CN215968845U

CN215968845U - Bionic mechanical arm

Info

Publication number: CN215968845U
Application number: CN202121744443.3U
Authority: CN
Inventors: 孙建平
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2022-03-08
Anticipated expiration: 2031-07-28

Abstract

The utility model relates to the technical field of bionic mechanical arms, and provides a bionic mechanical arm, which comprises: a base; the main body assembly is arranged in the middle of the base, supporting seats are arranged on the main body assembly along the vertical direction, and a supporting arm is movably arranged between every two adjacent supporting seats; the torsion assemblies are arranged on the base and positioned in the circumferential direction of the main body assembly, each torsion assembly is movably provided with a cycloid and a driving piece, and each group of cycloid is inserted in the supporting seat; and the rotating assembly is arranged on the base, and one end of the rotating assembly is provided with a mechanical claw. Compared with the prior art, the bionic mechanical arm has the advantages that the control mechanisms for controlling the main body component to swing and controlling the mechanical claw to rotate are arranged on the base, so that the weight of the main body component is greatly reduced, the structure of the bionic mechanical arm is simpler, the arrangement of the rotating components enables the mechanical arm to be applied in more occasions, and the practicability of the bionic mechanical arm is higher.

Description

Bionic mechanical arm

Technical Field

The utility model relates to the technical field of bionic mechanical arms, in particular to 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 chinese utility model patent (grant publication No.: CN105619403B) which has been granted patent rights discloses a biomimetic manipulator comprising: the base, the base on be fixed with base support and linear motion control piece, the upper end of base support articulated have big arm seat, this big arm seat with the linear motion control piece is connected, big arm seat be connected with the one end of big armed lever, the other end of big armed lever articulated mutually with little armed lever, big armed lever keep away from little armed lever one end be provided with lead screw step motor, this lead screw step motor goes up the telescopic link and articulates in the one end of little armed lever, the other end of little armed lever be provided with the hand claw mounting. The utility model discloses an advantage lies in, simple structure, reasonable, its make full use of lever principle keeps away from the pin joint setting with the control, has not only played the effect of province, has alleviateed the weight of arm, makes terminal atress reduce moreover to the reduction is to the requirement of material and processing technology, has effectively reduced manufacturing cost. Both can accomplish industrial production needs and also can act as assistant's role in the life, 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 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: it is proposed a biomimetic robotic arm comprising:

a base;

the main body assembly is arranged in the middle of the base, more than two supporting seats are arranged on the main body assembly along the vertical direction, and more than two supporting arms are movably arranged between every two adjacent supporting seats;

the torsion assemblies are arranged on the base and positioned in the circumferential direction of the main body assembly, a plurality of groups of cycloids and driving pieces which are equal to the cycloids in number and can control the cycloids in tightness are movably arranged on each torsion assembly, each group of cycloids are inserted into the supporting seat, and when the cycloids on one side of the supporting seat are tightened and the cycloids on the other side of the supporting seat are loosened, the supporting seat and the supporting arm can be driven to bend towards one side of the tightened cycloids;

and the rotating assembly is arranged on the base, one end of the rotating assembly is provided with a mechanical claw, and the mechanical claw is rotatably arranged at the top end of the main body assembly.

In the bionic mechanical arm, the cross section of each supporting arm is arc-shaped.

In the bionic mechanical arm, the two ends of each supporting arm along the length direction are respectively provided with a first universal joint, each supporting seat is provided with a second universal joint matched with the first universal joint, and a connecting piece is arranged between each first universal joint and each second universal joint.

At foretell bionic mechanical arm, every all be equipped with the motor on the driving piece, the output of motor is equipped with the steering wheel, the one end winding of cycloid is in on the steering wheel, the motor drives can drive when the steering wheel rotates the cycloid tightens up or relaxs.

In the bionic mechanical arm, the rotating assembly further comprises a rotating motor which is arranged at the bottom of the main body assembly, a rotating shaft is arranged at the output end of the rotating motor, and the rotating shaft penetrates through the main body assembly and is connected to the bottom of the mechanical claw.

In the above bionic mechanical arm, the rotating shaft includes a plurality of movably connected cylindrical rods, and the length of each cylindrical rod is smaller than the distance between every two supporting seats.

In the bionic mechanical arm, the lower end of the supporting seat, which is closest to the base, is provided with the supporting rods, the number of the supporting rods is equal to that of the torsion assemblies, each supporting rod is provided with the pulleys, the number of the pulleys is equal to that of the motors, and the cycloid is movably abutted to the pulleys.

In the bionic mechanical arm, the mechanical claw is provided with a driving motor for driving the mechanical claw to open and close.

In the above bionic mechanical arm, the cycloid is a nylon rope or a steel wire rope.

Compared with the prior art, the bionic mechanical arm has the advantages that the control mechanisms for controlling the main body component to swing and the mechanical claw to rotate are arranged on the base, so that the weight of the main body component is greatly reduced, and the cycloidal loosening and tightening are controlled through the driving piece, so that the bionic mechanical arm can grab objects at any spatial position, the structure of the bionic mechanical arm is simpler, the rotation component is arranged, the mechanical claw can rotate the grabbed objects, the mechanical arm is more applicable, and the practicability of the mechanical arm is higher.

Drawings

FIG. 1 is a perspective view of a biomimetic robotic arm of the present invention;

FIG. 2 is a perspective view of a bionic mechanical arm part mechanism of the utility model;

FIG. 3 is a perspective view of a bionic mechanical arm support arm of the present invention;

FIG. 4 is a perspective view of a bionic mechanical arm support arm mounted on a support base according to the present invention;

FIG. 5 is a perspective view of a rotating assembly of a biomimetic robotic arm in accordance with the present invention;

in the figure, the base 100, the body assembly 200, the support base 210, the support rod 212, the roller 213, the support arm 220, the first universal joint 221, the connection member 230, the torsion assembly 300, the cycloid 310, the second universal joint 311, the motor 320, the rudder plate 321, the rotation assembly 400, the gripper 410, the rotation motor 420, the rotation shaft 421, the cylindrical rod 421a, and the driving motor 430 are illustrated.

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 2, a biomimetic mechanical arm of the present invention comprises: a base 100, a body assembly 200, a torsion assembly 300, and a rotation assembly 400.

The main body assembly 200 is arranged in the middle of the base 100, more than two supporting seats 210 are arranged on the main body assembly 200 along the vertical direction, and more than two supporting arms 220 are movably arranged between every two adjacent supporting seats 210; the torsion assemblies 300 are arranged on the base 100 and located in the circumferential direction of the main body assembly 200, each torsion assembly 300 is movably provided with a plurality of sets of cycloids 310 and driving members which are equal to the cycloids 310 in number and can control the tightness of the cycloids 310, each set of cycloids 310 is inserted in the support seat 210, and when the cycloids 310 on one side of the support seat 210 are tightened and the cycloids 310 on the other side of the support seat 210 are loosened, the support seat 210 and the support arm 220 can be driven to bend towards one side of the tightened cycloids 310; the rotating assembly 400 is disposed on the base 100, and a gripper 410 is disposed at one end of the rotating assembly 400, and the gripper 410 is rotatably disposed at the top end of the main body assembly 200.

In the embodiment, four supporting seats 210 are selected, the number of the supporting seats 210 can be increased or decreased according to the actual use condition, and can be two, three, four, five or more, and the larger the number of the supporting seats 210 is, the longer the length of the bionic mechanical arm provided by the utility model is, and the corresponding bionic mechanical arm provided by the utility model can work in a deeper or higher space.

In the middle of this embodiment, 3 support arms 220 have been chooseed for use between per two supporting seats 210, three support arm 220 has formed the triangle-shaped at the upper and lower both ends of supporting seat 210 and has supported, the supporting seat 210 that it can make possess fine stability when being dragged by torsion subassembly 300, of course the quantity of support arm 220 also can increase and decrease according to actual in service behavior, for example two, four, five or more, as long as it can play the effect of supporting seat 210, can follow supporting seat 210 together wrench movement when twisting subassembly 300 work again can.

In the present embodiment, four sets of torsion assemblies 300 are further provided, an included angle between every two adjacent torsion assemblies 300 is 90 °, of course, the torsion assemblies 300 may also be provided as three, four, five or more sets, and the angle of every two sets of torsion assemblies 300 may also be adjusted according to specific use conditions, the more the torsion assemblies 300 are provided, the higher the motion precision of the bionic mechanical arm of the present invention is, but the higher the manufacturing cost of the corresponding present invention is.

In the present embodiment, three cycloid curves 310 are disposed on each set of torsion assembly 300, the number of cycloid curves 310 may be determined according to actual conditions, and generally, the number of cycloid curves 310 disposed in each set of torsion assembly 300 is one less than the number of support seats 210, for example, four support seats 210 are disposed in the present embodiment, and three cycloid curves 310 are disposed on each set of torsion assembly 300, but the number of cycloid curves 310 may also be the same as or more than the number of support seats 210.

In this embodiment, the three cycloids 310 are inserted in the supporting seats 210 in the sequence shown in fig. 1, and along the sequence of the center positions of the supporting seats 210 facing outward, the first cycloid 310 is connected to four supporting seats 210, the second cycloid 310 is connected to three supporting seats 210 from top to bottom in the length direction of the main body assembly 200, and the third cycloid 310 is connected to two supporting seats 210 from the third to the fourth, where this connection manner of the cycloids 310 is the optimal scheme obtained through multiple tests, and of course, other connection manners of the cycloids 310, such as connecting the first cycloid to two supporting seats 210 from the third to the fourth and connecting the third to all supporting seats 210 with the cycloids 310 according to the above arrangement sequence, can also play a role of driving the main body assembly 200 to twist, and further connection manners are not described herein again.

After the number of the components of the present invention is set according to the above situation, the biomimetic mechanical arm of the present invention is assembled as shown in fig. 1, when in use, when the driving component on the right side in the X direction of the coordinate axis shown in fig. 1 starts to tighten the cycloid 310 and the driving component on the left side starts to loosen the cycloid 310, the supporting seat 210 and the supporting arm 220 incline towards the right side of the X axis, so that the gripper 410 grips and releases the object on the right side, when the driving component on the right side in the X direction starts to loosen the cycloid 310 and the driving component on the left side starts to tighten the cycloid 310, the supporting seat 210 and the supporting arm 220 incline towards the left side of the X axis, so that the gripper 410 grips and releases the object on the left side, and the driving components of the biomimetic mechanical arm of the present invention can be driven to pick and place the object at any position in space by the tightening and loosening actions of the cycloid 310 by the four groups of the driving components, compared with the prior art, the driving components of the present invention are all arranged on the base 100, the weight of the main body component 200 is greatly reduced, and the driving piece is used for controlling the loosening and tightening of the cycloid 310, so that the bionic mechanical arm can grab objects at any position in space, the structure of the bionic mechanical arm is simpler, the rotating component 400 is arranged, the mechanical claw 410 can rotate the grabbed objects, the application occasions of the mechanical arm are more, and the practicability of the mechanical arm is higher.

As shown in fig. 3 and 4, each of the support arms 220 has a circular arc-shaped cross section, and the circular arc-shaped support arms 220 can make the twisting of the main body assembly 200 smoother.

As shown in fig. 4, two ends of each support arm 220 along the length direction thereof are provided with a first universal joint 221, each support seat 210 is provided with a second universal joint 311 adapted to the first universal joint 221, and a connecting member 230 is provided between each first universal joint 221 and each second universal joint 311.

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 221, the second universal joint 311 and the connecting member 230 together constitute a universal joint, which enables the body assembly 200 of the present invention to be more flexible in movement.

As shown in fig. 1 and fig. 2, each driving member is provided with a motor 320, an output end of the motor 320 is provided with a rudder plate 321, one end of the cycloid 310 is wound on the rudder plate 321, and the motor 320 drives the rudder plate 321 to rotate so as to drive the cycloid 310 to tighten or loosen.

The motor 320 can be a common direct current motor with low price and controllable rotating speed, but because the swinging angle of the bionic mechanical arm of the utility model needs to be accurately controlled, an encoder needs to be added at the tail part of the motor, or a direct current motor with the encoder is 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, the serial bus steering engine is selected as the optimal scheme of the utility model to serve as the motor 320, and compared with the 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.

As shown in fig. 1 and 5, the rotating assembly 400 further includes a rotating motor 420, the rotating motor 420 is disposed at the bottom of the main body assembly 200, an output end of the rotating motor 420 is provided with a rotating shaft 421, the rotating shaft 421 penetrates through the main body assembly 200 and is connected to the bottom of the gripper 410, and the rotating motor 420 can drive the gripper 410 to rotate by driving the rotating shaft 421 to rotate after receiving the rotation signal.

As shown in fig. 5, the rotating shaft 421 includes a plurality of movably connected cylindrical rods 421a, the length of each cylindrical rod 421a is smaller than the distance between every two supporting seats 210, and the rotating shaft 421 is divided into a plurality of cylindrical rods 421a, so that the rotating shaft 421 can be more flexible when rotating along with the main body assembly 200.

As shown in fig. 1, the supporting rods 212 with the same number as the torsion assemblies 300 are arranged at the lower end of the supporting seat 210 closest to the base 100, each supporting rod 212 is provided with the rollers 213 with the same number as the driving motors 420, the cycloids 310 are movably abutted against the rollers 213, and the rollers 213 are arranged to prevent the respective cycloids 310 from interfering when being tightened or loosened.

As shown in fig. 1 and 5, the gripper 410 is provided with a driving motor 430 for driving the gripper 410 to open and close, and the driving motor 430 is arranged to enable the movement of the gripper 410 to be more controllable, so that the bionic mechanical arm of the present invention is more intelligent.

As a preferred aspect of the present invention, the cycloid 310 is a nylon rope or a steel wire rope, the nylon rope has better economic efficiency, the nylon rope can reduce the manufacturing cost of the present invention, and the steel wire rope has better strength, which can increase the service life of the present invention.

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 biomimetic mechanical arm, comprising:

a base;

2. A biomimetic robotic arm as claimed in claim 1, wherein each support arm is circular in cross-section.

3. A biomimetic robotic arm as claimed in claim 2, wherein each support arm has a first universal joint at each end along its length, each support base has a second universal joint adapted to the first universal joint, and a connector is provided between each first universal joint and each second universal joint.

4. A bionic mechanical arm as claimed in claim 1, wherein each driving member is provided with a motor, the output end of the motor is provided with a steering wheel, one end of the cycloid is wound on the steering wheel, and the motor drives the steering wheel to rotate so as to drive the cycloid to tighten or loosen.

5. The bionic mechanical arm of claim 1, wherein the rotating assembly further comprises a rotating motor arranged at the bottom of the main body assembly, and the output end of the rotating motor is provided with a rotating shaft which penetrates through the main body assembly and is connected to the bottom of the mechanical claw.

6. A biomimetic robotic arm as claimed in claim 5, wherein said rotatable shaft comprises a plurality of movably connected cylindrical rods, each said cylindrical rod having a length less than the distance between each two said support blocks.

7. A bionic mechanical arm as claimed in claim 4, wherein the lower end of the support base nearest to the base is provided with support rods equal in number to the torsion assemblies, each support rod is provided with rollers equal in number to the motors, and the cycloid curve is movably abutted to the rollers.

8. A biomimetic robotic arm as claimed in claim 1, wherein a drive motor for driving the gripper to open and close is provided on the gripper.

9. A biomimetic robotic arm as claimed in claim 1, wherein said cycloid is a nylon rope or a steel wire rope.