CN215471254U

CN215471254U - Swing mechanism for bionic mechanical arm

Info

Publication number: CN215471254U
Application number: CN202121772422.2U
Authority: CN
Inventors: 孙建平
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2022-01-11
Anticipated expiration: 2031-07-28

Abstract

The utility model relates to the technical field of bionic mechanical arms, and provides a swing mechanism for a bionic mechanical arm, which comprises: a base; the main body assembly can be arranged at the middle position of the base in a swinging mode, more than two supporting seats are vertically and movably arranged on the main body assembly, and a supporting arm for supporting the supporting seats is arranged between every two adjacent supporting seats; the torsion assembly comprises more than three driving pieces for driving the main body assembly to swing, and the driving pieces are arranged on the base and positioned in the circumferential direction of the main body assembly. Compared with the prior art, the bionic mechanical arm has the advantages that the main body assembly is controlled to swing on the base, the weight of the main body assembly is greatly reduced, the driving piece is used for controlling the loosening and tightening of the cycloid, the bionic mechanical arm can grab objects at any position in space, and the structure of the bionic mechanical arm is simpler.

Description

Swing mechanism for bionic mechanical arm

Technical Field

The utility model relates to the technical field of bionic mechanical arms, in particular to a swing mechanism for a bionic mechanical arm.

Background

The bionic mechanical arm is a complex mechanical device with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading. With the aging of China and the popularization of intelligent equipment, the human society has more and more serious technical dependence. Although the mobile phone meets the requirements of communication and entertainment, and enables friends far away from the sky to share information, the mobile phone cannot solve the living problem in the near future. The bionic mechanical arm is used as an assistant for human life and work and plays an increasingly important role in the world in the future.

A swing mechanism for bionical arm is the important part of control emergence arm motion, and traditional arm adopts steering wheel or servo motor drive joint more, and steering wheel or servo motor all set up on the main part of arm, if the arm joint is more, motor weight will influence the work of arm.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem of providing a swing mechanism for a bionic mechanical arm aiming at the current situation of the prior art.

The technical scheme adopted by the utility model for solving the technical problems is as follows: the swing mechanism for the bionic mechanical arm comprises:

a base;

the main body assembly can be arranged at the middle position of the base in a swinging mode, more than two supporting seats are vertically and movably arranged on the main body assembly, and a supporting arm for supporting the supporting seats is arranged between every two adjacent supporting seats;

the torsion assembly comprises more than three driving pieces for driving the main body assembly to swing, and the driving pieces are arranged on the base and positioned in the circumferential direction of the main body assembly.

At foretell a swing mechanism for bionical arm, the driving piece includes that motor assembly and one end twine cycloid on the motor assembly, the other end of cycloid is connected on the supporting seat, works as the motor assembly tightens up or relaxs during the cycloid, can drive the supporting seat swing.

The support arm comprises three support rods with arc-shaped sections, each support rod is provided with a first universal joint at two ends, the support seat is provided with a second universal joint matched with the first universal joint, and a connecting piece is arranged between the first universal joint and the second universal joint.

According to the swing mechanism for the bionic mechanical arm, the through holes with the number equal to that of the driving pieces are formed in the circumferential direction of the supporting seat, and one end, far away from the motor set, of the cycloid is inserted into the through holes.

In the swing mechanism for the bionic mechanical arm, the bottom end of the supporting seat closest to the base is provided with supporting tables with the same number as the driving pieces, the supporting tables are provided with rollers, and the cycloid moves and abuts against the rollers.

In the swing mechanism for the bionic mechanical arm, the motor assembly is provided with one less driving motor than the supporting seats.

Compared with the prior art, the bionic mechanical arm has the advantages that the main body assembly is controlled to swing on the base, the weight of the main body assembly is greatly reduced, the driving piece is used for controlling the loosening and tightening of the cycloid, the bionic mechanical arm can grab objects at any position in space, and the structure of the bionic mechanical arm is simpler.

Drawings

FIG. 1 is a perspective view of a swing mechanism for a biomimetic robotic arm in accordance with the present invention;

FIG. 2 is a perspective view of a swing mechanism part structure for a bionic mechanical arm according to the present invention;

FIG. 3 is a perspective view of a support arm of a swing mechanism for a bionic mechanical arm, which is mounted on a support seat;

FIG. 4 is a perspective view of a support rod of a mechanism of a swing mechanism part for a biomimetic robotic arm according to the present invention;

in the figure, a base 10, a main body assembly 20, a support base 21, a second universal joint 211, a through hole 212, a support base 213, a roller 214, a support arm 22, a support rod 221, a first universal joint 221a, a connecting member 23, a torsion assembly 30, a motor set 31, a driving motor 311, and a cycloid 32 are shown.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

As shown in fig. 1 to 4, the swing mechanism for a biomimetic mechanical arm according to the present invention includes: a base 10, a body assembly 20, and a torsion assembly 30.

The main body component 20 can be arranged at the middle position of the base 10 in a swinging mode, more than two supporting seats 21 are vertically and movably arranged on the main body component 20, and a supporting arm 22 for supporting the supporting seats 21 is arranged between every two adjacent supporting seats 21; the torsion assembly 30 includes more than three driving members for driving the main body assembly 20 to swing, and the driving members are disposed on the base 10 and located in the circumferential direction of the main body assembly 20.

In the embodiment, four supporting seats 21 are selected, the number of the supporting seats 21 can be increased or decreased according to the actual use condition, and can be two, three, four, five or more, the more the number of the supporting seats 21 is, the longer the length of the swing mechanism for the bionic mechanical arm is, and the corresponding bionic mechanical arm can work in a deeper or higher space.

In the present embodiment, four sets of torsion assemblies 30 are further provided, an included angle between every two adjacent torsion assemblies 30 is 90 °, of course, the torsion assemblies 30 may also be provided as three, four, five or more sets, and the angle of every two sets of torsion assemblies 30 may also be adjusted according to specific use conditions, the more the torsion assemblies 30 are provided, the higher the precision of the motion of the swing mechanism for the bionic mechanical arm of the present invention is, but the higher the manufacturing cost of the corresponding present invention is.

After the number of the components of the present invention is set as described above, when the driving member on the right side in the X direction of the coordinate axes shown in fig. 1 starts to pull the body assembly 20, and the left driving member starts to loosen the main body assembly 20, the supporting seat 21 and the supporting arm 22 are tilted toward the right side of the X-axis, so that the main body assembly moves toward the right side as a whole, as the drive on the right side in the X-axis direction begins to loosen the body assembly 20 and the drive on the left side begins to pull on the body assembly 20, the supporting seat 21 and the supporting arm 22 are inclined towards the left side of the X axis, so that the main body assembly 20 moves towards the left side, and the swinging mechanism for the bionic mechanical arm can be driven to move at any position in space by means of pulling and releasing actions of the four groups of driving pieces on the main body assembly.

As shown in fig. 1 and fig. 2, the driving member includes a motor set 31 and a cycloid 32 with one end wound on the motor set 31, and the other end of the cycloid 32 is connected to the supporting seat 21, so that when the motor set 31 tightens or loosens the cycloid 31, the supporting seat 21 can be driven to swing.

In the present embodiment, three cycloid curves 32 are provided on each group of driving element 31, the number of cycloid curves 32 can be determined according to actual conditions, and the number of cycloid curves 32 provided in each group of driving element is generally one less than the number of supporting seat 21, for example, four supporting seats 21 are provided in the present embodiment, and three cycloid curves 32 are provided on each corresponding group of driving element, but the number of cycloid curves 32 may also be the same as or more than the number of supporting seats 21.

As shown in fig. 3 to 4, the supporting arm 22 includes three supporting rods 221 with circular arc cross sections, two ends of each supporting rod 221 are respectively provided with a first universal joint 221a, the supporting seat 21 is provided with a second universal joint 211 adapted to the first universal joint 221a, and a connecting member 23 is arranged between each first universal joint 221a and the second universal joint 211.

The universal joint is a part for realizing variable-angle power transmission, is used for changing the position of the direction of a transmission axis, and is a joint part of a universal transmission device of an automobile driving system. The universal joint is combined with a transmission shaft and is called a universal joint transmission device. In the present invention, the first universal joint 221a, the second universal joint 211 and the connecting member 23 together constitute a universal joint, which enables the movement of the main body assembly 20 of the present invention to be more flexible.

As shown in fig. 3, through holes 212 equal to the number of the driving members are formed in the circumferential direction of the supporting seat 21, one end of the cycloid 32, which is far away from the motor set 31, is inserted into the through holes 212, and the arrangement of the through holes 212 can enable the connection between the cycloid 32 and the supporting seat 21 to be more orderly, so as to finally simplify the disassembly of the swing mechanism for the bionic mechanical arm in the utility model.

As shown in fig. 1 and fig. 2, the bottom end of the support seat 21 closest to the base 10 is provided with support tables 213 with the same number as the driving members, the support tables 213 are provided with rollers 214, the cycloid gears 32 movably abut against the rollers 214, and the rollers 214 are arranged to prevent the cycloid gears 32 from interfering when being tightened or loosened.

As shown in fig. 1 and 2, the motor assembly 31 is provided with one less driving motor 311 than the supporting seat 21, the driving motor 311 can be a common dc motor, which is cheap and controllable in rotation speed, but since the swing angle of the bionic mechanical arm of the present invention needs to be accurately controlled, an encoder needs to be added at the tail of the bionic mechanical arm, or a dc motor with an encoder needs to be directly purchased.

However, the direct current motor does not have torsion under the condition of not rotating, the direct current motor can be used for driving the mechanical arm only by matching with a special gear structure and a driving program, and the direct current motor is relatively complex, and a motor capable of accurately controlling the angle can be selected from a stepping motor, a servo motor, a steering engine and the like.

Step motor and private clothes motor can be very accurate control angle but want to read motor angle or each joint position of arm in real time and have certain difficulty. Therefore, as the optimal scheme of the utility model, a serial bus steering engine is selected to serve as the driving motor 311, and compared with a common steering engine, the serial bus steering engine can control dozens of steering engines only by one signal wire through a UART instruction. The steering engine can be controlled to basically move through instructions, and mode adjustment, ID number setting, torsion release and recovery and the like can be performed.

The operation of the utility model is described below with reference to the embodiment in fig. 1:

when the driving motor 311 on the right side in the X direction of the coordinate axis shown in fig. 1 starts to tighten the cycloid 32 and the driving motor 311 on the left side starts to loosen the cycloid 32, the supporting seat 21 and the supporting arm 22 incline toward the right side of the X axis, and when the driving motor 311 on the right side in the X direction starts to loosen the cycloid 32 and the driving motor 311 on the left side starts to tighten the cycloid 32, the supporting seat 21 and the supporting arm 22 incline toward the left side of the X axis, and the driving motor 311 on the Y direction drives the cycloid 32 to have the same motion state as that on the X direction, which is not described herein again, and when the driving motor 311 on the X direction and the Y direction tightens or loosens the cycloid 32 at the same time, the main body assembly 20 can be driven to rotate along the Z direction.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

Moreover, descriptions of the present invention as relating to "first," "second," "a," etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating a number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The specific embodiments described herein are merely illustrative of the spirit of the utility model. Various modifications, additions and substitutions for the described embodiments may be made by those skilled in the art without departing from the scope and spirit of the utility model as defined by the accompanying claims.

Claims

1. A swing mechanism for a biomimetic robotic arm, comprising:

a base;

2. The rocking mechanism of claim 1, wherein the driving member comprises a motor unit and a cycloid having one end wound around the motor unit, and the other end of the cycloid is connected to the support base, so that when the motor unit tightens or loosens the cycloid, the support base can be driven to rock.

3. The oscillating mechanism of claim 1, wherein the support arm comprises three support rods with circular arc cross sections, each support rod has a first universal joint at both ends, the support base has a second universal joint adapted to the first universal joint, and a connecting member is disposed between the first universal joint and the second universal joint.

4. The rocking mechanism for a bionic mechanical arm as claimed in claim 2, wherein the supporting seat is provided with through holes in the circumferential direction, the number of the through holes being equal to that of the driving members, and one end of the cycloid away from the motor group is inserted into the through holes.

5. The rocking mechanism for a bionic mechanical arm as claimed in claim 2, wherein the bottom end of the supporting seat nearest to the base is provided with supporting seats equal in number to the driving members, the supporting seats are provided with rollers, and the cycloid curve movably abuts against the rollers.

6. The rocking mechanism for a biomimetic robotic arm as recited in claim 4, wherein the motor assembly is provided with one less number of drive motors than the number of support bases.