CN87205305U

CN87205305U - Transmission for manipulator

Info

Publication number: CN87205305U
Application number: CN 87205305
Authority: CN
Inventors: 王守觉
Original assignee: Individual
Current assignee: Individual
Priority date: 1987-11-24
Filing date: 1987-11-24
Publication date: 1988-07-20

Abstract

The utility model which discloses a transmission for a manipulator can move, telescope and bend in multiple directions. The combined connection of three or more roots of elastic pipelines is contained between a supporting arm and a force palm surface, and the elastic pipelines are telescopic under control. The elastic pipelines can be the elastic corrugated pipes, and the elastic corrugated pipes can adjust the internal air pressure or the hydraulic pressure; besides, the elastic pipelines can be the spiral springs or the elastic pipes, and the spiral springs or the elastic pipes are telescopic under the adjustment of the restriction lines.

Description

Transmission for manipulator

The utility model relates to a kind of transmission mechanism that is applicable to manipulator, the particularly a kind of easy manipulator transmission mechanism that can make multi-faceted flexible bending motion.

Bars Rod transmission mechanism is all adopted in the motion of existing machinery hand, and its defective is a complex structure, is difficult to satisfy the demand of multi-faceted flexible bending motion.

In order to overcome the defective of prior art, the utility model has designed a kind of features simple structure, can make the manipulator transmission mechanism of multi-faceted flexible bending motion.

This transmission mechanism is at the support arm of manipulator and put forth effort between the facies palmaris with comprising being connected side by side of three or more retractable curved elasticity pipelines, the two ends that are every elasticity pipeline all are separately fixed at support arm and put forth effort on the facies palmaris, these elasticity pipelines can controlledly respectively be made stretching motion, the elasticity pipeline is separated from each other with each tie point of putting forth effort facies palmaris, and not on same straight line.Fig. 1 (a) is its structural representation, and wherein 1 is support arm, and 2 is controlled elasticity pipeline, and 3 for putting forth effort facies palmaris.When all controlled work of all elasticity pipelines 2 is equal to when flexible, put forth effort 3 of facies palmarises and do the linear telescopic motion.Flexiblely will form moment and make and put forth effort facies palmaris and rotate not for the moment when each elasticity pipeline is controlled respectively, the direction-adapting of rotation the flexible direction that differs of each elasticity pipeline, and one of its action is shown in Fig. 1 (b).Regulate the flexible of two elasticity pipelines and can only control the flexible and crooked of a direction, have the telescopic adjustment of three or more elasticity pipelines just can control multi-faceted flexible bending.

The utility model has two flexible embodiment of control elasticity pipeline, a kind of shown in Fig. 2 (a), make the elasticity pipeline with the elastic bellows 22 that can bear certain air pressure or hydraulic pressure, a mouth of pipe of every bellows respectively with put forth effort facies palmaris and be tightly connected, another mouth of pipe is fixed on the support arm and communicates with the pipeline 24 of a gas-pressure adjustable or hydraulic pressure respectively, regulates air pressure in the every bellows (22) or its telescopic level of hydraulic control respectively by each bar pipeline (24) and just can make and put forth effort facies palmaris and stretch and bending motion by desired orientation.Another kind of shown in Fig. 2 (b), make the elasticity pipeline with helical spring or elastic tube 32, its two ends are separately fixed at put forth effort on facies palmaris and the support arm, and be connected and put forth effort on the facies palmaris with pining down center fixation that line 34 passes every helical spring or elastic tube through support arm, put forth effort facies palmaris and stretch and bending motion by flexible just can the making of regulating that pulling force that each bar pins down line (34) controls helical spring or elastic tube respectively by desired orientation.

Description of drawings

Fig. 1 is the utility model manipulator transmission mechanism schematic diagram.Fig. 1 (a) is a manipulator drive mechanism schematic diagram, and wherein 1 is support arm, and 2 is the elasticity pipeline, and 3 for putting forth effort facies palmaris.Fig. 1 (b) is a manipulator flexure operation schematic diagram, and wherein 11 is support arm, and 12 is the elasticity pipeline, and 13 for putting forth effort facies palmaris.

Fig. 2 is the schematic diagram of two embodiment of the utility model.The manipulator schematic diagram of Fig. 2 (a) for making the elasticity pipeline with elastic bellows and carrying out transmission by control ripple intraductal atmospheric pressure or hydraulic pressure, wherein 21 is support arm, and 22 is elastic bellows, and 23 for putting forth effort facies palmaris, and 24 are the pressure regulation pipeline.Fig. 2 (b) is for making the elasticity pipeline and by pining down the manipulator schematic diagram that the line traffic control elastic telescopic carries out transmission, wherein 31 is support arm with helical spring or elastic tube, and 32 is helical spring or elastic tube, and 33 for putting forth effort facies palmaris, and 34 for pining down line.

Claims

1, a kind of transmission mechanism of manipulator, it is characterized by, at the support arm of manipulator and put forth effort between the facies palmaris with comprising being connected of three or more retractable curved elasticity pipelines, every elasticity pipeline wherein all can controlledly respectively be made elastic telescopic, and the elasticity pipeline is separated from each other with each tie point of putting forth effort facies palmaris and not on same straight line.

2, according to the transmission mechanism of the described manipulator of claim 1, it is characterized in that described elasticity pipeline is the elastic bellows that communicates with a pressure regulation pipeline separately, elastic bellows can bear ducted air pressure of pressure regulation or hydraulic regulation and can do corresponding flexible therefrom.

3, according to the transmission mechanism of the described manipulator of claim 1, it is characterized in that described elasticity pipeline is to pin down line traffic control flexible helical spring or elastic tube by one respectively, pin down line and pass helical spring or elastic tube inside through support arm and putting forth effort on the facies palmaris fixedly the one end and can carry out pulling force at its other end and regulate.