm body, bearing and drive device；The mechanical arm body includes top plate and some pieces of linkage boards being sequentially arranged at from top to bottom below top plate, the top plate with Realized and connected by joint between the linkage board of the top and adjacent linkage board；The joint includes section body and spheroid, described The top of section body is fixedly connected with top plate bottom or linkage board bottom, and the bottom of the section body is fixedly connected with spheroid, described The top of linkage board is provided with the fossa glenoid for being used for that socket joint arrangement to be cooperatively formed with spheroid；The drive device includes at least three pull ropes and the motor for pulling pull rope, along week on the linkage board To the via being uniformly provided with for coordinating with pull rope, one end of the pull rope down sequentially passes through the mistake of each linkage board under Kong Bingyu top plates bottom is fixedly connected, the other end is connected with the output end of motor；The motor is fixed on bearing, support bar is fixed with the bearing, the they sup-port is in bottom The bottom of linkage board.
- 2. the dexterous mechanical arm according to claim 1 for the disaster relief, it is characterised in that：The mechanical arm also includes control system System, the control system include processor, the articulation angle being used on each linkage board on the corresponding linkage board of real-time detection The angular transducer of degree, the signal output part of the angular transducer are connected with the signal input part of processor, the driving electricity The signal input part of machine is connected with the signal output part of processor, and the processor is connected by communicator with host computer.
- 3. the dexterous mechanical arm according to claim 2 for the disaster relief, it is characterised in that：The fossa glenoid is by linkage board Surface is recessed to be formed downwards, and the longitudinal section of the fossa glenoid includes the maximum gauge of spheroid in major arc shape to encase more than half Surface.
- 4. the dexterous mechanical arm according to claim 3 for the disaster relief, it is characterised in that：Between the spheroid and fossa glenoid Provided with pad, the surface between the spheroid and fossa glenoid is also coated with lubricant.
- 5. the dexterous mechanical arm according to claim 4 for the disaster relief, it is characterised in that：The top plate and the connection of the top Dynamic to be additionally provided between plate and adjacent linkage board using side cover made of elastomeric material, the joint is located at closes what is formed by side cover In articular cavity.
- 6. the dexterous mechanical arm according to claim 4 for the disaster relief, it is characterised in that：The pull rope is steel wire rope.
- 7. the dexterous mechanical arm for the disaster relief according to any one of claim 1 to 6, it is characterised in that：The pull rope Quantity be four.
- 8. the dexterous mechanical arm for the disaster relief according to any one of claim 1 to 6, it is characterised in that：It is described section body be in Up big and down small is coniform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721213149.3U CN207155792U (en) | 2017-09-20 | 2017-09-20 | Dexterous mechanical arm for the disaster relief |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721213149.3U CN207155792U (en) | 2017-09-20 | 2017-09-20 | Dexterous mechanical arm for the disaster relief |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207155792U true CN207155792U (en) | 2018-03-30 |
Family
ID=61723340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721213149.3U Expired - Fee Related CN207155792U (en) | 2017-09-20 | 2017-09-20 | Dexterous mechanical arm for the disaster relief |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207155792U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618025A (en) * | 2017-09-20 | 2018-01-23 | 西安航空学院 | Disaster relief mechanical arm |
| CN109124872A (en) * | 2018-08-30 | 2019-01-04 | 上海西地众创空间管理有限公司 | Femtosecond laser ophthalmology operation for myopia auxiliary joint |
-
2017
- 2017-09-20 CN CN201721213149.3U patent/CN207155792U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618025A (en) * | 2017-09-20 | 2018-01-23 | 西安航空学院 | Disaster relief mechanical arm |
| CN109124872A (en) * | 2018-08-30 | 2019-01-04 | 上海西地众创空间管理有限公司 | Femtosecond laser ophthalmology operation for myopia auxiliary joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180330 Termination date: 20180920 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |