WO2019041993A1 - 挠性关节与回转折臂 - Google Patents

挠性关节与回转折臂 Download PDF

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Publication number
WO2019041993A1
WO2019041993A1 PCT/CN2018/093062 CN2018093062W WO2019041993A1 WO 2019041993 A1 WO2019041993 A1 WO 2019041993A1 CN 2018093062 W CN2018093062 W CN 2018093062W WO 2019041993 A1 WO2019041993 A1 WO 2019041993A1
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WO
WIPO (PCT)
Prior art keywords
arm
transmission wheel
hinge
flexible joint
hinged
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Application number
PCT/CN2018/093062
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English (en)
French (fr)
Inventor
蔡昌荣
刘建伟
李满天
贾王强
孟西闻
蒋振宇
李爱镇
邓静
王鑫
刘国才
Original Assignee
深圳龙海特机器人科技有限公司
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Application filed by 深圳龙海特机器人科技有限公司 filed Critical 深圳龙海特机器人科技有限公司
Publication of WO2019041993A1 publication Critical patent/WO2019041993A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Definitions

  • This application belongs to the field of mechanical technology, and in particular, is a flexible joint and a swinging arm.
  • the joint is a key component of the robot and directly determines the freedom and flexibility of the robot. Due to the limited structure of existing joints, the angle of rotation is often severely limited by interference, and the flexibility of joint rotation is very low.
  • the conventional method needs to move the joint portion to the mechanical arm to be biased to one side.
  • the rotation angle in one direction is improved to some extent in this structure, the reverse rotation further Limited.
  • this structure also causes problems such as bloated structure and decreased strength of the structure.
  • the present application provides a flexible joint and a swivel folding arm, which have the advantages of full rotation angle, high sensitivity and compact structure.
  • a flexible joint having:
  • hinge portion the first end and the second end are hinged to the hinge portion, the hinge portion has at least one rotatable hinge shaft, and the hinge shaft is sequentially hinged to form a block type hinged relationship;
  • a transmission wheel set connected to the hinge shaft, having a first transmission wheel and a second transmission wheel respectively axially parallel to the hinge shaft;
  • the first transmission wheel has a first tensioning surface
  • the second transmission wheel has a second tensioning surface
  • the flexure connecting the first arm and the second arm is tensionable to the first a tensioning surface and/or the second tensioning surface
  • the first tensioning surface and the second tensioning surface are surrounded by a receiving portion
  • the flexible member is slidably held in the Housing.
  • the hinge portion includes an articulated shaft connector:
  • the hinge shaft connector has a first hinge position and a second hinge position arranged in an axial direction, and the first hinge position and the second hinge position are respectively provided with the hinge shaft;
  • the hinge shafts are sequentially hinged to form a modular multi-level articulation relationship.
  • the transmission wheel set has a transmission connection seat:
  • the transmission connecting seat has a first rotating shaft portion, a second rotating shaft portion and a third rotating shaft portion arranged in parallel, the first transmission wheel is rotatably held on the first rotating shaft portion, and the second transmission wheel is Rotatingly held on the second shaft portion, the third shaft portion is coupled to the hinge shaft and both remain coaxial.
  • the axial connecting line of the first transmission wheel and the second transmission wheel in a horizontal plane intersects perpendicularly with the central axis of the hinge shaft at a midpoint thereof.
  • the first transmission wheel and the second transmission wheel include one of a sprocket, a pulley or a sheave.
  • a swivel folding arm includes a first arm, a second arm, a flexure and the flexible joint:
  • the first arm and the second arm are connected by the flexible joint, the first arm is provided with a first guiding wheel, and the second arm is provided with a second guiding wheel, the flexible part
  • the first guide wheel, the first transmission wheel or the second transmission wheel and the second guide wheel are sequentially tensioned.
  • the first arm is provided with a drive assembly configured to drive the flexure.
  • the second arm is provided with a handle assembly, and the handle assembly is connected to the second guide wheel by the flexible member.
  • one end of the first arm away from the flexible joint is provided with a main rotating assembly configured to drive the rotation of the first arm.
  • the flexure comprises one of a drive chain, a drive belt or a drive rope.
  • the utility model has the beneficial effects that: by providing a hinge portion having at least one hinge shaft, the hinge portions are sequentially hinged to form a block type hinged relationship, the transmission wheel set is connected to each hinge shaft, and has a configuration configured as a flexible transmission. a transmission wheel and a second transmission wheel, the flexure is slidably held between the first transmission wheel and the second transmission wheel, realizes multi-stage rotation folding by flexible transmission, avoids interference limitation, and has a bidirectional flexible transmission
  • the structure provides a flexible joint with a full rotation angle, high sensitivity and compact structure and a swivel folding arm.
  • FIG. 1 is a first schematic view of a flexible joint provided in Embodiment 1 of the present application.
  • FIG. 2 is a schematic structural view showing a flexible joint tensioning flexible member provided in Embodiment 1 of the present application;
  • Figure 3 is a partial enlarged view of the flexible joint of Figure 2;
  • FIG. 4 is a first schematic view showing a method of installing a column of a swing folding arm according to an embodiment of the present application
  • FIG. 5 is a second schematic diagram of a column mounting manner of a swing folding arm according to an embodiment of the present application.
  • Figure 6 is an enlarged schematic view of the M of the swivel folding arm of Figure 5;
  • Figure 7 is an enlarged schematic view of the N of the swivel folding arm of Figure 5;
  • FIG. 8 is a schematic structural view of a crane mounting method of a swing folding arm according to an embodiment of the present application.
  • FIG. 9 is a first schematic view of a flexible joint provided in Embodiment 2 of the present application.
  • Figure 10 is a second schematic view of a flexible joint provided in Embodiment 2 of the present application.
  • FIG. 11 is a schematic structural view of a hinge joint of a flexible joint according to Embodiment 2 of the present application.
  • FIG. 12 is a simplified schematic view showing a method of installing a column of a swing folding arm according to Embodiment 2 of the present application;
  • Figure 13 is a partially enlarged plan view showing the rotary folding arm provided in Embodiment 2 of the present application.
  • FIG. 14 is a first schematic view of a flexible joint provided in Embodiment 3 of the present application.
  • Figure 15 is a second schematic view of a flexible joint provided in Embodiment 3 of the present application.
  • Figure 16 is a simplified schematic view showing the installation method of the column of the swing folding arm provided in the third embodiment of the present application.
  • Figure 17 is a partially enlarged schematic view of the swivel folding arm of Figure 16;
  • Figure 18 is a partially enlarged plan view showing the swivel folding arm provided in the third embodiment of the present application.
  • 1000-slewing arm 0100-flexible joint, 0110-first end, 0120-second end, 0130-hinged part, 0131-hinged shaft, 0132-hinged shaft joint, 0132a-first articulated position, 0132b- Second articulated position, 0140-drive wheel set, 0141-first drive wheel, 0141a-first tension surface, 0142-second drive wheel, 0142a-second tension surface, 0200-first arm, 0210- A guide wheel, 0220-drive assembly, 0230-main rotary assembly, 0300-second arm, 0310-second guide wheel, 0320-handle assembly, 0400-flexure, 0410-free end.
  • the flexible joint 0100 includes a first end 0110, a second end 0120, and a hinge portion 0130 connecting the first end 0110 and the second end 0120.
  • the first end 0110 is configured to connect to the first arm 0200
  • the second end 0120 is configured to connect to the second arm 0300.
  • the first end 0110 and the second end 0120 are hinged to the hinge portion 0130.
  • the hinge portion 0130 has at least one rotatable hinge axis 0131, and the hinge shaft 0131 is sequentially hinged to form a block type hinged relationship.
  • the building block type stepwise hinge relationship means that the first end 0110, the hinge part 0130 and the second end 0120 are hinged in sequence, and have at least one first hinge relationship, thereby forming a flexible joint which can be rotated stepwise to realize the mechanism folding. 0100.
  • a rotational motion can occur around each of the hinge axes 0131.
  • At least one transmission wheel set 0140 is provided on each of the first stage hinge shafts 0131.
  • the transmission wheel set 0140 has a first transmission wheel 0141 and a second transmission wheel 0142.
  • the first transmission wheel 0141 and the second transmission wheel 0142 are respectively axially parallel to the hinge shaft 0131.
  • the first transmission wheel 0141 has a first tension surface 0141a
  • the second transmission wheel 0142 has a second tension surface 0142a
  • the flexure 0400 connecting the first arm 0200 and the second arm 0300 can be tensioned on the first tension surface.
  • a receiving portion is formed between the first tensioning surface 0141a and the second tensioning surface 0142a, and the flexure 0400 is slidably held by the receiving portion.
  • the flexure 0400 sequentially connects the first end 0110, the hinge portion 0130, and the second end 0120 to form a flexible transmission relationship, thereby transmitting the bending driving force.
  • the hinge portion 0130 has at least one transmission wheel set 0140
  • the flexure 0400 is sequentially connected to the first end 0110, the various stages of the transmission wheel set 0140 and the second end 0120 to form a flexible transmission relationship.
  • the flexible transmission relationship is a common mechanical transmission, usually composed of two or more transmission wheels and a flexure 0400, through which the movement and power are transmitted between the transmission wheels.
  • the flexible transmission mainly has a belt drive, a chain drive and a rope drive, the drive wheels are respectively a pulley, a sprocket and a sheave, and the flexures 0400 are a transmission belt, a transmission chain and a transmission rope, respectively.
  • the hinge portion 0130 has a first hinge axis 0131 and a transmission wheel set 0140.
  • the first transmission wheel 0141 and the second transmission wheel 0142 are separated on both sides of the flexure 0400.
  • the flexure 0400 is tensioned on the first transmission wheel 0141 or the second transmission wheel 0142 according to the rotation direction of the second arm 0300.
  • the first transmission wheel 0141 or the second transmission wheel 0142 is driven to rotate, and the hinge shaft 0131 and the second arm 0300 connected to the hinge shaft 0131 are rotated to realize the joint function of the flexible joint 0100.
  • the flexure 0400 is tensioned on the first transmission wheel 0141 under the driving force input from the outside, and is kept separated from the second transmission wheel 0142.
  • the member 0400 applies a left-handed force to the second arm 0300 through the first transmission wheel 0141, and drives the second arm 0300 to rotate left;
  • the flexure 0400 When the second arm 0300 needs to rotate to the right, the flexure 0400 is tensioned on the second transmission wheel 0142 under the driving force input from the outside, and is kept separated from the first transmission wheel 0141, and the flexure 0400 passes through The second transmission wheel 0142 applies a right-handed force to the second arm 0300 to drive the second arm 0300 to the right.
  • the drive wheel set 0140 has a drive connection:
  • the transmission connecting base has a first rotating shaft portion, a second rotating shaft portion and a third rotating shaft portion arranged in parallel, the first transmission wheel 0141 is rotatably held on the first rotating shaft portion, and the second transmission wheel 0142 is rotatably held in the second On the shaft portion, the third shaft portion is coupled to the hinge shaft 0131 and the two remain coaxial.
  • the axial connection line of the first transmission wheel 0141 and the second transmission wheel 0142 in a horizontal plane intersects perpendicularly with the central axis of the hinge shaft 0131 at a midpoint thereof.
  • a swing arm 1000 including a first arm 0200, a second arm 0300, a flexure 0400, and a flexible joint 0100.
  • the first arm 0200 and the second arm 0300 are connected by a flexible joint 0100.
  • the first arm 0200 is provided with a first guiding wheel 0210
  • the second arm 0300 is provided with a second guiding wheel 0310.
  • the flexure 0400 is sequentially tensioned on The first guide wheel 0210, the first transmission wheel 0141 or the second transmission wheel 0142, and the second guide wheel 0310.
  • first end 0110 is connected to the first arm 0200
  • second end 0120 is connected to the second arm 0300.
  • the first guide wheel 0210, the first transmission wheel 0141, the second transmission wheel 0142 and the shank end connecting wheel are similar transmission wheels, and form a flexible transmission relationship with the flexure 0400.
  • the first arm 0200 is coupled to the upright or the crane, and the second arm 0300 is rotatable or folded over the first arm 0200.
  • the second arm 0300 can be rotated by the stepwise articulation of the flexible joint 0100.
  • the swivel folding arm 1000 has a rotation angle of 360°, and the first arm 0200 and the second arm 0300 can reach mutually folded positions.
  • the swivel folding arm 1000 can be driven by the transmission wheel set 0140 when bidirectionally rotating and folding, and has better transmission capability and sensitivity.
  • the free end 0410 of the flexure 0400 is configured to hang a weight.
  • the free end 0410 has a hook configured to hang a weight.
  • the first arm 0200 is provided with a drive assembly 0220 configured to drive the flexure 0400.
  • the driving component 0220 may be in the form of a driving motor, a hydraulic motor, or a crank-link mechanism, such as to drive the flexure 0400. Flexure 0400 through the winding and release of flexure 0400
  • the second arm 0300 is provided with a handle assembly 0320, and the handle assembly 0320 is connected to the second guiding wheel 0310 through the flexure 0400.
  • the handle assembly 0320 is configured for the user to hold.
  • the user grips the handle assembly 0320 and applies an initial rotational force, and the handle assembly 0320 senses the user's intent to move and receives the force, driving the second arm 0300 to rotate in the desired folding direction of the user.
  • the flexible joint 0100 is correspondingly rotated and folded, and the second arm 0300 is brought to the optimum folding angle.
  • the first arm 0200 can rotate around the column or the crane, so that the swing arm 1000 can rotate integrally around the column or the crane.
  • the first arm 0200 is hinged to the upright or the overhead crane and has a relative degree of rotational freedom.
  • the rotational driving force of the first arm 0200 may be derived from the horizontal operating force input by the user from the free end 0410, or may be derived from an automatic driving source.
  • one end of the first arm 0200 away from the flexible joint 0100 is provided with a main rotary assembly 0230 configured to drive the rotation of the first arm 0200.
  • the main rotating assembly 0230 is configured to drive the first arm 0200 to rotate about the upright or crown, further increasing the range and flexibility of the swivel arm 1000.
  • the main rotating component 0230 may be in the form of a driving motor, a hydraulic motor or a crank linkage mechanism.
  • the operation of the swing arm 1000 is as follows:
  • the free end 0410 lifts the weight, the drive assembly 0220 outputs the driving force to keep the flexure 0400 tensioned, and the tension on the flexure 0400 is balanced with the weight of the weight to keep the weight hoisted;
  • the operator holds the handle assembly 0320 to move the handle assembly 0320 in a vertical direction with a slight force, and the driving assembly 0220 drives the flexure 0400 to be wound or released, thereby realizing the lifting or lowering of the weight of the free end 0410;
  • the operator pushes the handle assembly 0320 horizontally, and the driving force drives the rotation of the second arm 0300 via the flexure 0400 and the flexible joint 0100, and further drives the first arm 0200 to rotate around the column or the crane to realize the weight level.
  • the translation of the direction The translation of the direction.
  • the flexible joint 0100 and the swinging arm 1000 have a modular secondary hinge relationship.
  • the flexible joint 0100 has a second-level distributed hinge shaft 0131, and the two hinge axes 0131 are axially arranged in parallel.
  • at least one transmission wheel set 0140 is disposed on each of the hinge shafts 0131.
  • the flexure 0400 sequentially connects the first end 0110, the secondary distributed drive wheel set 0140 and the second end 0120 to form a flexible transmission relationship.
  • the hinge 0130 includes a hinged shaft connector 0132:
  • the hinge shaft connector 0132 has a first hinge position 0132a and a second hinge position 0132b arranged in the axial direction, the first hinge position 0132a and the second hinge position 0132b are respectively provided with the hinge shaft 0131;
  • the first end 0110, the at least one hinge axis 0131 and the second end 0120 are sequentially hinged to form a modular multi-level hinge relationship.
  • the hinge portion 0130 includes a hinge shaft connector 0132.
  • the hinged shaft connector 0132 is hinged to the first end 0110 by the hinge axis 0131 of the first hinge position 0132a and is hinged to the second end 0120 by the hinge axis 0131 of the second hinge position 0132b.
  • the first end 0110 is coupled to the first arm 0200
  • the second end 0120 is coupled to the second arm 0300 to form a modular secondary articulation relationship.
  • the flexure 0400 sequentially connects the first guide wheel 0210, the transmission wheel set 0140 of the first articulated position 0132a, the transmission wheel set 0140 of the second articulated position 0132b, and the second guide wheel 0310 to drive the hinged shaft connector with a flexible transmission. 0132 rotates with the second arm 0300.
  • the flexure 0400 is only tensioned on one of the transmission wheels; in the second-distributed transmission wheel set 0140, the flexure 0400 is only tensioned on the same side of the transmission wheel set 0140. On the drive wheel.
  • the hinge shaft connector 0132 is rotatable about the hinge axis 0131 of the first hinge position 0132a
  • the second arm 0300 is rotatable about the hinge axis 0131 of the second hinge position 0132b to further increase the swing arm 1000.
  • the rotation flexibility avoids interference in the rotation process and affects the rotation angle of the swing arm 1000, and also ensures the compact structure of the swing arm 1000.
  • the flexures 0400 are tensioned step by step on each of the first drive wheels 0141.
  • the central axis of each of the hinge axes 0131 is the central axis of rotation of each stage.
  • the horizontal driving force applied by the operator directly acts on the first transmission wheel 0141 through the flexure 0400, causing the first transmission wheel 0141 to rotate to drive the hinge shaft 0131 to rotate.
  • the flexure 0400 remains tensioned and tension occurs along the center of the flexure 0400 and does not directly act on the point of contact of the flexure 0400 with the first drive wheel 0141.
  • the tension of the flexure 0400 relative to the point of contact of the flexure 0400 with the first transmission wheel 0141 there is a force arm to cause a resisting torque, which hinders the rotation of the first transmission wheel 0141.
  • the flexible joint 0100 has a multi-stage slitting action, the force arm of the tensioning force is rapidly reduced, and the bending torque is reduced, and the swinging folding arm 1000 has a prominent labor-saving effect. That is, the operator only needs to apply a very small horizontal driving force to achieve horizontal movement of the weight. In a practical application, the operator's horizontal driving force does not exceed 1/100 of the weight of the weight.
  • the hinge portion 0130 includes a hinged shaft connector 0132.
  • the hinge shaft connector 0132 has a first hinge position 0132a and a second hinge position 0132b arranged in the axial direction.
  • the first hinge position 0132a and the second hinge position 0132b are respectively provided with an hinge shaft 0131; the first end 0110, at least one The hinge shaft 0131 and the second end 0120 are sequentially hinged to form a modular multi-level hinge relationship.
  • the hinge portion 0130 includes two hinge shaft connectors 0132.
  • the two hinged shaft connectors 0132 are sequentially hinged such that the flexible joint 0100 has a three-stage distributed hinge shaft 0131 and a three-stage distributed transmission wheel set 0140.
  • the hinged shaft connector 0132 proximate the first end 0110 is hinged to the first end 0110 by the first hinged position 0132a and passes through the second hinged position 0132b with the first of the hinged shaft connector 0132 proximate the second end 0120
  • the hinged position 0132a is hinged
  • the hinged shaft connector 0132 proximate the second end 0120 is hinged to the second end 0120 by its second hinged position 0132b.
  • the first end 0110 is connected to the first arm 0200, and the second end 0120 is connected to the second arm 0300.
  • the flexure 0400 sequentially connects the first guide wheel 0210, the three-stage distributed transmission wheel set 0140 and the second guide wheel 0310, and drives the second-distributed hinge shaft connecting member 0132 and the second arm 0300 in sequence by the flexible transmission.
  • the folding flexibility is further increased by multi-stage folding to avoid interference, and the structure is very compact and rigid.
  • each of the hinge shafts 0131 has at least one transmission wheel set 0140, and forms a multi-stage transmission wheel set 0140.
  • the flexure 0400 sequentially connects the first guide wheel 0210, the multi-stage transmission wheel set 0140 and the second guide wheel 0310, and sequentially drives the multi-stage hinge shaft connector 0132 and the second arm 0300 to rotate in a flexible transmission.
  • the flexure 0400 is only tensioned on one of the transmission wheels; in the second-distributed transmission wheel set 0140, the flexure 0400 is only tensioned on the same side of the transmission wheel set 0140. On the drive wheel.
  • the flexures 0400 are tensioned step by step on each of the first drive wheels 0141. Due to the multi-level hinge relationship of the building block, the tensioning force of the flexure 0400 relative to the contact point of the flexure 0400 and the first transmission wheel 0141 can be slit and rapidly reduced, further reducing the deflection
  • the blocking torque caused by the tension of the member 0400 makes the operator effortless when pushing the weight horizontally.
  • the horizontal pushing force is less than 1/100 of the weight of the weight and decreases as the number of hinge axes 0131 of the modular multi-level articulation increases.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Tents Or Canopies (AREA)
  • Pivots And Pivotal Connections (AREA)

Abstract

一种挠性关节（0100），具有第一端（0110）与第二端（0120），第一端与第二端铰接于铰接部（0130），铰接部具有至少一个铰接轴（0131），铰接轴依次铰接而形成积木式逐级铰接关系，传动轮组（0140）连接于铰接轴上，具有与铰接轴轴向平行的第一传动轮（0141）与第二传动轮（0142），第一传动轮具有第一张紧面（0141a），第二传动轮具有第二张紧面（0142a），连接第一臂（0200）与第二臂（0300）的挠性件（0400）可张紧于第一张紧面和/或第二张紧面上。该挠性关节具有全旋转角度、灵敏度高、结构紧凑和省力等优点。一种回转折臂（1000），包括第一臂、第二臂、挠性件与上述挠性关节。

Description

挠性关节与回转折臂
相关申请的交叉引用
本申请要求于2017年09月01日提交中国专利局的申请号为201710777510.3、名称为“挠性关节与回转折臂”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请属于机械技术领域，具体地来说，是一种挠性关节与回转折臂。
背景技术
关节是机器人的关键部件，直接决定机器人的运动自由度与灵活性。现有的关节由于结构所限，常常会因为干涉而使旋转角度受到严重限制，使关节旋转灵活度很低。
特别地，若需改善旋转角度，常规的手段需要将关节部外移至机械臂而偏于一侧，这种结构下虽然一定程度上改善了一个方向的旋转角度，但反向旋转则会进一步受限。同时，此一结构亦造成结构臃肿和结构刚强度下降等问题。
另外，采用现有关节的回转折臂，相应存在一些问题。由于回转折臂于水平方向的移动需要操作者手动推动，现有关节结构下，手柄端所需施加的起动力很大，造成操作者负担很重。
发明内容
为了克服现有技术的不足，本申请提供了一种挠性关节与回转折臂，具有全旋转角度、灵敏度高和结构紧凑的优点。
本申请的目的通过以下技术方案来实现：
一种挠性关节，具有：
第一端，其配置成连接第一臂；
第二端，其配置成连接第二臂；
铰接部，所述第一端与所述第二端铰接于所述铰接部，所述铰接部具有至少一个可旋转的铰接轴，所述铰接轴依次铰接而形成积木式逐级铰接关系；
传动轮组，其连接于所述铰接轴上，具有分别与所述铰接轴轴向平行的第一传动轮及第二传动轮；
所述第一传动轮具有第一张紧面，所述第二传动轮具有第二张紧面，连接所述第一臂与所述第二臂的挠性件可张紧于所述第一张紧面和/或所述第二张紧面上，所述第一张紧面与所述第二张紧面之间包围而成一容纳部，所述挠性件可滑动地保持于所述容纳部。
作为上述技术方案的改进，所述铰接部包括铰接轴连接件：
所述铰接轴连接件具有轴向平行布置的第一铰接位与第二铰接位，所述第一铰接位与所述第二铰接位分别设有所述铰接轴；
所述铰接轴依次铰接而形成积木式多级铰接关系。
作为上述技术方案的进一步改进，所述传动轮组具有传动连接座：
所述传动连接座具有平行布置的第一转轴部、第二转轴部与第三转轴部，所述第一传动轮可旋转地保持于所述第一转轴部上，所述第二传动轮可旋转地保持于所述第二转轴部上，所述第三转轴部连接于所述铰接轴且二者保持同轴。
作为上述技术方案的进一步改进，所述第一传动轮与所述第二传动轮于水平面内的轴心连接线在其中点处与所述铰接轴的中心轴垂直相交。
作为上述技术方案的进一步改进，所述第一传动轮与所述第二传动轮包括链轮、带轮或绳轮中的一种。
一种回转折臂，包括第一臂、第二臂、挠性件与所述挠性关节：
所述第一臂与所述第二臂通过所述挠性关节连接，所述第一臂上设有第一导向轮，所述第二臂上设 有第二导向轮，所述挠性件依次张紧于所述第一导向轮、所述第一传动轮或所述第二传动轮、所述第二导向轮上。
作为上述技术方案的改进，所述第一臂上设有配置成驱动所述挠性件收放的驱动组件。
作为上述技术方案的进一步改进，所述第二臂上设有手柄组件，所述手柄组件通过所述挠性件而与所述第二导向轮连接。
作为上述技术方案的进一步改进，所述第一臂远离所述挠性关节的一端设有配置成驱动所述第一臂旋转的主旋转组件。
作为上述技术方案的进一步改进，所述挠性件包括传动链、传动带或传动绳中的一种。
本申请的有益效果是：通过设置具有至少一个铰接轴的铰接部，铰接部依次铰接而形成积木式逐级铰接关系，传动轮组连接于各个铰接轴上，并具有配置成挠性传动的第一传动轮与第二传动轮，挠性件可滑动地保持于第一传动轮与第二传动轮之间，以挠性传动而实现多级旋转折叠，避免干涉限制，并具有双向挠性传动结构，提供了一种具有全旋转角度、灵敏度高和结构紧凑的挠性关节与回转折臂。
为使本申请的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单的介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1是本申请实施例1提供的挠性关节的第一示意图；
图2是本申请实施例1提供的挠性关节张紧有挠性件的结构示意图；
图3是图2中挠性关节的局部放大示意图；
图4是本申请实施例提供的回转折臂的立柱安装方式的第一示意图；
图5是本申请实施例提供的回转折臂的立柱安装方式的第二示意图；
图6是图5中回转折臂的M处放大示意图；
图7是图5中回转折臂的N处放大示意图；
图8是本申请实施例提供的回转折臂的天车安装方式的结构示意图；
图9是本申请实施例2提供的挠性关节的第一示意图；
图10是本申请实施例2提供的挠性关节的第二示意图；
图11是本申请实施例2提供的挠性关节的铰接轴连接件的结构示意图；
图12是本申请实施例2提供的回转折臂的立柱安装方式的简约示意图；
图13是本申请实施例2提供的回转折臂的俯视局部放大示意图；
图14是本申请实施例3提供的挠性关节的第一示意图；
图15是本申请实施例3提供的挠性关节的第二示意图；
图16是本申请实施例3提供的回转折臂的立柱安装方式的简约示意图；
图17是图16中回转折臂的局部放大示意图；
图18是本申请实施例3提供的回转折臂的俯视局部放大示意图。
主要元件符号说明：
1000-回转折臂，0100-挠性关节，0110-第一端，0120-第二端，0130-铰接部，0131-铰接轴，0132-铰接轴连接件，0132a-第一铰接位，0132b-第二铰接位，0140-传动轮组，0141-第一传动轮，0141a-第一张紧面，0142-第二传动轮，0142a-第二张紧面，0200-第一臂，0210-第一导向轮，0220-驱动组件，0230-主旋转组件，0300-第二臂，0310-第二导向轮，0320-手柄组件，0400-挠性件，0410-自由端。
具体实施方式
为了便于理解本申请，下面将参照相关附图对挠性关节与回转折臂进行更全面的描述。附图中给出了挠性关节与回转折臂的优选实施例。但是，挠性关节与回转折臂可以通过许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对挠性关节与回转折臂的公开内容更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件时，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件时，它可以是直接连接到另一个元件或者可能同时存在居中元件。相反，当元件被称作“直接在”另一元件“上”时，不存在中间元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在挠性关节与回转折臂的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
实施例1
请结合参阅图1～3，挠性关节0100包括第一端0110、第二端0120及连接第一端0110与第二端0120的铰接部0130。其中，第一端0110配置成连接第一臂0200，第二端0120配置成连接第二臂0300。同时，第一端0110与第二端0120铰接于铰接部0130，铰接部0130具有至少一个可旋转的铰接轴0131，铰接轴0131依次铰接而形成积木式逐级铰接关系。
其中，积木式逐级铰接关系，是指第一端0110、铰接部0130与第二端0120依次铰接，并具有至少一级铰接关系，从而形成一可逐级旋转而实现机构折叠的挠性关节0100。换言之，随铰接级数的增加，绕各级铰接轴0131均可发生旋转运动。
每一级铰接轴0131上均设有至少一个传动轮组0140。传动轮组0140具有第一传动轮0141与第二传动轮0142，第一传动轮0141与第二传动轮0142分别与铰接轴0131轴向平行。
第一传动轮0141具有第一张紧面0141a，第二传动轮0142具有第二张紧面0142a，连接第一臂0200与第二臂0300的挠性件0400可张紧于第一张紧面0141a和/或第二张紧面0142a上，第一张紧面0141a与第二张紧面0142a之间包围而成一容纳部，挠性件0400可滑动地保持于容纳部。
挠性件0400依次连接第一端0110、铰接部0130与第二端0120，而形成挠性传动关系，由此而将折弯驱动力予以传递。换言之，铰接部0130具有至少一个传动轮组0140，挠性件0400依次连接第一端0110、各级传动轮组0140与第二端0120，而形成挠性传动关系。
其中，挠性传动关系，是一种常见的机械传动，通常由两个或多个传动轮与挠性件0400组成，通过挠性件0400在传动轮之间传递运动与动力。根据挠性件0400的类型，挠性传动主要有带传动、链传动和绳传动，传动轮分别为带轮、链轮和绳轮，挠性件0400分别为传动带、传动链和传动绳。
在本实施例中，铰接部0130具有一级铰接轴0131与一个传动轮组0140。第一传动轮0141与第二传动轮0142分居挠性件0400两侧，随第二臂0300的旋转方向不同，挠性件0400张紧于第一传动轮0141上或第二传动轮0142上，驱动第一传动轮0141或第二传动轮0142旋转，并带动铰接轴0131及连接于铰接轴0131上的第二臂0300旋转，从而实现挠性关节0100的关节功能。
更具体而言，当第二臂0300需要向左旋转时，在外界输入的驱动力作用下，挠性件0400张紧于第一传动轮0141上，并与第二传动轮0142保持分离，挠性件0400通过第一传动轮0141而向第二臂0300施加左旋力，驱动第二臂0300左旋；
当第二臂0300需要向右旋转时，在外界输入的驱动力作用下，挠性件0400张紧于第二传动轮0142上，并与第一传动轮0141保持分离，挠性件0400通过第二传动轮0142而向第二臂0300施加右旋力，驱动第二臂0300右旋。
优选地，传动轮组0140具有传动连接座：
传动连接座具有平行布置的第一转轴部、第二转轴部与第三转轴部，第一传动轮0141可旋转地保持于第一转轴部上，第二传动轮0142可旋转地保持于第二转轴部上，第三转轴部连接于铰接轴0131且二者保持同轴。
优选地，第一传动轮0141与第二传动轮0142于水平面内的轴心连接线在其中点处与铰接轴0131的中心轴垂直相交。
请结合参阅图4～8，一并介绍一种回转折臂1000，包括第一臂0200、第二臂0300、挠性件0400与挠性关节0100。
第一臂0200与第二臂0300通过挠性关节0100连接，第一臂0200上设有第一导向轮0210，第二臂0300上设有第二导向轮0310，挠性件0400依次张紧于第一导向轮0210、第一传动轮0141或第二传动轮0142、第二导向轮0310上。
具体地，第一端0110连接于第一臂0200，第二端0120连接于第二臂0300。第一导向轮0210、第一传动轮0141、第二传动轮0142与柄端连接轮为同类传动轮，并与挠性件0400形成挠性传动关系。第一臂0200连接于立柱或天车上，第二臂0300可旋转张开或折叠于第一臂0200上。
基于挠性关节0100具有的积木式逐级铰接关系，第二臂0300可通过挠性关节0100的逐级铰接而旋转。回转折臂1000具有360°的旋转角度，第一臂0200与第二臂0300可到达相互平行的折叠位置。并且，回转折臂1000在双向旋转折叠时，均可通过传动轮组0140实现传动，具有较佳的传动能力与灵敏度。
其中，挠性件0400的自由端0410配置成吊挂重物。在一个示范性的实施例中，自由端0410具有挂钩，配置成吊挂重物。
优选地，第一臂0200上设有配置成驱动挠性件0400收放的驱动组件0220。具体地，驱动组件0220可以是驱动电机、液压马达或曲柄连杆机构等结构形式，以能驱动挠性件0400为准。通过挠性件0400的收卷与释放，挠性件0400
优选地，第二臂0300上设有手柄组件0320，手柄组件0320通过挠性件0400而与第二导向轮0310连接。
具体地，手柄组件0320配置成供用户进行握持。用户握持手柄组件0320并施加初始旋转力，手柄组件0320感应用户的移动意图并接收作用力，驱使第二臂0300沿用户所需的折叠方向旋转。在此过程中，挠性关节0100相应发生旋转折叠，而使第二臂0300达至最佳的折叠角度。
其中，第一臂0200可绕立柱或天车旋转，使回转折臂1000可整体地绕立柱或天车旋转。换言之，第一臂0200与立柱或天车铰接，具有相对的转动自由度。第一臂0200的旋转驱动力可源自用户自自由端0410输入的水平操作力，亦可来自于自动驱动源。
在非手动驱动方式下，优选地，第一臂0200远离挠性关节0100的一端设有配置成驱动第一臂0200旋转的主旋转组件0230。主旋转组件0230配置成驱动第一臂0200绕立柱或天车而旋转，进一步增加回转折臂1000的作用范围与灵活性。其中，主旋转组件0230可以是驱动电机、液压马达或曲柄连杆机构等结构形式。
回转折臂1000的运转过程如下：
自由端0410吊起重物，驱动组件0220输出驱动力而使挠性件0400保持张紧，挠性件0400上的张紧力与重物的重力保持平衡而使重物保持吊起；
操作者握住手柄组件0320，以微小作用力沿竖直方向移动手柄组件0320，驱动组件0220驱动挠性件0400发生收卷或释放，实现自由端0410的重物提升或下降；
操作者水平推动手柄组件0320，该推动力经由挠性件0400与挠性关节0100，驱动第二臂0300的旋转，并可进而驱动第一臂0200绕立柱或天车旋转，实现重物于水平方向的平移。
实施例2
本实施例与实施例1的区别在于，在本实施例中，挠性关节0100与回转折臂1000具有积木式二级铰接关系。
请结合参阅图9～11，具体地，挠性关节0100具有二级分布的铰接轴0131，该二铰接轴0131轴向平行布置。同时，各个铰接轴0131上均设有至少一个传动轮组0140。由此，挠性件0400依次连接第一端0110、二级分布的传动轮组0140与第二端0120，而形成挠性传动关系。
优选地，铰接部0130包括铰接轴连接件0132：
铰接轴连接件0132具有轴向平行布置的第一铰接位0132a与第二铰接位0132b，第一铰接位0132a与第二铰接位0132b分别设有铰接轴0131；
第一端0110、至少一个铰接轴0131与第二端0120依次铰接而形成积木式多级铰接关系。
具体地，在本实施例中，铰接部0130包括一铰接轴连接件0132。铰接轴连接件0132通过第一铰接位0132a的铰接轴0131而与第一端0110铰接，并通过第二铰接位0132b的铰接轴0131而与第二端0120铰接。
请结合参阅图12～13，进而，在回转折臂1000中，第一端0110连接于第一臂0200，第二端0120连接于第二臂0300，而形成积木式二级铰接关系。挠性件0400依次连接第一导向轮0210、第一铰接位0132a的传动轮组0140、第二铰接位0132b的传动轮组0140和第二导向轮0310，以挠性传动而驱动铰接轴连接件0132与第二臂0300旋转。
其中，在同一传动轮组0140中，挠性件0400仅张紧于其中一个传动轮上；在二级分布的传动轮组0140中，挠性件0400仅张紧于传动轮组0140的同侧传动轮上。
在积木式二级铰接关系下，铰接轴连接件0132可绕第一铰接位0132a的铰接轴0131旋转，第二臂0300可绕第二铰接位0132b的铰接轴0131旋转，进一步增加回转折臂1000的旋转灵活性，避免在旋转过程发生干涉而影响回转折臂1000的旋转角度，同时亦可保证回转折臂1000的结构紧凑。
在一个示范性的实施例中，挠性件0400逐级张紧于各个第一传动轮0141上。当回转折臂1000旋转时，各个铰接轴0131的中心轴为各级转动的中心轴。操作者施加的水平推动力通过挠性件0400直接作用于第一传动轮0141上，使第一传动轮0141旋转而带动铰接轴0131旋转。
同时，挠性件0400保持张紧，张紧力沿挠性件0400的中心处发生，并不直接作用于挠性件0400与第一传动轮0141的接触点处。显然，挠性件0400的张紧力相对于挠性件0400与第一传动轮0141的接触点，存在一作用力臂而引起一阻挠力矩，对第一传动轮0141的旋转发生阻挠作用。
在积木式二级铰接关系下，挠性关节0100具有多级分切作用，张紧力的作用力臂迅速减小，使阻挠力矩得以减小，回转折臂1000具有十分突出的省力作用。亦即，操作者仅需施加极为微小的水平推动力，即可实现重物的水平移动。在一个实际的应用中，操作者的水平推动力不超过重物重力的1/100。
实施例3
本实施例与实施例1的区别在于，在本实施例中，挠性关节0100与回转折臂1000具有积木式三级铰接关系。
请结合参阅图11、图14与图15，优选地，铰接部0130包括铰接轴连接件0132。其中，铰接轴连接件0132具有轴向平行布置的第一铰接位0132a与第二铰接位0132b，第一铰接位0132a与第二铰接位0132b分别设有铰接轴0131；第一端0110、至少一个铰接轴0131与第二端0120依次铰接而形成积木式多级铰接关系。
具体地，在本实施例中，铰接部0130包括两个铰接轴连接件0132。两个铰接轴连接件0132依次铰接，使挠性关节0100具有三级分布的铰接轴0131与三级分布的传动轮组0140。
换言之，接近第一端0110的铰接轴连接件0132通过第一铰接位0132a而与第一端0110铰接，并通过第二铰接位0132b而与接近第二端0120的铰接轴连接件0132的第一铰接位0132a铰接，接近第二端0120的铰接轴连接件0132通过其第二铰接位0132b与第二端0120铰接。
请结合参阅图16～18，在回转折臂1000中，第一端0110连接于第一臂0200，第二端0120连接于第二臂0300。挠性件0400依次连接第一导向轮0210、三级分布的传动轮组0140与第二导向轮0310，而以挠性传动驱动二级分布的铰接轴连接件0132、第二臂0300依次旋转，通过多级折叠而进一步增加折叠柔韧性，避免发生干涉，且结构十分紧凑而刚性良好。
在此，在积木式多级铰接关系下，可逐次增加铰接轴连接件0132之数量，第一端0110、多级铰接轴连接件0132与第二端0120逐级铰接。并且，各个铰接轴0131上至少具有一个传动轮组0140，并形成多级传动轮组0140。挠性件0400依次连接第一导向轮0210、多级传动轮组0140与第二导向轮0310，而以挠性传动驱动多级铰接轴连接件0132和第二臂0300依次旋转。
其中，在同一传动轮组0140中，挠性件0400仅张紧于其中一个传动轮上；在二级分布的传动轮组0140中，挠性件0400仅张紧于传动轮组0140的同侧传动轮上。
在一个示范性的实施例中，挠性件0400逐级张紧于各个第一传动轮0141上。由于积木式多级铰接关系作用，挠性件0400的张紧力相对于挠性件0400与第一传动轮0141的接触点具有的作用力臂，得以分切而迅速减小，进一步减小挠性件0400的张紧力引起的阻挠力矩，使操作者水平推动重物时十分省力。在一个实际应用中，水平推动力小于重物重力的1/100，并随积木式多级铰接关系的铰接轴0131的数量增加而递减。
在这里示出和描述的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制，因此，示例性实施例的其他示例可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种挠性关节，其特征在于，具有：
    第一端，其配置成连接第一臂；
    第二端，其配置成连接第二臂；
    铰接部，所述第一端与所述第二端铰接于所述铰接部，所述铰接部具有至少一个可旋转的铰接轴，所述铰接轴依次铰接而形成积木式逐级铰接关系；
    传动轮组，其连接于所述铰接轴上，具有分别与所述铰接轴轴向平行的第一传动轮及第二传动轮；
    所述第一传动轮具有第一张紧面，所述第二传动轮具有第二张紧面，连接所述第一臂与所述第二臂的挠性件可张紧于所述第一张紧面和/或所述第二张紧面上，所述第一张紧面与所述第二张紧面之间包围而成一容纳部，所述挠性件可滑动地保持于所述容纳部。
  2. 根据权利要求1所述的挠性关节，其特征在于，所述铰接部包括铰接轴连接件：所述铰接轴连接件具有轴向平行布置的第一铰接位与第二铰接位，所述第一铰接位与所述第二铰接位分别设有所述铰接轴；所述第一端、至少一个所述铰接轴与所述第二端依次铰接而形成积木式多级铰接关系。
  3. 根据权利要求1所述的挠性关节，其特征在于，所述传动轮组具有传动连接座：所述传动连接座具有平行布置的第一转轴部、第二转轴部与第三转轴部，所述第一传动轮可旋转地保持于所述第一转轴部上，所述第二传动轮可旋转地保持于所述第二转轴部上，所述第三转轴部连接于所述铰接轴且二者保持同轴。
  4. 根据权利要求1所述的挠性关节，其特征在于，所述第一传动轮与所述第二传动轮于水平面内的轴心连接线在其中点处与所述铰接轴的中心轴垂直相交。
  5. 根据权利要求1所述的挠性关节，其特征在于，所述第一传动轮与所述第二传动轮包括链轮、带轮或绳轮中的一种。
  6. 一种回转折臂，其特征在于，包括第一臂、第二臂、挠性件与权利要求1-5任一项所述的挠性关节，所述第一臂与所述第二臂通过所述挠性关节连接，所述第一臂上设有第一导向轮，所述第二臂上设有第二导向轮，所述挠性件依次张紧于所述第一导向轮、所述第一传动轮或所述第二传动轮、所述第二导向轮上。
  7. 根据权利要求6所述的回转折臂，其特征在于，所述第一臂上设有配置成驱动所述挠性件收放的驱动组件。
  8. 根据权利要求6所述的回转折臂，其特征在于，所述第二臂上设有手柄组件，所述手柄组件通过所述挠性件而与所述第二导向轮连接。
  9. 根据权利要求6所述的回转折臂，其特征在于，所述第一臂远离所述挠性关节的一端设有配置成驱动所述第一臂旋转的主旋转组件。
  10. 根据权利要求6所述的回转折臂，其特征在于，所述挠性件包括传动链、传动带或传动绳中的一种。
PCT/CN2018/093062 2017-09-01 2018-06-27 挠性关节与回转折臂 WO2019041993A1 (zh)

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CN109048959B (zh) * 2018-09-10 2022-02-08 广东宏穗晶科技服务有限公司 一种可灵活转向的机器人用手臂

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