CN109589135B - Multi-degree-of-freedom mechanical arm - Google Patents
Multi-degree-of-freedom mechanical arm Download PDFInfo
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- CN109589135B CN109589135B CN201910091584.0A CN201910091584A CN109589135B CN 109589135 B CN109589135 B CN 109589135B CN 201910091584 A CN201910091584 A CN 201910091584A CN 109589135 B CN109589135 B CN 109589135B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
- A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
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Abstract
The invention relates to the technical field of mechanical arms, and provides a multi-degree-of-freedom mechanical arm, which comprises a control switch and a multi-section mechanical arm; the multi-section mechanical arms are connected with each other in pairs, and the middle mechanical arm is provided with a right-angle corner; the control switch comprises a connecting rod mechanism and a plurality of rotation control mechanisms; the connecting rod mechanism comprises a plurality of connecting rods and a plurality of right-angle connecting mechanisms, each connecting rod is arranged in the matched mechanical arm, and the right-angle connecting mechanisms are arranged at right-angle corners of the mechanical arm and are used for connecting the connecting rods at two sides of the right-angle connecting mechanisms; the cooperation department of two adjacent arms is equipped with rotation control mechanism, rotation control mechanism includes first control unit and second control unit, link mechanism can make first control unit and second control unit can rotate around the axle relatively along axial action in each arm. The mechanical arm does not need a power supply, does not need a motor, performs pure mechanical action, and realizes the positioning and moving states of the mechanical arm through mechanical transmission.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a multi-degree-of-freedom mechanical arm.
Background
Many existing medical tests require the use of medical instruments that move around the body surface of the human body to perform a test, such as ultrasonic testing. Ultrasonography is a method for diagnosing a disease by using waves generated by ultrasound to propagate in a human body and displaying the reflection and attenuation law of ultrasound to various organs and tissues in the body through an oscilloscope. The ultrasonic probe is widely applied to health examination of human body due to the flexibility of the moving mode of the ultrasonic probe.
In medical testing, it is often necessary to move a medical instrument from one location to another, where the position of movement cannot be arbitrarily selected by a single robotic arm, which has a low degree of freedom, resulting in the need for more robotic arms or other auxiliary devices. Because the industrialized transmission is spatial and integrated, six dimensions are needed, the degree of freedom of the existing single mechanical arm is less, and the spatial transmission is difficult to complete. Therefore, improving the degree of freedom of the mechanical arm joint is a problem that needs to be solved urgently at present.
Disclosure of Invention
The invention aims to solve the problems, and provides a multi-degree-of-freedom mechanical arm which can realize the position change of multiple degrees of freedom.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a multi-freedom mechanical arm is characterized in that: comprises a control switch and a plurality of sections of mechanical arms;
the multi-section mechanical arms are connected with each other in pairs, and the middle mechanical arm is provided with a right-angle corner;
the control switch comprises a connecting rod mechanism and a plurality of rotation control mechanisms;
the connecting rod mechanism comprises a plurality of connecting rods and a plurality of right-angle connecting mechanisms, each connecting rod is arranged in the matched mechanical arm, and the right-angle connecting mechanisms are arranged at right-angle corners of the mechanical arm and are used for connecting the connecting rods at two sides of the right-angle connecting mechanisms;
the cooperation position of two adjacent mechanical arms is provided with a rotation control mechanism, the rotation control mechanism comprises a first control unit and a second control unit which are respectively and fixedly connected with the two adjacent mechanical arms, the first control unit and the second control unit are provided with a matched circumferential limit structure, and the rotation control mechanism is sleeved on the connecting rod;
the connecting rod mechanism can axially act in each mechanical arm to enable the circumferential limiting structure of each rotary control mechanism to release circumferential limitation, so that the first control unit and the second control unit can relatively rotate around the shaft, and each mechanical arm is matched to form a multi-degree-of-freedom rotating arm.
Further, a plurality of locating pins and a plurality of locating holes cooperate to form a circumferential limit structure, a plurality of locating holes are symmetrically arranged on a first control unit along the axial direction of the mechanical arm, a second control unit comprises a base and a limit part which are all fixedly arranged inside the mechanical arm, a plurality of through holes are symmetrically arranged on the base along the axial direction, a plurality of locating pins are all arranged in the plurality of through holes, the limit part always applies acting force towards the direction of the locating holes to the plurality of locating pins, so that the plurality of locating pins are matched with the locating holes to perform circumferential limit, and a connecting rod is connected with the plurality of locating pins to control the plurality of locating pins to be separated from the locating holes to release the circumferential limit.
Further, at least one positioning pin can be matched with the positioning hole in the process of rotating the first control unit and the second control unit around the shaft relatively.
Further, one end of the locating pin penetrates through the through hole to be matched with the locating hole, an abdication area is arranged on one side, close to the connecting rod, of the locating pin, the second control unit further comprises a connecting disc, the connecting disc is coaxially and fixedly sleeved on the connecting rod, the circumferential end face of the connecting disc is arranged in the abdication area, and the connecting disc can axially move in the abdication area.
Further, the locating pin is hollow structure, the one end of locating pin set up in the cavity of locating pin, the other end set up in the locating pin keep away from the one end of locating hole, the locating pin with set up a spring between the other end of locating pin, spacing portion acts on the other end of locating pin.
Further, one end of the locating pin matched with the locating hole is of a conical structure.
Further, the first control unit further comprises a conical boss coaxially arranged with the mechanical arm, the base of the second control unit further comprises a conical recess matched with the conical boss, and the conical boss is arranged in the conical recess.
Further, the control switch further comprises a switch mechanism and an elastic element, wherein the switch mechanism acts on one end of the link mechanism to enable the link mechanism to move from a position close to the switch mechanism to a position far away from the switch mechanism, and the elastic element acts on the other end of the link mechanism to enable the link mechanism to move from a position far away from the switch mechanism to a position close to the switch mechanism.
Further, the elastic element is a spring, the spring is sleeved on the connecting rod, the connecting rod and the mechanical arm respectively act on two ends of the spring, and the spring is configured to: when the circumferential limiting structure performs circumferential limiting, the spring is in an initial state, and when the circumferential limiting structure releases the circumferential limiting, the spring is in a compressed state.
Further, the switch mechanism comprises an eccentric wheel and a switch, wherein the eccentric wheel is arranged in the mechanical arm and acts on one end of the connecting rod mechanism, the eccentric wheel comprises a rotating shaft, the rotating shaft is arranged in the direction perpendicular to the axial direction of the mechanical arm, one end of the rotating shaft is arranged outside the mechanical arm, and the switch is fixedly connected with the rotating shaft so as to control the rotating shaft to rotate.
Further, the switch is cylindrical, one end of the switch is fixedly and vertically connected with the rotating shaft, the switch mechanism further comprises a switch fixing groove fixedly arranged on the outer surface of the mechanical arm and used for limiting the rotating position of the switch, and the switch fixing groove comprises a groove matched with the appearance of the switch.
Further, the right angle coupling mechanism includes cam and fixed axle, the fixed axle install in on the right angle turning, and its axial with the axial of the connecting rod at right angle turning both ends is all mutually perpendicular, the middle part cover of cam is located the fixed axle, the both ends of cam are acted on respectively the connecting rod at right angle turning both ends.
The invention adopts the technical scheme and has the beneficial effects that:
1. the robot arm has multiple degrees of freedom, can simulate the arm of a person to move, and can complete the movement of the robot arm in multiple degrees of freedom by controlling the link mechanism.
2. The mechanical arm is positioned and movable by mechanical transmission without a power supply or a motor and purely mechanically operated.
Drawings
Fig. 1 is a schematic diagram showing the overall structure of an embodiment of the present invention.
Fig. 2 is a schematic structural view of the mechanical arm in this embodiment.
Fig. 3 is a schematic view showing an exploded structure of the mechanical arm in this embodiment.
Fig. 4 is a schematic structural diagram of the link mechanism and the switch mechanism in the embodiment.
Fig. 5 is a partially exploded view of the mechanical arm in this embodiment.
Fig. 6 is a cross-sectional view of the switching mechanism in this embodiment.
Fig. 7 shows an exploded view of the right-angled corner in this embodiment.
Fig. 8 is a schematic structural view of the rotation control mechanism in this embodiment.
Fig. 9 is a schematic view showing the structure of the positioning pin in this embodiment.
Fig. 10 is a schematic diagram showing a structure in which the connecting rod is connected to the mechanical arm through a spring in this embodiment.
Detailed Description
For further illustration of the various embodiments, the invention is provided with the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments and together with the description, serve to explain the principles of the embodiments. With reference to these matters, one of ordinary skill in the art will understand other possible embodiments and advantages of the present invention. The components in the figures are not drawn to scale and like reference numerals are generally used to designate like components.
The invention will now be further described with reference to the drawings and detailed description.
As shown in fig. 1 to 10, the embodiment provides a multi-degree-of-freedom mechanical arm, which can be applied to various fields requiring multi-directional movement, not only the medical field, but also the multi-degree-of-freedom mechanical arm applied to an ultrasonic probe support.
Referring to fig. 2 and 3, the multi-degree-of-freedom mechanical arm includes a control switch and 7 mechanical arms, the mechanical arms may be made of hard materials such as hard plastics and metals, the 7 mechanical arms are connected with each other in pairs, and are sequentially set as a first mechanical arm 1a, a second mechanical arm 1b, a third mechanical arm 1c, a fourth mechanical arm 1d, a fifth mechanical arm 1e, a sixth mechanical arm 1f and a seventh mechanical arm 1g according to a connection sequence. Wherein, a right angle corner 2 is set on the second mechanical arm 1b, the third mechanical arm 1c, the fourth mechanical arm 1d, the fifth mechanical arm 1e and the sixth mechanical arm 1f, the right angle corner on the second mechanical arm 1b is set as 2b, the right angle corner on the third mechanical arm 1c is set as 2c, the right angle corner on the fourth mechanical arm 1d is set as 2d, the right angle corner on the fifth mechanical arm 1e is set as 2e, and the right angle corner on the sixth mechanical arm 1f is set as 2f.
It should be noted that the position of the right angle corner 2 on the mechanical arm may be any position, for example, a position near two ends and a position in the middle, which is not limited herein. The length of the mechanical arm is set according to the moving distance, and is not limited herein.
In this embodiment, the number of the mechanical arms is 7 knots, the degree of freedom is six degrees of freedom, and in other embodiments, the number of the mechanical arms may be appropriately increased or decreased according to the requirement of the degree of freedom.
The plane of connection between two is set as the rotating surface, and the structure can obtain the two adjacent rotating surfaces which are mutually perpendicular.
Referring to fig. 1, the seventh mechanical arm 1g is mounted on a bracket 8, and the first mechanical arm 1a is mounted with a mechanical arm 9.
Referring to fig. 4 and 5, the control switch includes a switching mechanism 6, a link mechanism, and a plurality of rotation control mechanisms 5.
With continued reference to fig. 4, the linkage mechanism is composed of a plurality of connecting rods 3 and a plurality of right-angle connection mechanisms 4, the connecting rods 3 are coaxially arranged in the mechanical arm 1, the right-angle connection mechanisms 4 are arranged at the right-angle corners 2, and the plurality of connecting rods 3 and the plurality of right-angle connection mechanisms 4 jointly form the linkage mechanism, in this embodiment, since the mechanical arm comprises 7 sections, the specific structure of the linkage mechanism is as follows:
the connecting rods 3 comprise six connecting rods 3a, a second connecting rod 3b, a third connecting rod 3c, a fourth connecting rod 3d, a fifth connecting rod 3e and a sixth connecting rod 3f.
The first connecting rod 3a is disposed in the first mechanical arm 1a and the second mechanical arm 1b, the second connecting rod 3b is disposed in the second mechanical arm 1b and the third mechanical arm 1c, the third connecting rod 3c is disposed in the third mechanical arm 1c and the fourth mechanical arm 1d, the fourth connecting rod 3d is disposed in the fourth mechanical arm 1d and the fifth mechanical arm 1e, the fifth connecting rod 3e is disposed in the fifth mechanical arm 1e and the sixth mechanical arm 1f, and the sixth connecting rod 3f is disposed in the sixth mechanical arm 1f and the seventh mechanical arm 1g.
The right-angle connecting mechanisms 4 comprise five right-angle connecting mechanisms, namely a first right-angle connecting mechanism 4a, a second right-angle connecting mechanism 4b, a third right-angle connecting mechanism 4c, a fourth right-angle connecting mechanism 4d and a fifth right-angle connecting mechanism 4e.
The first right angle connection mechanism 4a is disposed in the second mechanical arm 1b, the second right angle connection mechanism 4b is disposed in the third mechanical arm 1c, the third right angle connection mechanism 4c is disposed in the fourth mechanical arm 1d, the fourth right angle connection mechanism 4d is disposed in the fifth mechanical arm 1e, and the fifth right angle connection mechanism 4e is disposed in the sixth mechanical arm 1 f.
Through the arrangement, the mechanical arms connected with the two ends of the right-angle connecting mechanism 4 are mutually perpendicular, so that the connecting rods 3 arranged at the two ends of the right-angle connecting mechanism 4 in the mechanical arms are mutually perpendicular. The right-angle connection 4 is used for transmitting forces between two mutually perpendicular connecting rods 3, such as: the force is transmitted from the first connecting rod 3a to the second connecting rod 3b through the first right angle connection 4a, from the second connecting rod 3b to the third connecting rod 3c, … … through the second right angle connection 4b, and from the fifth connecting rod 3e to the sixth connecting rod 3f through the fifth right angle connection 4e.
It can be obtained from the above-mentioned link mechanism that the right-angle connection mechanism 4 is capable of transmitting two forces perpendicular to each other, so that a person skilled in the art can use various common connection structures, such as connection of a slide block and a slide rail, hinging, etc., and in this embodiment, for simplicity of structure, a cam structure is adopted, as shown in fig. 7, which is a schematic view of any right-angle corner 2, the right-angle connection mechanism 4 includes a cam 41 and a fixed shaft 42, the fixed shaft 42 is mounted on the right-angle corner 2, and its axial direction is perpendicular to the axial direction of the connecting rods 3 at two ends of the right-angle corner 2, the middle part of the cam 41 is sleeved on the fixed shaft 42, and two ends of the cam 41 respectively act on the connecting rods 3 at two ends of the right-angle corner 2. With the above arrangement, when the connecting rod 3 at one end of the cam 41 acts on the cam 41, the cam 41 rotates about the axis of the fixed shaft 42, and the other end of the cam 41 acts on the connecting rod 3 connected thereto, thereby completing the transfer of the force between the connecting rods 3.
With continued reference to fig. 2-4, the first connecting rod 3a is connected to the switch mechanism 6, and the sixth connecting rod 3f is connected to the seventh mechanical arm 17 through a spring 7.
The switch mechanism 6 acts on the first connecting rod 3a to control the movement of the first connecting rod from the end far from the second connecting rod 3b to the end close to the second connecting rod 3b, and the six connecting rods sequentially move in the same direction through the action of the switch mechanism 6 and the force transmission action between the connecting rod mechanisms, namely, the first connecting rod 3a moves from the end of the first mechanical arm 1a to the end of the second mechanical arm 1b, the second connecting rod 3b moves from the end of the second mechanical arm 1b to the end of the third mechanical arm 1c, … …, and the sixth connecting rod 3f moves from the end of the sixth mechanical arm 1f to the end of the seventh mechanical arm 1g, so that the spring 7 fixedly connected to the sixth connecting rod 3f and the seventh mechanical arm 1g is compressed.
In this embodiment, the spring 7 is sleeved on the sixth connecting rod 3f, and one end of the spring 7 is fixedly connected to the sixth connecting rod 3f, and the other end is fixedly connected to the seventh mechanical arm 1g. Referring to fig. 10, the specific structure in this embodiment is: the sixth connecting rod 3f is provided with a first limiting part 71, the seventh mechanical arm 1g is provided with a second limiting part 72, the spring 7 is arranged between the first limiting part 71 and the second limiting part 72, when the sixth connecting rod 3f moves towards the seventh mechanical arm 1g, the distance between the first limiting part 71 and the second limiting part 72 is reduced, and therefore, the spring 7 is compressed; when the sixth connecting rod 3f moves away from the seventh mechanical arm 1g, the distance between the first limiting portion 71 and the second limiting portion 72 increases, and therefore, the spring 7 returns to the original state.
It should be noted that the mounting manner of the spring 7 is only one embodiment, and in other embodiments, other mounting manners may be adopted, which is not limited herein, and other elastic elements, such as elastic rubber, may be used instead of the spring 7.
The combined action of the switch mechanism 6 and the spring 7 is used in this embodiment to achieve the movement of the linkage mechanism in the axial direction, and in other embodiments, other mechanical structures may be used.
With continued reference to fig. 2 and 6, the switch mechanism 6 includes an eccentric wheel 61 and a switch 62, the eccentric wheel 61 is disposed inside the first mechanical arm 1a and acts on one end of the first connecting rod 3a, the eccentric wheel 61 includes a rotating shaft 611, the rotating shaft 611 is mounted on the first mechanical arm 1a in a direction perpendicular to the axial direction, and one end of the rotating shaft 611 is disposed outside the first mechanical arm 1a, and the switch 62 is fixedly connected to the rotating shaft 611 to control the rotating shaft 611 to rotate, in this embodiment, when the eccentric wheel 61 rotates, the first connecting rod 3a is controlled to move between a position close to the eccentric wheel 61 and a position far from the eccentric wheel 61. The structure of the switch mechanism 6 is just one implementation of this embodiment, and other structures may be used by those skilled in the art to implement the movement of the first connecting rod 3a between a position close to the eccentric 61 and a position far from the eccentric 61, such as a worm structure and the like.
The switch 62 may be a circular switch or a single-sided elongated switch as commonly used in a faucet, and referring to fig. 2, in this embodiment, a single-sided cylindrical switch 62 and a switch fixing groove 63 are preferably used to better control the rotation angle of the eccentric 61. The switch 62 is cylindrical, one end of the switch 62 is fixedly and vertically connected to the rotating shaft 611, the switch mechanism 6 further includes a switch fixing groove 63 fixedly disposed on the outer surface of the mechanical arm, and the switch fixing groove 63 is used for limiting the rotating position of the switch 62, and includes a groove matched with the shape of the switch 62. When the switch 62 is rotated into the groove of the switch fixing groove 63, the rotation is stopped.
With continued reference to fig. 5, two adjacent mechanical arms are connected by a rotary control mechanism 5, fig. 5 is a schematic diagram of the fourth mechanical arm 1d and the fifth mechanical arm 1e after being disassembled, the structure of the rotary control mechanism 5 between each two adjacent mechanical arms is the same, one of them (i.e. the rotary control mechanism 5 between the fourth mechanical arm 1d and the fifth mechanical arm 1 e) is described in detail below, the specific structure is shown in fig. 8, the rotary control mechanism 5 includes a first control unit 51 and a second control unit 52, the first control unit 51 is fixedly connected to the fourth mechanical arm 1d, and includes a plurality of positioning holes 511 distributed symmetrically along the axial direction of the fourth mechanical arm 1d, the second control unit 52 includes a plurality of positioning pins 521, a base 522 fixedly connected to the fifth mechanical arm 1e, and a limiting part (not visible in the drawing) fixedly arranged in the fifth mechanical arm 1e, the base 522 is provided with a plurality of through holes symmetrically arranged along the axial direction, the plurality of positioning pins 521 are all arranged in the limiting part, the plurality of positioning pins 521 are all arranged in the limiting units, and the plurality of positioning pins 521 can be mutually matched with the plurality of positioning pins 511 through the plurality of positioning holes 511, and the positioning pins 521 can be mutually released from the positioning holes 521, and the positioning holes 521 can mutually match with the positioning holes 511.
With the above arrangement, when the fourth connecting rod 3d reciprocates and the positioning holes 511 of the positioning pins 521 are controlled to cooperate with each other to perform the limiting, the mutual rotation between the fourth mechanical arm 1d and the fifth mechanical arm 1e is limited; when the positioning holes 511 of the positioning pins 521 are controlled to be separated from each other to release the restriction, the restriction between the fourth arm 1d and the fifth arm 1e is released, and the fourth arm 1d and the fifth arm 1e can rotate with each other.
It should be noted that, in this embodiment, the positioning pin 521 and the positioning hole 511 implement a circumferential limiting function, and in other embodiments, other structures may be used instead of the positioning pin 521 and the positioning hole 511, for example, gears with two meshed end surfaces may be used.
When the number of the positioning pins 521 is the same as the number of the positioning holes 511, the positioning holes 511 can be engaged with the positioning pins 521 only when rotated to a specific angle. In order to enable the rotation angle of the adjacent two mechanical arms (e.g., the fourth mechanical arm 1d and the fifth mechanical arm 1 e) to be greater, the number of the positioning pins 521 is preferably set to be different from the number of the positioning holes 511 in this embodiment, and when the number is different, the part of the positioning pins 521 is engaged with the positioning holes 511 and the part of the positioning pins 521 is separated from the positioning holes 511 when rotated to a certain angle. Therefore, the greater the number, the greater the angle of rotation, and for the sake of simpler structure, it is preferable to provide the number of the positioning pins 521 different from the number of the positioning holes 511 by one, and in this embodiment, as shown in fig. 8, the number of the positioning pins 521 is 13, and the number of the positioning holes 511 is 12.
In this embodiment, the connection between the fourth connecting rod 3d and the positioning pin 521 is: one end of the positioning pin 521 passes through the through hole and is matched with the positioning hole 511, a yielding area 5211 (as shown in fig. 9) is disposed on a side of the positioning pin near the connecting rod 3, the second control unit 52 further includes a connecting disc 523, the connecting disc 523 is coaxially and fixedly sleeved on the fourth connecting rod 3d, and a circumferential end surface of the connecting disc 523 is disposed in the yielding area 5211, and the connecting disc 523 can axially move in the yielding area 5211. The movement of the locating pin 521 is driven by the movement of the connecting disc 523 within the relief area 5211 at one end of the locating pin 521. Other connection methods, such as the end of the connection disc 523 being fixedly connected to the end of the positioning pin 521, can be adopted by those skilled in the art, and compared with the fixed connection, the connection method in this embodiment can enable each positioning pin 521 to move to different positions, so that the partial positioning pin 521 can be matched with the positioning hole 511, and the partial positioning pin 521 can be separated from the positioning hole 511.
The specific structure of the connection between the limiting part and the positioning pins 521 is as follows: the positioning pin 521 is of a hollow structure, one end of the positioning pin 524 is disposed in the hollow of the positioning pin 521, the other end of the positioning pin 521 is disposed at one end of the positioning pin 521 away from the positioning hole 511, a spring 525 is disposed between the positioning pin 521 and the other end of the positioning pin 524, and the limiting portion acts on the other end of the positioning pin 524. Those skilled in the art can also adopt other connection modes, such as directly using a spring to connect one end of the positioning pin 521 with the limiting part, compared with direct connection, the connection mode of the embodiment is more convenient to install, the position of the spring is not easy to deviate, and the effect is more stable.
To facilitate the engagement of the locating pin 521 with the locating hole 511, in this embodiment, it is preferable to provide: the end of the positioning pin 521, which is engaged with the positioning hole 511, has a conical structure. Compared with the traditional cylindrical structure cooperation, the conical structure cooperation can also realize the cooperation when the very little angle of phase difference, therefore the effect is better.
In order to limit the movement between the fourth mechanical arm 1d and the fifth mechanical arm 1e to rotate around the axial direction without horizontal movement, in this embodiment, the first control unit 51 preferably further includes a conical boss 512 coaxially disposed with the fourth mechanical arm 1d, and the base 522 of the second control unit 52 further includes a conical recess (not visible in the drawing) in which the conical boss 512 is disposed and is in surface fit with the conical boss 512. Other structures and shapes, such as cylindrical surfaces, circular arc surfaces, etc., may also be used by those skilled in the art.
The working principle of the embodiment is as follows: when the switch 62 is rotated to the groove of the switch fixing groove 63, the eccentric wheel 61 controls all the connecting rods 3 in the connecting rod mechanism to move from the direction close to the eccentric wheel 61 to the direction far away from the eccentric wheel 61, the first connecting rods 3a respectively drive the rest connecting rods to move, so that a plurality of positioning pins 521 in the second control unit 52 of the rotation control mechanism 5 move away from the positioning holes 511, the positioning pins 521 and the positioning holes 511 are separated from contact with each other to limit, and the two adjacent mechanical arms can be rotated; when the switch 62 is rotated to be far away from the groove of the switch fixing groove 63, the eccentric wheel 61 controls all the connecting rods 3 in the connecting rod mechanism to move from the direction far away from the eccentric wheel 61 to the direction close to the eccentric wheel 61, the connecting rods 3 drive a plurality of positioning pins 521 in the second control unit 52 of the rotation control mechanism 5 to move to the direction close to the positioning holes 511, the positioning pins 521 are mutually matched with the positioning holes 511 to limit, and the rotation between two adjacent mechanical arms is limited and cannot rotate.
In the embodiment, by arranging the right-angle corner 2, the rotation angle between the mechanical arms can be changed, and the mechanical arms with multiple degrees of freedom are realized.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (12)
1. A multi-freedom mechanical arm is characterized in that: comprises a control switch and a plurality of sections of mechanical arms;
the multi-section mechanical arms are connected with each other in pairs, and the middle mechanical arm is provided with a right-angle corner;
the control switch comprises a connecting rod mechanism and a plurality of rotation control mechanisms;
the connecting rod mechanism comprises a plurality of connecting rods and a plurality of right-angle connecting mechanisms, each connecting rod is arranged in the matched mechanical arm, and the right-angle connecting mechanisms are arranged at right-angle corners of the mechanical arm and are used for connecting the connecting rods at two sides of the right-angle connecting mechanisms;
the cooperation position of two adjacent mechanical arms is provided with a rotation control mechanism, the rotation control mechanism comprises a first control unit and a second control unit which are respectively and fixedly connected with the two adjacent mechanical arms, the first control unit and the second control unit are provided with a matched circumferential limit structure, and the rotation control mechanism is sleeved on the connecting rod;
the connecting rod mechanism can axially act in each mechanical arm to enable the circumferential limiting structure of each rotary control mechanism to release circumferential limitation, so that the first control unit and the second control unit can relatively rotate around the shaft, and each mechanical arm is matched to form a multi-degree-of-freedom rotating arm.
2. The multiple degree of freedom mechanical arm of claim 1 wherein: the locating pins and the locating holes are matched to form a circumferential limiting structure, the locating holes are symmetrically arranged on the first control unit along the axial direction of the mechanical arm, the second control unit comprises a base and a limiting part which are both fixedly arranged inside the mechanical arm, the base is provided with a plurality of through holes along the axial direction, the locating pins are both arranged in the through holes, the limiting part always applies acting force towards the locating holes to the locating pins, so that the locating pins are matched with the locating holes to circumferentially limit, and the connecting rod is connected with the locating pins to control the locating pins to be separated from the locating holes to release the circumferential limiting.
3. The multiple degree of freedom mechanical arm of claim 2 wherein: at least one locating pin can cooperate with the locating hole during relative pivoting of the first and second control units.
4. The multiple degree of freedom mechanical arm of claim 2 wherein: one end of the locating pin penetrates through the through hole to be matched with the locating hole, an abdication area is arranged on one side, close to the connecting rod, of the locating pin, the second control unit further comprises a connecting disc, the connecting disc is coaxially and fixedly sleeved on the connecting rod, the circumferential end face of the connecting disc is arranged in the abdication area, and the connecting disc can axially move in the abdication area.
5. The multiple degree of freedom mechanical arm of claim 2 wherein: the locating pin is hollow structure, the one end of locating pin set up in the cavity of locating pin, the other end set up in the locating pin keep away from the one end of locating hole, the locating pin with set up a spring between the other end of locating pin, spacing portion acts on the other end of locating pin.
6. The multiple degree of freedom mechanical arm of claim 2 wherein: one end of the locating pin matched with the locating hole is of a conical structure.
7. The multiple degree of freedom mechanical arm of claim 1 wherein: the first control unit further comprises a conical boss coaxially arranged with the mechanical arm, the base of the second control unit further comprises a conical recess matched with the conical boss surface, and the conical boss is arranged in the conical recess.
8. The multiple degree of freedom mechanical arm of claim 1 wherein: the control switch further comprises a switch mechanism and an elastic element, wherein the switch mechanism acts on one end of the connecting rod mechanism to enable the connecting rod mechanism to move from a position close to the switch mechanism to a position far away from the switch mechanism, and the elastic element acts on the other end of the connecting rod mechanism to enable the connecting rod mechanism to move from a position far away from the switch mechanism to a position close to the switch mechanism.
9. The multiple degree of freedom mechanical arm of claim 8 wherein: the elastic element is a spring, the spring is sleeved on the connecting rod, the connecting rod and the mechanical arm respectively act on two ends of the spring, and the spring is configured to: when the circumferential limiting structure performs circumferential limiting, the spring is in an initial state, and when the circumferential limiting structure releases the circumferential limiting, the spring is in a compressed state.
10. The multiple degree of freedom mechanical arm of claim 8 wherein: the switch mechanism comprises an eccentric wheel and a switch, wherein the eccentric wheel is arranged in the mechanical arm and acts on one end of the connecting rod mechanism, the eccentric wheel comprises a rotating shaft, the rotating shaft is arranged in the direction perpendicular to the axial direction of the mechanical arm, one end of the rotating shaft is arranged outside the mechanical arm, and the switch is fixedly connected with the rotating shaft to control the rotating shaft to rotate.
11. The multiple degree of freedom mechanical arm of claim 10 wherein: the switch is cylindrical, one end of the switch is fixedly and vertically connected with the rotating shaft, the switch mechanism further comprises a switch fixing groove fixedly arranged on the outer surface of the mechanical arm and used for limiting the rotating position of the switch, and the switch fixing groove comprises a groove matched with the appearance of the switch.
12. The multiple degree of freedom mechanical arm of claim 1 wherein: the right angle coupling mechanism includes cam and fixed axle, the fixed axle install in on the right angle turning, and its axial with the axial of the connecting rod at right angle turning both ends is all mutually perpendicular, the middle part cover of cam is located the fixed axle, the both ends of cam are acted on respectively the connecting rod at right angle turning both ends.
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