CN209520908U - A kind of flexible flexible mechanical arm of multi-joint - Google Patents

Abstract

The utility model discloses a kind of flexible flexible mechanical arms of multi-joint, including bottom plate and multiple silica gel arms, multiple sole pieces are connected on bottom plate, there is first transmission line in sole piece, first transmission line lower end is connect with the first transmission block, first transmission line upper end communicates with the outside world, there is the first fixed plate in the lower end of silica gel arm, there is the second fixed plate in upper end, there is cavity in first fixed plate, the second transmission block and three conducting blocks are connected in cavity, one end of second transmission block communicates with the outside world, the other end is flexibly connected with second transmission line, one end of three conducting blocks is connected with three memory alloy wires being located inside silica gel arm, the bottom of chamber of cavity passes through the locating piece activity which is provided with and is connected with driver, driver is electrically connected with three conducting blocks respectively, the present apparatus is equipped with multiple silica gel arms, the using effect of the present apparatus can be allowed more ideal, Multiple silica gel arms can be combined into a longer silica gel arm by the present apparatus, and the precision and opereating specification of the present apparatus can be improved.

Description

A kind of flexible flexible mechanical arm of multi-joint

Technical field

The utility model relates to mechanical arm technical field, specially a kind of flexible flexible mechanical arm of multi-joint.

Background technique

Under current engineering-environment, requirement of the people to robot and mechanical arm becomes more diverse, and traditional rigid body is mechanical Arm has been difficult to cope with the job requirement of various complexity, and especially Rigid Robot Manipulator can not win under certain special working environments Appoint work, thus occur flexible mechanical arm on the market now, flexibility, flexible and the good environment having adapt to Property be allowed to have bigger application range, it is most of at present using gas expansion control bending degree or bearing control bending Direction or its using effect of the simple connection reinforcement of multi-joint and use scope etc., but there are at high cost, technical requirements for majority Height, difficult the case where repairing easy to damage, and also existing most of flexible mechanical arm precision is low, the range of operation is smaller, and And a typically single mechanical arm, effect is limited also unsatisfactory, thus it is proposed that a kind of multi-joint is flexible Flexible mechanical arm.

Utility model content

The purpose of this utility model is to provide a kind of flexible flexible mechanical arms of multi-joint, to solve above-mentioned background skill The problem of being proposed in art.

To achieve the above object, the utility model provides the following technical solutions: a kind of flexible flexible mechanical of multi-joint Arm, including bottom plate and multiple silica gel arms, the bottom plate are connected with multiple sole pieces by multiple groove activities that its upper side is equipped with, The inside of the sole piece is equipped with first transmission line, slot bottom and fixed company of the lower end of the first transmission line through the first recessing groove Connect the first transmission block flexible connection in groove slot bottom, the upper end of first transmission line through sole piece upper side and with extraneous phase Logical, first recessing groove is located at the downside of sole piece, and the lower end of the silica gel arm is fixedly connected with the first fixed plate, silica gel arm Upper end be fixedly connected with the second fixed plate, the inside of first fixed plate is equipped with cavity, and the inside of the cavity is fixed to be connected It is connected to the second transmission block and three conducting blocks, one end of second transmission block is communicated with the outside world through the bottom of chamber of cavity, another End is run through the chamber top of cavity and is flexibly connected with second transmission line is equipped with inside silica gel arm, and one end of three conducting blocks is also passed through It wears the chamber top of cavity and is connected respectively with three memory alloy wires being located inside silica gel arm, the bottom of chamber of the cavity passes through it The locating piece activity being equipped with is connected with driver, and the driver is electrically connected with three conducting blocks respectively.

Preferably, it is set on the cell wall of the groove there are two arc slot, passes through the first spring on the downside cell wall of the arc slot It is connected with top plate, one end of cell wall is equipped with through slot on the upside of arc slot, and the other end is equipped with card slot, and the sole piece is equipped with empty slot, described The internal slide of empty slot is connected with sliding sleeve, and the upper side of the sliding sleeve is fixedly connected with that there are two vertical bars, and the upper end of the vertical bar is passed through It wears the slot bottom of empty slot and extends to the outside of sole piece, the lateral surface both ends of the sliding sleeve are fixedly connected to fixture block.

Preferably, the lateral wall lower end of the sole piece is fixedly connected with dust-proof cushion.

Preferably, second spring is connected between the sliding sleeve and the slot bottom of empty slot.

Preferably, it is successively joined end to end between the multiple silica gel arm by link block, first fixed plate and second The lateral surface of fixed plate is all provided with there are two undercut, and the inside of second fixed plate also is provided with the second transmission block, and is located at second The both ends of the second transmission block inside fixed plate extend through the second fixed plate and communicate with the outside world, the both ends of the surface of the link block On be equipped with placing groove, and the inside of link block also is provided with the second transmission block, two of the second transmission block inside link block End extends through the slot bottom of two placing grooves and communicates with the outside world, and it is fixed that the both ends of the link block are fixedly connected to first Block, the both ends of first fixed block are rotatably connected to arc plate, are fixedly connected with convex block on the inner sidewall of the arc plate, are located at The outer end of an arc plate on same first fixed block is fixedly connected with the second fixed block, the outer end of another arc plate is equipped with the Two recessing grooves.

Preferably, it is fixedly connected with wire casing on the side wall of the cavity, is set on the wire casing there are four notch.

Compared with prior art, the utility model has the beneficial effects that the utility model passes through link block, the first fixed plate And the second cooperation between fixed plate, it realizes and multiple silica gel arms is combined by a mechanical arm by link block, and is each Silica gel arm can be controlled separately, and the opereating specification of the present apparatus can not only become larger, also greatly improve the accurate of the present apparatus Degree, by the cooperation of bottom plate and groove, multiple silica gel arms can be equipped on a mounting board by realizing, and can allow the making of the present apparatus It is more ideal with effect.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model；

Fig. 2 is the explosive view of the utility model sole piece and groove；

Fig. 3 is the cross-sectional view of the utility model sole piece；

Fig. 4 is the explosive view of the utility model silica gel arm and the first fixed plate；

Fig. 5 is the schematic diagram of internal structure of the utility model cavity；

Fig. 6 is the structural schematic diagram of the utility model wire casing；

Fig. 7 is the explosive view of the utility model link block, the first fixed plate and the second fixed plate.

In figure: 1, bottom plate, 2, groove, 3, arc slot, the 4, first spring, 5, top plate, 6, through slot, 7, card slot, the 8, first transmission Block, the 9, first recessing groove, 10, empty slot, 11, second spring, 12, sliding sleeve, 13, vertical bar, 14, fixture block, 15, first transmission line, 16, First fixed plate, 17, silica gel arm, 18, sole piece, 19, placing groove, 20, dust-proof cushion, the 21, second transmission block, 22, conducting block, 23, Memory alloy wire, 24, second transmission line, 25, cavity, 26, locating piece, 27, driver, 28, wire casing, 29, notch, 30, second Fixed plate, 31, undercut, 32, link block, the 33, first fixed block, 34, arc plate, 35, convex block, the 36, second fixed block, 37, second Recessing groove.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

Fig. 1-7 is please referred to, the utility model provides a kind of technical solution: a kind of flexible flexible mechanical arm of multi-joint, Including bottom plate 1 and multiple silica gel arms 17,2 activity of multiple grooves that the bottom plate 1 is equipped with by its upper side is connected with multiple bottoms Block 18, the upper side of each sole piece 18 are bolted with the first fixed plate 16, and the inside of the sole piece 18 is equipped with first Transmission line 15, the lower end of the first transmission line 15 through the first recessing groove 9 slot bottom be fixedly connected on the of 2 slot bottom of groove One transmission block 8 is flexibly connected, and the first transmission block 8, the second transmission block 21, first transmission line 15 and second transmission line 24 are comprising electricity Source line and data line, power supply line and data line inside the first transmission block 8 pass through cable and extraneous power supply and data source respectively It is connected, when first transmission line 15 and the first transmission block 8 contact with each other, in the first transmission block 8 and first transmission line 15 The power supply line in portion can be connected mutually with data line, so as to carry out data transmission and power transmission, first transmission line 15 it is upper End is run through the upper side of sole piece 18 and is communicated with the outside world, when the first fixed plate 16 interconnects with sole piece 18 First transmission line 15 can contact with each other with the second transmission block 22 being located inside the first fixed plate 16, at this time 15 He of first transmission line Power supply line inside second transmission block 22 can be connected mutually with data line, so as to carry out data transmission and power transmission, institute The downside that the first recessing groove 9 is located at sole piece 18 is stated, the shapes and sizes of the first recessing groove 9 are adapted with the first transmission block 8, The lower end of the silica gel arm 17 is fixedly connected with the first fixed plate 16, and the upper end of silica gel arm 17 is fixedly connected with the second fixed plate 30, the inside of first fixed plate 16 is equipped with cavity 25, and the inside of the cavity 25 is fixedly connected with 21 He of the second transmission block One end of three conducting blocks 22, second transmission block 21 is communicated with the outside world through the bottom of chamber of cavity 25, and the other end runs through cavity 25 chamber top is simultaneously flexibly connected, the power supply line sum number inside the second transmission block 21 with second transmission line 24 is equipped with inside silica gel arm 17 According to line also can with inside second transmission line 24 power supply line and data line be connected with each other, facilitate silica gel arm 17 to be combined control, One end of three conducting blocks 22 also extends through the chamber top of cavity 25 and closes respectively with three memories being located inside silica gel arm 17 Spun gold 23 is connected, and around silica gel arm 17, circumferentially array, the material of memory alloy wire 23 are SMA to three memory alloy wires 23 (shape memory alloy) memorial alloy, the bottom of chamber of the cavity 25 pass through 26 activity of locating piece which is provided with and are connected with Driver 27, the driver 27 are electrically connected with three conducting blocks 22 respectively, the data line and power supply inside the second transmission block 21 Line is connected with each other with driver 27, and driver 27 is sma actuator, can be adjusted by driver 27 into driver 27 Internal electric power, then in the power transmission that will have changed to specified conducting block 22, to make corresponding memory alloy wire 23 receive corresponding electric power, so as to realize that the control to 23 bending angle of memory alloy wire, driver 27 and memory are closed There is the open technical solution used before spun gold 23, and its structure and principle are also not the technical characteristics of the utility model institute , therefore do not repeat them here.

Specifically, being set on the cell wall of the groove 2 there are two arc slot 3, pass through first on the downside cell wall of the arc slot 3 Spring 4 is connected with top plate 5, and one end of 3 upside cell wall of arc slot is equipped with through slot 6, and the other end is equipped with card slot 7, and two arc slot 3, two First 4, two, spring, 5, two, top plate through slot 6 and two card slots 7 surround the center of circle of groove 2 axisymmetricly, on the sole piece 18 Equipped with empty slot 10, the internal slide of the empty slot 10 is connected with sliding sleeve 12, there are two the upper side of the sliding sleeve 12 is fixedly connected The upper end of vertical bar 13, the vertical bar 13 runs through the slot bottom of empty slot 10 and extends to the outside of sole piece 18, the outside of the sliding sleeve 12 Face both ends are fixedly connected to fixture block 14, fixture block 14 can be made to move to the inside of arc slot 3 by through slot 6, then press vertical bar 13 elastic force for making fixture block 14 overcome the first spring 4 depress top plate 5, can be rotated sole piece 18 at this time, then unclamp vertical bar 13 and exist The inside that fixture block 14 can be headed into card slot 7 under the cooperation of first spring 4 and top plate 5, can be completed the installation of sole piece 18 at this time.

Specifically, the lateral wall lower end of the sole piece 18 is fixedly connected with dust-proof cushion 20, dust-proof cushion 20 can prevent ash Dirt enters the inside of groove 2 by through slot 6.

Specifically, be connected with second spring 11 between the sliding sleeve 12 and the slot bottom of empty slot 10, the first spring 11 can be with Sliding sleeve 12 is pulled up, so as to so that the clamping of fixture block 14 and card slot 7 is more firm.

Specifically, successively being joined end to end between the multiple silica gel arm 17 by link block 32,17 head and the tail of silica gel arm connect It is connected together, can not influence to manipulate by the driver 27 inside the first fixed plate 16 for being designed on each silica gel arm 17 Greatly expand the working range of the present apparatus while precision, the lateral surface of first fixed plate 16 and the second fixed plate 30 is equal If the inside of second fixed plate 30 also is provided with the second transmission block 21, and is located in the second fixed plate 30 there are two undercut 31 The both ends of second transmission block 21 in portion extend through the second fixed plate 30 and communicate with the outside world, in the both ends of the surface of the link block 32 It is equipped with placing groove 19, the size of placing groove 19 is adapted with the size of the first fixed plate 16 and the second fixed plate 30 respectively, and The inside of link block 32 also is provided with the second transmission block 21, and the both ends of the second transmission block 21 inside link block 32 extend through The slot bottom of two placing grooves 19 simultaneously communicates with the outside world, and the both ends of the second transmission block 21 inside link block 32 are respectively and positioned at first The second transmission block 21 inside fixed plate 16 and the second transmission block 21 inside the second fixed plate 30 are connected with each other, and are counted According to the transmission with power supply, the both ends of the link block 32 are fixedly connected to the first fixed block 33, first fixed block 33 Both ends are rotatably connected to arc plate 34, are fixedly connected with convex block 35 on the inner sidewall of the arc plate 34, an arc positioned at same end One end of plate 34 is fixedly connected with the second fixed block 36, and one end of another arc plate 34 is equipped with the second recessing groove 37, and first is fixed Plate 16 and the second fixed plate 30 are respectively put into the inside of placing groove 19, are then divided to and are rotated two arc plates 34 and make two 34 shapes of arc plate At a circle, convex block 35 can be mutually clamped with undercut 31 at this time, and the position of the first fixed plate 16 and the second fixed plate 30 is consolidated Fixed, at this moment the second fixed block 36 can move to inside the second recessing groove 37, and the threaded hole on the second fixed block 36 can be with the at this time Threaded hole on two recessing grooves 37 overlaps, and bolt is threaded into the inside in hole, thus by the first fixed plate 16 and second The position of fixed plate 30 is thoroughly fixed.

Specifically, be fixedly connected with wire casing 28 on the side wall of the cavity 25, set that there are four notches on the wire casing 28 29, the setting of wire casing 28 can be convenient wiring and wiring, the position of four notches 29 respectively with driver 27 and three conducting blocks 22 position corresponds to each other, and notch 29 can allow corresponding cable to pass through.

Fixture block 14: being inserted into the inside of arc slot 3 by working principle when use, then rotated sole piece 18 and unclamped again vertical bar 13, Fixture block 14 can be mutually clamped with card slot 7 at this time, and the installation of sole piece 18 can be completed at this time, then pass through bolt for the first fixed plate 16, silica gel arm 17 and the second fixed plate 30 are mounted on sole piece 18, can control memory alloy wire by driver 27 at this time 23, to control the movement of silica gel arm 17, link block 32 is passed through thereon when needing to expand the opereating specification of the present apparatus Placing groove 19 is socketed on the second fixed block 30, then arc of rotation plate 34, then is fixed the position of two arc plates 34 by bolt, Then the first fixed plate 16 on increased silica gel arm 17 is put into the inside of another placing groove 19, be rotated further by arc plate 34, most The position of two arc plates 34 is fixed by bolt afterwards, connection can be completed.

While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art, It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.

Claims (6)

1. a kind of flexible flexible mechanical arm of multi-joint, including bottom plate (1) and multiple silica gel arms (17), it is characterised in that: institute Multiple grooves (2) activity that bottom plate (1) is equipped with by its upper side is stated to be connected with multiple sole pieces (18), the sole piece (18) it is interior Portion is equipped with first transmission line (15), slot bottom and fixed company of the lower end of the first transmission line (15) through the first recessing groove (9) The first transmission block (8) flexible connection in groove (2) slot bottom is connect, the upside of sole piece (18) is run through in the upper end of first transmission line (15) Face simultaneously communicates with the outside world, and first recessing groove (9) is located at the downside of sole piece (18), and the lower end of the silica gel arm (17) is fixed It is connected with the first fixed plate (16), the upper end of silica gel arm (17) is fixedly connected with the second fixed plate (30), first fixed plate (16) inside is equipped with cavity (25), and the inside of the cavity (25) is fixedly connected with the second transmission block (21) and three conducting blocks (22), one end of second transmission block (21) is communicated with the outside world through the bottom of chamber of cavity (25), and the other end runs through cavity (25) Chamber top and with silica gel arm (17) inside be equipped with second transmission line (24) be flexibly connected, one end of three conducting blocks (22) Through cavity (25) chamber top and internal with silica gel arm (17) is located at respectively three memory alloy wires (23) be connected, the sky The bottom of chamber of chamber (25) passes through locating piece (26) activity which is provided with and is connected with driver (27), the driver (27) respectively with Three conducting block (22) electrical connections.

2. the flexible flexible mechanical arm of a kind of multi-joint according to claim 1, it is characterised in that: the groove (2) Cell wall on set there are two arc slot (3), be connected with top plate (5) by the first spring (4) on the downside cell wall of the arc slot (3), One end of cell wall is equipped with through slot (6) on the upside of arc slot (3), and the other end is equipped with card slot (7), and the sole piece (18) is equipped with empty slot (10), the internal slide of the empty slot (10) is connected with sliding sleeve (12), there are two the upper side of the sliding sleeve (12) is fixedly connected The upper end of vertical bar (13), the vertical bar (13) runs through the slot bottom of empty slot (10) and extends to the outside of sole piece (18), the sliding sleeve (12) lateral surface both ends are fixedly connected to fixture block (14).

3. the flexible flexible mechanical arm of a kind of multi-joint according to claim 2, it is characterised in that: the sole piece (18) Lateral wall lower end be fixedly connected with dust-proof cushion (20).

4. the flexible flexible mechanical arm of a kind of multi-joint according to claim 2, it is characterised in that: the sliding sleeve (12) Second spring (11) are connected between the slot bottom of empty slot (10).

5. the flexible flexible mechanical arm of a kind of multi-joint according to claim 1, it is characterised in that: the multiple silica gel It is successively joined end to end between arm (17) by link block (32), the outside of first fixed plate (16) and the second fixed plate (30) Face is all provided with there are two undercut (31), and the inside of second fixed plate (30) also is provided with the second transmission block (21), and is located at second The both ends of internal the second transmission block (21) of fixed plate (30) extend through the second fixed plate (30) and communicate with the outside world, the company It connects and is equipped in the both ends of the surface of block (32) placing groove (19), and the inside of link block (32) also is provided with the second transmission block (21), position In the both ends of internal the second transmission block (21) of link block (32) extend through the slot bottom of two placing grooves (19) and with extraneous phase Logical, the both ends of the link block (32) are fixedly connected to the first fixed block (33), and the both ends of first fixed block (33) are equal It is rotatably connected to arc plate (34), is fixedly connected with convex block (35) on the inner sidewall of the arc plate (34), it is solid to be located at same first The outer end for determining an arc plate (34) on block (33) is fixedly connected with the second fixed block (36), and the outer end of another arc plate (34) is set There are the second recessing groove (37).

6. the flexible flexible mechanical arm of a kind of multi-joint according to claim 1, it is characterised in that: the cavity (25) Side wall on be fixedly connected with wire casing (28), set on the wire casing (28) there are four notch (29).