CN111015645B

CN111015645B - Rope-driven continuous flexible mechanical arm

Info

Publication number: CN111015645B
Application number: CN201911354141.2A
Authority: CN
Inventors: 刘玉旺; 晁俊杰; 谢磊超; 葛状; 邹凤山
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2022-09-20
Anticipated expiration: 2039-12-25
Also published as: CN111015645A

Abstract

The invention relates to a mechanical arm, in particular to a rope-driven continuous flexible mechanical arm which comprises arm units, a link mechanism and a driving rope, wherein the tail ends of the arm units are provided with base plates, the middle parts of the base plates are provided with connecting plates, all the arm units are sequentially connected end to end, the head end of each arm unit is hinged with the connecting plate on the base plate at the tail end of the adjacent arm unit, the base plate at the tail end of each arm unit is connected with the base plate at the tail end of the adjacent arm unit through the link mechanism, each angle end of the link mechanism is provided with a guide wheel, and the driving rope is in a Z shape and reciprocates around the rear tail end of the guide wheel on each link mechanism at the corresponding side to be fixed on the guide wheel at the farthest end. The invention can control the bending direction of the mechanical arm by controlling the tension of the driving rope in a certain direction, and has the advantages of few driving sources, simple structure and exquisite control.

Description

Rope-driven continuous flexible mechanical arm

Technical Field

The invention relates to a mechanical arm, in particular to a rope-driven continuous flexible mechanical arm.

Background

The joint of the traditional mechanical arm is usually directly driven by a power mechanism such as a motor, the mechanism is simple, the load of the mechanical arm is greatly increased, the mechanism is not compact and low in efficiency, and the operation requirements of complex environments are generally difficult to meet, such as dangerous environment operation in the fields of nuclear plant large-scale equipment detection and maintenance, emergency rescue and relief, aerospace manufacturing and the like.

Disclosure of Invention

The invention aims to provide a rope-driven continuous flexible mechanical arm, which can control the bending direction of the mechanical arm by controlling the tension of a driving rope in a certain direction, and has the advantages of few driving sources, simple structure and exquisite control.

The purpose of the invention is realized by the following technical scheme:

the utility model provides a continuous flexible arm of rope drive formula, includes arm unit, link mechanism and driving rope, arm unit tail end is equipped with the bedplate, just the bedplate middle part is equipped with even board, and each arm unit is end to end connected in proper order, and the head end of every arm unit is articulated with even board on the bedplate of adjacent arm unit tail end, is connected through link mechanism between the bedplate of every arm unit tail end and the bedplate of adjacent arm unit tail end, each angle end of link mechanism all is equipped with the leading wheel, just the driving rope is terminal fixing on the leading wheel of farthest end behind the leading wheel that Z type reciprocated around on each link mechanism of corresponding side.

The upper end of each arm unit is provided with a connecting piece with two connecting support plates, and the connecting support plates are hinged with connecting plates on seat plates at the tail ends of adjacent arm units through a cross shaft.

And a plurality of hinged seats are uniformly distributed on the outer side of the seat plate at the tail end of the arm unit, one end of the connecting rod mechanism is hinged with the corresponding hinged seat on the seat plate at the tail end of one side arm unit through a seat plate connecting piece, and the other end of the connecting rod mechanism is hinged with the corresponding hinged seat on the seat plate at the tail end of the other side arm unit through a connecting rod mechanism connecting piece.

The seat plate connecting piece comprises two hinge seats A which are vertical in the axial direction.

The connecting rod mechanism connecting piece comprises a hinged support B and an inserting plate.

The link mechanism is a four-bar linkage.

The invention has the advantages and positive effects that:

1. the bending direction of the mechanical arm can be controlled by controlling the tension of the driving rope in a certain direction, and the mechanical arm is light and compact in overall structure and exquisite in control.

2. The invention can realize the random directional bending of the mechanical arm in space by matching with the tension of the driving rope in each direction, breaks through the limitation of the traditional rigid mechanical arm, can meet the operation requirement of complex environment and has wider application places.

3. Compared with the traditional rigid mechanical arm, the invention has the advantages of less driving sources, simple control, low production cost and the like.

4. The invention uses the driving rope as the input of the power source, so that the mechanical arm has good self-adaptability.

Drawings

Figure 1 is a schematic structural view of the present invention,

figure 2 is a schematic view of the present invention in a bent state,

figure 3 is a schematic view of the structure of the arm unit of figure 1,

figure 4 is a schematic view of the structure of the seat plate connection member of figure 1,

figure 5 is a schematic view of the cross of figure 1,

figure 6 is a schematic view of the linkage attachment of figure 1,

fig. 7 is an enlarged view of fig. 2 at a.

The device comprises an arm unit 1, a connecting support plate 101, an arm unit body 102, a seat plate 103, a hinged seat 104, a driving rope 2, a seat plate connecting piece 3, a hinged seat A301, a link mechanism 4, a guide wheel 5, a cross shaft 6, a link mechanism connecting piece 7, a hinged seat B701, an inserting plate 702 and a connecting plate 8.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 7, the invention comprises arm units 1, link mechanisms 4 and driving ropes 2, wherein the tail ends of the arm units 1 are provided with seat plates 103, the middle parts of the seat plates 103 are provided with grooves, two connecting plates 8 are arranged in the grooves, the arm units 1 are sequentially connected end to end, the head end of each arm unit 1 is inserted into the groove of the seat plate 103 at the tail end of the adjacent arm unit 1 and is hinged with the connecting plate 8, the seat plate 103 at the tail end of each arm unit 1 is connected with the seat plate 103 at the tail end of the adjacent arm unit 1 through the link mechanism 4, each corner end of the link mechanism 4 is provided with a guide wheel 5, and the driving ropes 2 traverse the guide wheels 5 on the link mechanisms 4 at the corresponding sides in a Z-shaped manner, and the rear ends of the driving ropes are fixed on the guide wheels 5 at the farthest ends. As shown in figure 2, the bending direction of the mechanical arm can be controlled by controlling the tension of the driving rope 2 in a certain direction when the mechanical arm works.

As shown in fig. 1-2, a connecting piece with two connecting support plates 101 is arranged at the upper end of the arm unit 1, and the two connecting support plates 101 are hinged with two connecting plates 8 in grooves of the seat plates 103 at the tail ends of the adjacent arm units 1 through a cross shaft 6 as shown in fig. 5.

As shown in fig. 1 to 3, a plurality of hinged seats 104 are uniformly distributed on the outer side of the seat plate 103 at the tail end of the arm unit 1, one end of the link mechanism 4 is hinged to the corresponding hinged seat 104 on the seat plate 103 at the tail end of one side arm unit 1 through the seat plate connecting piece 3, and the other end of the link mechanism is hinged to the corresponding hinged seat 104 on the seat plate 103 at the tail end of the other side arm unit 1 through the link mechanism connecting piece 7. The seat plate connection 3 is shown in fig. 4 and comprises two axially perpendicular hinge mounts a301, and the link mechanism connection 7 is shown in fig. 6 and comprises a hinge mount B701 and an insert plate 702. The connection relationship of the hinge seat 104, the seat plate connection member 3 and the link mechanism connection member 7 is shown in fig. 7.

As shown in fig. 1, the link mechanism 4 is a four-bar link mechanism, and four corner ends are provided with guide wheels 5.

The working principle of the invention is as follows:

as shown in FIG. 2, the bending direction of the mechanical arm can be controlled by controlling the tension of the driving rope 2 in a certain direction during operation, and the mechanical arm can be bent in any orientation in space by matching the tension of the driving rope 2 in each direction. The invention breaks the limitation of the traditional rigid mechanical arm, and uses the driving rope 2 as the input of a power source, so that the mechanical arm has good self-adaptability.

Claims

1. The utility model provides a continuous flexible arm of rope drive formula which characterized in that: the arm unit comprises arm units (1), link mechanisms (4) and a driving rope (2), wherein a seat plate (103) is arranged at the tail end of each arm unit (1), a connecting plate (8) is arranged in the middle of each seat plate (103), each arm unit (1) is sequentially connected end to end, the head end of each arm unit (1) is hinged to the connecting plate (8) on the seat plate (103) at the tail end of the adjacent arm unit (1), the seat plate (103) at the tail end of each arm unit (1) is connected with the seat plate (103) at the tail end of the adjacent arm unit (1) through the link mechanism (4), each corner end of each link mechanism (4) is provided with a guide wheel (5), and the driving rope (2) is in a Z shape and reciprocates to pass through the guide wheels (5) on each link mechanism (4) at the corresponding side, and the rear tail end of each link mechanism is fixed on the guide wheel (5) at the farthest end;

a plurality of hinged seats (104) are uniformly distributed on the outer side of the seat plate (103) at the tail end of the arm unit (1), one end of the link mechanism (4) is hinged with the corresponding hinged seat (104) on the seat plate (103) at the tail end of one side arm unit (1) through a seat plate connecting piece (3), and the other end of the link mechanism (4) is hinged with the corresponding hinged seat (104) on the seat plate (103) at the tail end of the other side arm unit (1) through a link mechanism connecting piece (7); the connecting rod mechanism (4) is a four-connecting rod mechanism;

the seat plate connecting piece (3) comprises two hinged seats A (301) which are vertical in the axial direction;

the link mechanism connecting piece (7) comprises a hinge base B (701) and an inserting plate (702).

2. The rope driven continuous flexible robotic arm of claim 1, wherein: the upper end of the arm unit (1) is provided with a connecting piece with two connecting support plates (101), and the connecting support plates (101) are hinged with a connecting plate (8) on the seat plate (103) at the tail end of the adjacent arm unit (1) through a cross shaft (6).