CN214772055U

CN214772055U - Line-driven flexible mechanical arm

Info

Publication number: CN214772055U
Application number: CN202120624249.5U
Authority: CN
Inventors: 万云霞; 张振宇; 陈壮; 刘威
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2021-03-29
Filing date: 2021-03-29
Publication date: 2021-11-19
Anticipated expiration: 2031-03-29

Abstract

The utility model provides a line-driven flexible mechanical arm, which comprises a mechanical arm motion main body and a driving device module, wherein the mechanical arm motion main body comprises a plurality of joint units and a manipulator connected with the tail end of the joint unit, and a driving line is arranged to run through the joint unit and the manipulator of a whole mechanical arm; the driving device module comprises a motor device and a rotating shaft connector, and the motor device drives the rotating shaft connector to drive the driving wire. The mechanical arm structure with the traditional joints containing motors is avoided, and the mechanical arm structure in various use environments can be conveniently and easily met.

Description

Line-driven flexible mechanical arm

Technical Field

The utility model belongs to the technical field of machinery and robot, especially, relate to a flexible arm of line drive.

Background

With the rapid development of the underwater robot industry in China, a plurality of underwater submerging devices with different functions are available, and the requirements of the underwater submerging devices carrying mechanical arms are increased day by day. The multi-joint flexible mechanical arm structure capable of being driven by wires is designed in order to solve the problem that an underwater carrying mechanical arm can have complex performance requirements in multiple aspects such as better waterproof performance, motion performance and the like, and is not used for a traditional rigid connecting rod multi-motor mechanical arm structure.

SUMMERY OF THE UTILITY MODEL

To the technical problem that above-mentioned exists, the utility model provides a flexible arm of line drive can be convenient, easy realization underwater vehicle carries on the arm and satisfies different work demands.

In order to achieve the purpose, the utility model is realized by the following technical scheme:

a line-driven flexible mechanical arm comprises a mechanical arm main body and a driving device module, wherein the mechanical arm main body comprises a plurality of joint units and a mechanical arm connected with the tail end of each joint unit, and a driving line is arranged to penetrate through the joint units and the mechanical arm of a whole mechanical arm; the driving device module comprises a motor device and a rotating shaft connector, and the motor device drives the rotating shaft connector to drive the driving wire.

Furthermore, the joint units are of cylindrical hollow structures, the upper surface and the lower surface of each joint unit are respectively provided with two edge protruding ends on one diameter and two concave ends on the other diameter perpendicular to the diameter of the two edge protruding ends, the edge protruding end on one surface corresponds to the concave end on the other surface, and two adjacent joint units are connected through the edge protruding ends to form the mechanical arm main body arm capable of moving in the space.

Furthermore, four mechanical arm driving wire holes are formed in the edge ring of the joint unit, mechanical arm driving wire holes are formed in the hollow space of the joint unit, mechanical arm driving wires are uniformly distributed around the mechanical arm driving wire holes at intervals of 90 degrees, and the mechanical arm driving wires pass through the mechanical arm driving wire holes and are located in the center.

Further, the robot drive line and the robot drive line are connected to the drive device module.

Furthermore, the inside three spools that are equipped with of pivot connector, three spool are connected on three motor shaft, and when the motor shaft who is connected with it rotates, the spool produced the torque, and then draws drive wire drive arm and manipulator motion.

Furthermore, a groove is reserved on the side surface of the end cylinder of the winding shaft and is matched and fixed with the motor.

Further, the pivot connector is fixed on a base, the base is a square base frame shell, three spool fixed orifices of upper end top surface fretwork are used for placing the spool and fixed, and a side setting of perpendicular to top surface is the terminal gomphosis each other of arch and arm.

Further, the winding shaft is in an equidistant spiral structure.

Further, the manipulator includes and connects the end with joint unit, the connecting plate of mechanical gripper is connected to the other end of joint unit link, the symmetry both sides have mechanical gripper through two connecting rod swing joint respectively on the connecting plate, and four connecting rods have constituteed four-bar linkage and have formed parallelogram structure, have inlayed the spring between two connecting rods of homonymy, are located to connect a horizontal rigidity connecting rod between two connecting rods in the outside, pass through axle swing joint in the middle of the horizontal rigidity connecting rod, and connect on the manipulator driving line.

Further, motor device includes that the motor fixed bolster fixes the motor, and the motor fixed bolster includes that the vertically crossbeam forms three tip with erecting the roof beam, is used for fixed motor through set up the fixed screw hole of motor on the tip, opens the output shaft that has three round hole to be used for passing the motor at the vertically crossbeam with erecting the roof beam.

The utility model has the advantages that:

the utility model discloses can constitute the flexible arm that length is different, bending angle is different through the constitution quantity of increase and decrease joint unit, the arm can reach the different positions in space in a flexible way, and the motion space is nimble changeable relatively, the position appearance is dexterous, and the home range is extensive and the ability of adaptation environment is very strong. The mechanical arm part can be made of plastic materials and the like, is simple and light, and particularly for carrying the underwater vehicle, not only meets the requirement of the waterproof performance of the mechanical arm, but also reduces the problems of gravity, resistance and the like of the mechanical arm in motion in water; for the demand of different operational environment, also can change the driving motor model in order to reach the work purpose requirement, maintain simple reliable, convenient and fast.

Drawings

Fig. 1 is a schematic structural view of a robot arm according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a robot arm main body according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a joint unit according to an embodiment of the present invention, in which 3a is a cross-sectional view of the joint unit in an embodiment, fig. 3b is a perspective view of a side surface of the joint unit in an embodiment, fig. 3c is a schematic structural diagram of an edge protruding end in fig. 3b, and fig. 3d is a schematic structural diagram of an edge protruding end of the joint unit in fig. 1;

fig. 4 is a schematic structural diagram of a manipulator provided in an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a base according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a spool according to an embodiment of the present invention;

fig. 7 is a schematic structural view of a motor fixing frame according to an embodiment of the present invention;

fig. 8 is a schematic view of a motor fixing and rotating shaft connecting structure provided in the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the following description will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. The present invention will be described in detail with reference to the accompanying drawings and examples.

Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Meanwhile, in the description of the present invention, it should be understood that the term "end" and the like indicate an orientation or a positional relationship based on the orientation or the positional relationship shown in the drawings, and are merely for convenience of description of the present invention and simplification of description, and do not indicate that a designated device or original must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the scope of the present invention.

Fig. 1 is a schematic structural diagram of the overall structure of the robot arm in this example, and as shown in fig. 1, the robot arm includes a robot arm main body and a driving device module, the robot arm main body includes a plurality of joint units 1 and a manipulator 2 connected to the ends of the joint units, and a driving line is provided to penetrate through the joint units of the whole robot arm and the manipulator; the driving device module comprises a motor device 4 and a rotating shaft connector 3, wherein the motor device 4 drives the rotating shaft connector 3 to drive the driving wire. The motor drive can be used for controlling the motion state of the whole mechanical arm. And a control interface is arranged at the tail end of the mechanical arm driving device and used for realizing connection and control of the carrying submersible vehicle.

Referring to fig. 1, in one embodiment, the joint unit 1 includes triangular protrusions as connectors on both sides in combination with fig. 3 d.

The main arm of the mechanical arm is formed by connecting 12 joint units in an up-and-down crossing sequence, the connecting position can be fixed by screws, and the main arm of the mechanical arm can be constructed by changing the number of the joint units as required in actual application;

as shown in fig. 3B and 3c, the joint unit is a unit part which forms the most basic of the robot arm, and the joint unit is a cylindrical hollow structure, two perpendicular diameters, marked as a first diameter B and a second diameter a, of which one surface is based on a circle center, the two ends of the first diameter B are a first edge convex end 301 and a second edge convex end 302, which are higher than the two ends of the second diameter, and the two ends of the second diameter a are a third concave end 305 and a fourth concave end 306, which form an inward concave shape; two ends of the third diameter on the other surface of the cylindrical hollow structure are higher than two ends of the fourth diameter to form an external convex shape; the first diameter is parallel to the fourth diameter and the second diameter is parallel to the third diameter; the two ends of the third diameter are a fifth edge convex end and a sixth edge convex end, and the two ends of the fourth diameter are a seventh concave end and an eighth concave end. The adjacent two joint units are connected with the edge bulge end of one end surface of the other joint unit through the edge bulge end of one end surface of one joint unit, and a movable space is formed between the two joint units. Wherein, the upper edge convex end 301 and the lower edge convex end 302 are both provided with screw holes and fixed by screws.

The connection of a plurality of joint units has constituted promptly the utility model discloses a flexible arm main part of continuity can accomplish the direction motion of space internal rotation degree of freedom and the degree of freedom that deflects.

Referring to fig. 3a, driving wire passing holes are formed in four directions in a ring body of the joint unit, joint driving wires 303 are introduced into the four joint driving wire passing holes after the joint unit is connected, the bending direction of a manipulator arm is controlled by changing the tightness of the driving wires, a manipulator driving wire 304 is arranged in a hollow of the joint unit, and the clamping state of the manipulator is controlled by the manipulator driving wire.

The plurality of joint units are connected through two groups of screws arranged at the upper end and the lower end to form two revolute pairs, so that the movement in the directions of spatial pitching freedom degree and rotational freedom degree can be realized; the joint units are cylindrical hollow structures, the upper protruding end and the lower protruding end of each joint unit are respectively provided with two symmetrical screw fixing holes, and the diameters of the upper screw fixing hole and the lower screw fixing hole are vertically distributed; the joint unit is characterized in that the joint unit also comprises four driving wire through holes and a manipulator clamping driving wire through hole, the driving wire through holes are uniformly distributed around at intervals of 90 degrees, and the manipulator clamping driving wire through hole is positioned in the center.

The whole mechanical arm is fixedly connected with each joint unit through edge protruding end screws to form a mechanical arm main body structure capable of moving in a space, and two groups of driving wires penetrate through each joint unit of the mechanical arm to realize motion control of the mechanical arm; the manipulator is positioned at the tail end of the mechanical arm, the clamping state of the manipulator is controlled by one driving wire, and all the driving wires are connected to the driving device through the through holes.

Referring to fig. 8, the motor module is composed of three motors 801 and a motor fixing bracket 802, and the motor fixing positions are matched with the upper winding shaft; the pitching freedom degree, the deflection freedom degree and the clamping freedom degree of the mechanical arm are respectively driven by one motor, the rotation of the mechanical arm at any angle on a certain plane can be realized by the combined control of the two motors for driving the pitching freedom degree and the deflection freedom degree, and the clamping state of the mechanical arm at any time can be realized by the motor control of the clamping freedom degree of the mechanical arm.

Fig. 4 shows a manipulator of this embodiment, which includes a joint unit connecting end connected to the joint unit, and an edge protruding end corresponding to the joint unit is provided, and a screw fixing hole is formed on the edge protruding end for engaging with a terminal connecting hole 401 of the joint unit. The other end of joint unit link connects the connecting plate of mechanical gripper 402, the symmetrical both sides have mechanical gripper through two connecting rod swing joint respectively on the connecting plate, and four connecting rods have constituteed four-bar linkage 403 and have formed parallelogram structure, have inlayed spring 405 between two connecting rods of homonymy, are located and connect a horizontal rigid connecting rod 404 between two connecting rods in the outside, pass through axle swing joint in the middle of horizontal rigid connecting rod 404, and connect on the manipulator driving wire.

The manipulator driving wire passes through the central through hole and generates torque through the lower end motor to control the clamping state of the manipulator driving wire. The four-bar mechanism 403 limits the initial position to a state of jointing two parallel bars (namely, the claws are in an open state) through the springs, after the four-bar mechanism 403 extends into the manipulator through the transverse rigid connecting rod 404 and is connected with the manipulator driving wire 304, when the manipulator driving wire 304 is tensioned, the two four-bar mechanisms are driven to approach, and at the moment, the springs are in a tension state, and the claws are closed; when the driving wire 304 of the manipulator is released, the spring drives the four-bar mechanism to return to the initial state.

Fig. 5 shows the base portion of the spindle connector in this example, which is a square base housing 501, three bobbin fixing holes 502 are hollowed out on the top surface of the upper end for accommodating the bobbins and fixing the bobbins at the same time, and a side surface perpendicular to the top surface is provided in an arch shape to be engaged with the end of the robot arm, so as to smoothly connect with the main body of the robot arm.

Fig. 6 shows the spools of the shaft coupler of this example, which are secured to a square base housing 501 by spool securing holes 502, two of which are wound around two sets of drive wires passing through joint drive wire holes and the other of which is wound around robot drive wires 304. The spool is an equidistant helical structure, and equidistant helical structure's inside spiral 601 is used for restricting the wire winding position, guarantees that the wire winding can not have the phenomenon of entangling to the effect that one end was taut, one end was relaxed has been played to the spiral itself and has been guaranteed to act as go-between. One end of the winding shaft is a fixing part of the motor, a groove 602 is reserved on the side face of a cylinder at the end of the winding shaft and is matched with an output shaft of the motor to form a fixing structure, stability in the rotating process is guaranteed, and one end of the winding shaft is embedded and fixed on one end face of the square base frame shell 501.

Fig. 7 shows a motor fixing bracket in this embodiment, because the bottom motor needs to be fixed with the three winding shaft positions fixed on the upper winding shaft portion relatively, the motor fixing bracket is arranged to realize fixation, and includes three ends formed by a vertical beam and a vertical beam, a motor fixing screw hole 701 is arranged on the end to fix the motor, and three round holes 702 are arranged on the vertical beam and the vertical beam to pass through the output shaft of the motor. As shown in the figure, the fixing frame part can contact the position of the winding shaft and the motor to transmit the torque generated by the motor to the winding shaft, so that the position of the motor is required to correspond to the upper fixing hole 702, and the whole structure is stable.

The foregoing is illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention. The invention is not limited to the embodiments described herein, but is capable of other embodiments according to the invention, and may be used in various other applications, including, but not limited to, industrial, or industrial. Therefore, any simple modification, equivalent change and modification made to the above embodiments by the technical entity of the present invention all still fall within the protection scope of the technical solution of the present invention, where the technical entity does not depart from the content of the technical solution of the present invention.

Claims

1. A line-driven flexible mechanical arm is characterized by comprising a mechanical arm main body and a driving device module, wherein the mechanical arm main body comprises a plurality of joint units and a mechanical arm connected with the tail end of each joint unit, and a driving line is arranged to penetrate through the joint units and the mechanical arm of a whole mechanical arm; the driving device module comprises a motor device and a rotating shaft connector, and the motor device drives the rotating shaft connector to drive the driving wire.

2. The mechanical arm as claimed in claim 1, wherein the joint units are cylindrical hollow structures, the upper surface and the lower surface of each joint unit are provided with two edge convex ends on one diameter and two concave ends on the other diameter perpendicular to the diameter of the two edge convex ends, the edge convex end on one surface corresponds to the concave end on the other surface, and two adjacent joint units are connected through the edge convex ends to form the mechanical arm main body arm capable of moving in the space.

3. A robot arm as claimed in claim 2, wherein four arm drive wire holes are provided in the edge ring of the joint unit, and robot drive wire holes are provided in the hollow space of the joint unit, the arm drive wires are uniformly distributed around the circumference at intervals of 90 °, and the robot drive wire is centrally located through the robot drive wire holes.

4. A robot arm according to claim 3, wherein the robot arm drive line and the robot drive line are connected to the drive means module.

5. The robot arm as claimed in claim 1, wherein three bobbins are provided inside the shaft connector, and the three bobbins are connected to three motor shafts, and when the motor shaft connected thereto is rotated, the bobbins generate torque to pull the driving wire to drive the robot arm and the robot arm to move.

6. A robot arm as claimed in claim 5, wherein a recess is provided in the side of the end post of the spool for engagement with the motor.

7. The robot arm as claimed in claim 5, wherein the spindle connector is fixed to a base, the base is a square base housing, three bobbin fixing holes are bored in a top surface of an upper end thereof for receiving and fixing the bobbins, and a side surface perpendicular to the top surface is provided in an arch shape to be engaged with an end of the robot arm.

8. A robotic arm as claimed in claim 5, in which the bobbin is of an equally spaced helical configuration.

9. The robot arm according to claim 1, wherein said robot hand comprises a joint unit connecting end, the other end of said joint unit connecting end being connected to a connecting plate of the robot claw,what is needed isThe two symmetrical sides of the connecting plate are respectively and movably connected with a mechanical gripper through two connecting rods, the four connecting rods form a four-bar mechanism to form a parallelogram structure, a spring is embedded between the two connecting rods at the same side, a transverse rigid connecting rod is connected between the two connecting rods at the outer side, and the middle of the transverse rigid connecting rod is movably connected through a shaft and is connected to a manipulator driving line.

10. The robot arm as claimed in claim 1, wherein the motor means comprises a motor fixing bracket for fixing the motor, the motor fixing bracket comprising three ends formed by a vertical beam and a vertical beam, a motor fixing screw hole for fixing the motor is formed at the end, and three round holes for passing through an output shaft of the motor are formed at the vertical beam and the vertical beam.