CN208262840U - A kind of Bionic flexible mechanical arm towards narrow operating in limited space - Google Patents
A kind of Bionic flexible mechanical arm towards narrow operating in limited space Download PDFInfo
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- CN208262840U CN208262840U CN201820319708.7U CN201820319708U CN208262840U CN 208262840 U CN208262840 U CN 208262840U CN 201820319708 U CN201820319708 U CN 201820319708U CN 208262840 U CN208262840 U CN 208262840U
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Abstract
The utility model discloses a kind of Bionic flexible mechanical arms towards narrow operating in limited space, the technical problem to be solved is that, there is many following problems for flexible mechanical arm mentioned in the background art, be difficult to be widely used in engineering at present, small space be even more can not operation the technical issues of.It is adopted the technical scheme that, including the sub- joint of at least one, two neighboring sub- joint is connected；Sub- joint includes upper operating surface and pedestal, and three universal connection units are arranged between upper operating surface and pedestal.Advantage, this Bionic flexible mechanical arm, innovation is the sub- joint for using three bar axis parallel connection platforms as flexible mechanical arm, this makes independent sub- joint have more freedom, and simple joint ensure that the rigidity and load capacity of flexible mechanical arm by three threaded rod supports.
Description
Technical field
The utility model relates to bio-robot technical field, more particularly to a kind of towards narrow operating in limited space
Bionic flexible mechanical arm.
Background technique
In robot field, mechanical arm is very widely used, and technology is relatively mature.But tradition machinery arm has many
Following disadvantage:
1) for tradition machinery arm usually based on three, double leval jib, freedom degree is lower, and flexibility is poor, in narrow restricted area
Interior operation operation is limited.
2) usually upper to increase tradition machinery arm freedom degree, more multi link of being connected is to achieve the goal.But at the same time
Pedestal rotary joint load torque is increased sharply, larger to driving motor damage, influences service life.
3) 1) article based on the, tradition machinery arm operating space range is smaller, compares in engineering mobile flat dependent on pedestal
The movenent performance of platform.
4) each joint loads torque of tradition machinery arm or torque depend on the sealed torque of motor, when drive system power is sent out
(power-off, hydraulic cylinder leakage etc.) mechanical arm can be out of hand when raw failure, may cause mechanical structure damage or even jeopardizes operation
Personnel's personal safety.
Low for tradition machinery arm freedom degree, the shortcomings that malfunction, lot of domestic and international scientific research institution is in recent decades
Start flexibility of research and development mechanical arm, technology also constantly improves, but still there is many following problems, is difficult in engineering at present
It is widely used.
1) usually upper traditional flexible mechanical arm uses trunk major part of the macromolecular elastomer as flexible mechanical arm.But
It is that statue deformation easily occurs when by load or aging occurs under exposed environments for macromolecular elastomer (polyurethane, rubber etc.)
Phenomenon, this not only realizes accurate control being difficult to set up Controlling model, and elastomer plastic deformation or aging seriously affect it is soft
Property mechanical arm load capacity and service life.
2) driving method of usually upper traditional flexible mechanical arm is line driving.Line drive mode is that driving line and spring are established
Drive system.This mode drives line vulnerable to deformation occurs under load effect first, causes to drive under line traffic control joint drive power
Drop.In addition, line driving flexible mechanical arm drives (i.e. all driving motors are located at pedestal one end) using overall formula, this leads to flexibility
Arm overall volume is excessive, and structure is not compact enough, interferes with each other between driving line and easily causes mechanical self-latching, cannot functionally complete all
Such as S type curve, L-type curve.
3) usually upper traditional flexible mechanical arm is all based on elastomer structure model or pneumatic actuation model, this causes to control
Establishing for simulation is extremely difficult, and operand is very huge, not can guarantee its accurate control in real time in practical applications.
Utility model content
Technical problem to be solved in the utility model is that there is all for flexible mechanical arm mentioned in the background art
Mostly following problem is difficult to be widely used in engineering at present, small space be even more can not operation the technical issues of.
The purpose of the utility model is to provide a kind of Bionic flexible mechanical arms towards narrow operating in limited space, using simultaneously
The performance of connection formula three-axis platform universal bending and axial stretching；Theory is solved using parallel connection platform is counter；It connects to overlap using joint and increase
The flexibility of strong Bionic flexible mechanical arm；Mechanical structure is avoided to interfere using the dislocation lap joint design of 60 ° of upper and lower sub- joint.Pass through control
Single threaded rod and screw-internal thread fit are made, realizes that internal screw thread is moved up and down in screw rod, to control upper joint operating surface certain
Bending on direction；By controlling the multiple screw motions of simple joint, simple joint may be implemented in bending at any angle or axial direction
It is flexible, it is preferable that the utility model machinery expands interface, can carry out more joint series, end connect crawl structure or its
Its equipment can be fixed on mobile platform (robot) or fixed platform, suitable for executing operation task in narrow limitation space,
It especially may replace manual operation in ruins, nuclear pollution, spacecraft operation task, there is huge prospect.
To achieve the above object, the utility model provides following scheme:
A kind of Bionic flexible mechanical arm towards narrow operating in limited space, including the sub- joint of at least one, adjacent two
A sub- joint is connected；
Sub- joint includes upper operating surface and pedestal, and three universal connection units are arranged between upper operating surface and pedestal；
Three the first card slots are uniformly arranged in the edge of upper operating surface, the upper behaviour between the first card slot of each adjacent two
Make the panel setting first positioning hole in face；
Three the second card slots are uniformly arranged in the edge of pedestal, the face of the pedestal between the second card slot of each adjacent two
Second location hole is arranged in plate；
Universal connection unit includes cutting ferrule, and card is set in the first card slot, and screw rod is arranged by screw thread pair in cutting ferrule,
The output shaft of one end connection motor of screw rod, motor are arranged by gimbal suspension connection in pedestal；
Three the second card slots on pedestal engage adjacent intra-articular three cutting ferrules of son respectively and realize two neighboring sub- pass
The connection of section；
Every intra-articular three motors of height are respective independent operatings.
The Bionic flexible mechanical arm of technical solutions of the utility model is made of three or four sub- joints, every sub- joint
The upper operating surface of upper and lower circular flat and pedestal parallel combination are formed into freedom degree parallel connection platform for three thread spindles, individually
Sub- joint can realize universal bending (two freedom degrees) and axial stretching (one degree of freedom).Pass through threaded rod and cutting ferrule inner surface
Being threadedly engaged between the internal screw thread of setting realizes single sub- joint to a certain so that upper and lower surface screw thread pole length changes
Direction bending or axial stretching.
The Bionic flexible mechanical arm of technical solutions of the utility model is built by the series connection of sub- joint, and adjacent sub- joint exists
60 ° of axile displacement connections.
The Bionic flexible mechanical arm of technical solutions of the utility model shares 3*n freedom degree if there is n sub- joint connections.
The Bionic flexible mechanical arm of technical solutions of the utility model, two neighboring sub- joint are connected by closing the second son
It is realized in three the second card slots that three cutting ferrules in section are separately positioned on the first intra-articular pedestal of son.
Preferably, Bionic flexible mechanical arm is made of three or four sub- joints.
Preferably, gimbal suspension includes upper connection sheet, cradle head and lower connection sheet, and upper connection sheet connects firmly the outer of motor
Shell, the section of upper connection sheet are in " U " font, and lower connection sheet connects firmly pedestal, and the section of lower connection sheet is in " U " font, in " U " font
Connection sheet is rotatablely connected with cradle head with connection sheet under " U " font and connection sheet and connection sheet under " U " font in " U " font
It is arranged in a crossed manner in " ten " word.The setting of this gimbal suspension uses the structure in cross joint, is divided into connection sheet, lower connection sheet and rotation
Joint.The height of connection sheet determines that the limit rotates angle, reasonable that connection sheet height is arranged, and helps to improve integrally-built
Rotating property.
To the further preferred of above scheme, positioning column is arranged in evagination in lower connection sheet, and positioning column is inserted into second location hole
It is interior and connect firmly.
Preferably, card is set in the first card slot, and by the way that bolt is inwardly arranged by cutting ferrule at the edge of upper operating surface
It is fixed in the first card slot.
Preferably, the second card slot engages the adjacent intra-articular cutting ferrule of son on pedestal, and by the edge in pedestal to
Cutting ferrule is fixed in the second card slot by interior setting bolt.
The utility model achieves following technical effect compared with the existing technology:
1, a kind of Bionic flexible mechanical arm towards narrow operating in limited space of the utility model, innovation are using three
Sub- joint of the bar parallel connection platform as flexible mechanical arm, it is more free that this has independent sub- joint, and simple joint is by three
Root threaded rod supports the rigidity and load capacity that ensure that flexible mechanical arm.From freedom degree number or rigidity, load capacity
Performance, this Bionic flexible mechanical arm have greater advantage compared to conventional rigid mechanical arm and conventional flex mechanical arm.
2, a kind of Bionic flexible mechanical arm towards narrow operating in limited space of the utility model exists there are also a big advantage
In compact-sized, this is operated for carrying out target surface processing, object crawl, designated space region detection etc. in small space
Task has greater advantage, there is larger utility value in the fields such as fire, ruins, exploration, nuclear pollution and aerospace.
3, a kind of Bionic flexible mechanical arm towards narrow operating in limited space of the utility model, mechanical expansion compared with
Good, upper operating surface is attached to fixed platform, and can connect and use in mobile platform as functional component.End mounts can connect
Different actuators (mechanical gripper, camera, headlamp, welder etc.) is connect, can be completed under different actual environments
Operation task.The mountable dissimilar sensor of torso portion, for detecting active force suffered by important joint or opplied moment, barrier
Hinder object ranging, image transmitting, temperature identification, position positioning etc..
4, a kind of Bionic flexible mechanical arm towards narrow operating in limited space of the utility model, drive mode innovate formula
The drive mode using threaded rod and screw-internal thread fit have with conventional parallel platform using compared with Driven by Hydraulic Cylinder mode
Two big advantages:
1) threaded rod and internal screw thread can determine single pole variation length by being threadedly engaged work by screw rod revolution, this
It is higher that mode controls precision, and hydraulic cylinder can lead to piston upper and lower displacement with load variation, need to carry out feedback control progress
It adjusts, is unfavorable for controlling.
2) under special circumstances if encountering power blackout situation, either conventional rigid mechanical arm or conventional flex mechanical arm
It will run out of steam moment, out of hand under self gravity and fall or irregular curved etc., this is steady for machinery
Qualitative energy, task completion ability and operator's personal safety have larger threat.This Bionic flexible mechanical arm uses threaded rod
, since threaded rod and internal screw thread have the function of axial self-locking, keep flexible when there is line fault with screw-internal thread fit mode
The original posture of mechanical arm does not change.When route restores normal, staff can be based on flexible mechanical arm posture before failure
It carries out continuing to operate without readjustment, this design not only facilitates operation but also guarantees the stabilization of mechanical system, and for behaviour
The personal safety for making personnel has important guarantee.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is that a kind of overall structure of Bionic flexible mechanical arm towards narrow operating in limited space of the utility model is illustrated
Scheme (three sub- joints are illustrated in figure).
Fig. 2 is the structural schematic diagram in single sub- joint.
Fig. 3 is the structural schematic diagram of gimbal suspension in Fig. 2.
Fig. 4 is the overall structure diagram that Bionic flexible mechanical arm is in bending state in Fig. 1.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that described embodiment is only the utility model a part of the embodiment, rather than whole realities
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.
The purpose of the utility model is to provide a kind of Bionic flexible mechanical arms towards narrow operating in limited space, to solve
Above-mentioned existing climbing robot there are the problem of and reply space environment to the special duty demand of climbing robot.
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing 1-4 and
Specific embodiment is described in further detail the utility model.
A kind of Bionic flexible mechanical arm towards narrow operating in limited space is present embodiments provided as shown in Figure 1:, including
Three sub- joints 1, two neighboring sub- joint 1 are connected.Two neighboring sub- joint 1 is connected by by the second son intra-articular three
It is realized in three the second card slot 12-1 that cutting ferrule 13-1 is separately positioned on the first intra-articular pedestal 12 of son.
As shown in Fig. 2, sub- joint 1 includes upper operating surface 11 and pedestal 12, it is arranged between upper operating surface 11 and pedestal 12
Three universal connection units 13.Three universal connection units 13 are uniformly arranged.
As shown in Fig. 2, being uniformly arranged three the first card slot 11-1, three the first card slots in the edge of upper operating surface 11
11-1 is uniformly arranged.First positioning hole 11- is arranged in the panel of upper operating surface 11 between the first card slot of each adjacent two 11-1
2, three first positioning hole 11-2 are uniformly arranged.
As shown in Fig. 2, it is equal to be uniformly arranged three second card slots 12-1, three the second card slot 12-1 in the edge of pedestal 12
The panel setting second location hole 12-2 of the pedestal 12 between the second card slot of each adjacent two 12-1 is arranged in cloth, and three second fixed
Position hole 12-2 is uniformly arranged.Three the second card slot 12-1 on pedestal 12 engage adjacent intra-articular three cutting ferrules of son respectively
13-1 realizes the connection in two neighboring sub- joint 1.Second card slot 12-1 engages the adjacent intra-articular cutting ferrule 13- of son on pedestal 12
1, and cutting ferrule 13-1 is fixed in the second card slot 12-1 by the way that bolt is inwardly arranged at the edge in pedestal 12.As shown in Figure 2.
As shown in Figures 2 and 3, universal connection unit 13 includes cutting ferrule 13-1, and cutting ferrule 13-1 is arranged in the first card slot 11-1,
And cutting ferrule 13-1 is fixed in the first card slot 11-1 by the way that bolt is inwardly arranged at the edge of upper operating surface 11.In cutting ferrule 13-1
Interior that screw rod 13-2 is arranged by screw thread pair, the output shaft of one end connection motor 13-3 of screw rod 13-2, motor 13-3 passes through universal
13-4 connection in joint is arranged in pedestal 12.
As shown in Fig. 2, three motor 13-3 in every sub- joint 1 are respective independent operatings.
As shown in figure 3, gimbal suspension 13-4 includes upper connection sheet A, cradle head B and lower connection sheet C, upper connection sheet A is solid
Join the shell of motor 13-3, the section of upper connection sheet A is in " U " font, and lower connection sheet C connects firmly pedestal 12, the section of lower connection sheet C
In " U " font, connection sheet A and connection sheet C under " U " font is rotatablely connected and in " U " font with cradle head B in " U " font
Connection sheet A and connection sheet C under " U " font is arranged in a crossed manner in " ten " word.Positioning column C-1, positioning column is arranged in evagination on lower connection sheet C
In C-1 insertion second location hole 12-2 and connect firmly.This gimbal suspension 13-4 setting uses the structure in cross joint, is divided into connection
Piece, lower connection sheet and cradle head.The height of connection sheet determines that the limit rotates angle, reasonable that connection sheet height is arranged, and has
Help improve integrally-built rotating property.
The Bionic flexible mechanical arm of the present embodiment is made of three sub- joints, and every sub- joint is that three thread spindles will be upper
The upper operating surface and pedestal parallel combination of lower circular flat and form freedom degree parallel connection platform, single sub- joint can be realized universal
It is bent two freedom degrees and axial stretching one degree of freedom.The spiral shell between internal screw thread being arranged by threaded rod and cutting ferrule inner surface
Line cooperates so that upper and lower surface screw thread pole length changes, and the single sub- joint of realization is bent to a direction or axial stretching.
The Bionic flexible mechanical arm of the present embodiment is built by the series connection of sub- joint, and adjacent sub- joint is in axile displacement
60 ° of connections.
The Bionic flexible mechanical arm of the present embodiment has 3 sub- joint connections, shares 3*3=9 freedom degree.
Specific embodiment:
It is connected among elastomer flexible arm in the prior art using elastomer, is turned between joint using spherical groove is opposite
It is dynamic.One of such structure is the disadvantage is that unit joint rotation angle is only 10 degree, and diameter is only 20mm, in conjunction with polyurethane material
Performance, too small diameter load-carrying ability is very limited, and high molecular polymer in space environment be easy aging.Entirety is not
It is able to achieve the bending of discontinuous curvature.
The shortcomings that for prior art elastomer flexible arm, propose the Bionic flexible mechanical arm of the present embodiment, this Novel imitation
The structural parameters of raw flexible mechanical arm:
Novel bionic flexible mechanical arm diameter 40mm, maximum extension length 193.40mm, minimum compressed length 142.10mm,
92.7 ° of one direction maximum bend angle.Driving motor selects GA12-N20 DC speed-reducing, and DC speed-reducing connection is a length of
The M4 threaded rod of 30mm.Motor relevant parameter: no-load speed: 120rpm/min, load speed: 96rpm/min, rated moment:
2.00kg/cm, rated current: 300mA, stalling torque: 16kg/cm, locked rotor current: 300mA, reduction ratio: 1:250.
After the extreme angles for determining this kind of structure, the operating angle range of each single joint is also predefined.So-called work
Make angular range, i.e., each joint rotates cannot interfere within this range.
According to simulation result, when two neighboring joint deflects 31.4 ° simultaneously, structure can be interfered, at this time should be by this angle
Angle value is set to off the quasi- rotational value of feast-brand mark.Screw motion stroke is 10.27mm at this time, it is contemplated that movement surplus and axial stretching, it will
Screw rod 13-2 length becomes from original 55mm more 25mm.To which three joint total heights be foreshortened to by original 291mm
193.4mm saving space.
Therefore, the utility model Bionic flexible mechanical arm is compact-sized there are also a big advantage, and diameter only has 40mm, this for
Carrying out the operation tasks such as target surface processing, object crawl, designated space region detection in small space has greater advantage,
There is larger utility value in the fields such as fire, ruins, exploration, nuclear pollution and aerospace.
It applies specific case in this specification to be expounded the principles of the present invention and embodiment, the above reality
The explanation for applying example is merely used to help understand the method and its core concept of the utility model；Meanwhile for the general of this field
Technical staff, based on the idea of the present invention, there will be changes in the specific implementation manner and application range.To sum up institute
It states, the content of the present specification should not be construed as a limitation of the present invention.
Claims (6)
1. a kind of Bionic flexible mechanical arm towards narrow operating in limited space, it is characterised in that: the son including at least one closes
It saves (1), two neighboring sub- joint (1) is connected；
Sub- joint (1) includes upper operating surface (11) and pedestal (12), and three are arranged between upper operating surface (11) and pedestal (12)
Universal connection unit (13)；
Three the first card slots (11-1) are uniformly arranged in the edge of upper operating surface (11), in the first card slot of each adjacent two (11-
1) first positioning hole (11-2) is arranged in the panel of the upper operating surface (11) between；
Be uniformly arranged three the second card slots (12-1) in the edge of pedestal (12), the second card slot of each adjacent two (12-1) it
Between pedestal (12) panel be arranged second location hole (12-2)；
Universal connection unit (13) includes cutting ferrule (13-1), and cutting ferrule (13-1) setting is in the first card slot (11-1), in cutting ferrule
Screw rod (13-2) is arranged by screw thread pair in (13-1), the output shaft of one end connection motor (13-3) of screw rod (13-2), motor
(13-3) is arranged by gimbal suspension (13-4) connection in pedestal (12)；
Three the second card slots (12-1) on pedestal (12) engage adjacent intra-articular three cutting ferrules (13-1) of son respectively and realize
The connection of two neighboring sub- joint (1)；
Three motors (13-3) in every sub- joint (1) are respective independent operatings.
2. as described in claim 1 towards the Bionic flexible mechanical arm of narrow operating in limited space, it is characterised in that: bionical soft
Property mechanical arm is made of three or four sub- joints.
3. as described in claim 1 towards the Bionic flexible mechanical arm of narrow operating in limited space, it is characterised in that: universal pass
Saving (13-4) includes upper connection sheet A, cradle head B and lower connection sheet C, and upper connection sheet A connects firmly the shell of motor (13-3), upper company
The section of contact pin A is in " U " font, and lower connection sheet C connects firmly pedestal (12), and the section of lower connection sheet C is in " U " font, " in U " font
Connection sheet with " under U " font connection sheet be rotatablely connected with cradle head B and " in U " font connection sheet with " connect under U " font
Piece is arranged in a crossed manner in " ten " word.
4. as claimed in claim 3 towards the Bionic flexible mechanical arm of narrow operating in limited space, it is characterised in that: lower connection
Evagination setting positioning column (C-1) on piece C, positioning column (C-1) insertion second location hole (12-2) is interior and connects firmly.
5. as described in claim 1 towards the Bionic flexible mechanical arm of narrow operating in limited space, it is characterised in that: by
The edge of upper operating surface (11) is inwardly arranged bolt and cutting ferrule (13-1) is fixed in the first card slot (11-1).
6. as described in claim 1 towards the Bionic flexible mechanical arm of narrow operating in limited space, it is characterised in that: pedestal
(12) the second card slot (12-1) engages the adjacent intra-articular cutting ferrule (13-1) of son on, and by the edge in pedestal (12) to
Cutting ferrule (13-1) is fixed in the second card slot (12-1) by interior setting bolt.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820319708.7U CN208262840U (en) | 2018-03-08 | 2018-03-08 | A kind of Bionic flexible mechanical arm towards narrow operating in limited space |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820319708.7U CN208262840U (en) | 2018-03-08 | 2018-03-08 | A kind of Bionic flexible mechanical arm towards narrow operating in limited space |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112296990A (en) * | 2020-10-27 | 2021-02-02 | 浙江理工大学 | Bionic sea snake robot based on rope traction |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112296990A (en) * | 2020-10-27 | 2021-02-02 | 浙江理工大学 | Bionic sea snake robot based on rope traction |
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