CN114619434B - Mechanical arm - Google Patents

Abstract

The invention discloses a mechanical arm, and relates to the related technical field of mechanical arms; the device comprises a plurality of arm rods which are sequentially connected in series and movably and gradually reduce in size, wherein the arm rod which is positioned at the head end and has the largest size is movably arranged on a base; the vertical section of the arm rod is of a rectangular structure with an opening at the top, and the arm rod near the tail end can be rotated upwards to be folded into the adjacent arm rod near the head end; the arm lever is close to the fixed wheelset that is provided with of one end of base, fixed wheelset respectively through rope with be located a plurality of winches on the base one-to-one is connected, a plurality of the winches are connected with control motor respectively. The mechanical arm provided by the invention can be folded and stored, and the volume is reduced, so that the mechanical arm is convenient to transport and arrange.

Description

Mechanical arm

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a mechanical arm.

Background

In engineering practice, the design of a long mechanical arm and an ultra-long mechanical arm is always a difficult point in engineering design, and the mechanical arm not only needs to meet the operation requirement in length, but also needs to consider the installation, transportation and storage site requirements of the mechanical arm. Currently, there are structures such as a Japanese SuperDargon ultra-long mechanical arm. The mechanical arm consists of a base and an arm, wherein the mechanical arm is provided with a plurality of sections, and each section is provided with an arm barrel and a joint; the joints are connected with the base by joints. However, the mechanical arm is inconvenient to store, transport and arrange, the maximum movable angle of the hinge of the joint part is-90 degrees to 90 degrees, and meanwhile, each section of arm rod is arranged in a straight line and cannot be folded.

Disclosure of Invention

The invention aims to provide a mechanical arm which solves the problems in the prior art, can be folded and stored, and has a reduced volume, so that the mechanical arm is convenient to transport and arrange.

In order to achieve the above object, the present invention provides the following solutions:

The invention provides a mechanical arm, which comprises a plurality of arm rods which are sequentially and movably connected in series and gradually reduce in size, wherein the arm rods which are positioned at the head end and have the largest size are movably arranged on a base; the vertical cross section of the arm rod is of a rectangular structure with an open top, the arm rod close to the tail end can be folded into the adjacent arm rod close to the head end in an upward rotating mode, the cross section of the arm rod is of a rectangular shape with the open top, each section of arm rod can be folded into the previous section of arm rod, and the aims of achieving the purposes of folding the mechanical arm, reducing the outline size and facilitating transportation and deployment are achieved. Meanwhile, the number of pulleys is limited according to the section of the cylinder, and the rectangular section arm rod provided by the invention can increase the number of pulleys by changing the length of the rectangular side, so that the mechanical arm can have the purpose of more joints; the arm lever is close to the fixed wheelset that is provided with of one end of base, fixed wheelset respectively through rope with be located a plurality of winches on the base one-to-one is connected, a plurality of the winches are connected with control motor respectively.

Optionally, the arm lever includes a pitch joint arm and a yaw pitch joint arm; the pitching joint arms are sequentially connected in series and movably, the pitching joint arms at the head end are movably connected with the base, the end of each pitching joint arm at the tail end is far away from one end of the base, which is movably connected with the yawing pitching joint arm, the yawing pitching joint arms are sequentially connected in series and movably, and the yawing pitching joint arms close to one end of the base are movably connected with the pitching joint arms far away from one end of the base.

Optionally, the pitch joint arm includes two symmetrically arranged side plates, the bottoms of the two side plates are fixedly connected through a bottom plate, and the length of the two side plates is greater than that of the bottom plate; the fixed wheel group comprises fixed wheels vertically and fixedly arranged at the head end of the side plate, the two fixed wheels movably penetrate through fixed shafts, two ends of each fixed shaft are fixedly arranged at the tail ends of the adjacent pitching joint arms close to one end of the base, and the fixed shafts at the head ends of the pitching joint arms connected with the base are fixedly arranged on the base; pulleys corresponding to the fixed wheels are respectively arranged on all the fixed shafts between the fixed wheels and the base, and the sum of the number of the pulleys on the fixed shafts and the number of the fixed wheels is equal to the number of the pulleys on the adjacent fixed shafts close to one end of the base; the fixed wheel is characterized in that the top and the bottom of the fixed wheel are respectively and fixedly connected with one rope, one end of the rope is fixedly connected with the fixed wheel, and the other end of the rope is sequentially wound around all pulleys corresponding to the fixed shafts between the fixed wheel and the base and then is fixedly connected with corresponding winches on the base.

Optionally, two guide wheels are arranged between two side plates of the pitching joint arm, the guide wheels are located below the fixed shafts, the two guide wheels are located at two ends of the bottom plate respectively, vertical projections of the bottom plate are located between vertical projections of the two guide wheels, and vertical projections of the two guide wheels are located between vertical projections of two adjacent fixed shafts; the part of the rope between the two adjacent fixed shafts surrounds the guide wheel between the two adjacent fixed shafts, and the part of the rope between the two adjacent fixed shafts is arranged outside the bottom plate between the two adjacent fixed shafts.

Optionally, the yaw pitching joint arm includes two symmetrically arranged side plates, the bottoms of the two side plates are fixedly connected through a bottom plate, and the lengths of the two side plates are greater than the length of the bottom plate; the fixed wheel set comprises two fixed wheels which are horizontally and fixedly arranged at the head end of the side plate, the two fixed wheels are symmetrically arranged at the upper part and the lower part of the head end of the side plate, a vertical shaft which is vertically arranged is movably connected between the two fixed wheels, the vertical shaft is fixedly connected with a fixed shaft which is horizontally arranged through a connecting rod which is horizontally arranged, the fixed shaft is vertically arranged with the connecting rod, two ends of the fixed shaft are rotatably arranged at the tail ends of the adjacent yaw pitching joint arms which are close to one end of the base, the fixed shaft at the head end of the yaw pitching joint arm which is connected with the pitching joint arm is rotatably arranged on the pitching joint arm at the tail end, and two pulleys are fixedly sleeved on the fixed shaft; the fixed wheel is characterized in that two sides of the fixed wheel are fixedly connected with one rope respectively, one end of each rope is fixedly connected with two sides of the fixed wheel respectively, and the other end of each rope is wound on the pulleys adjacent to the same side and then is fixedly connected with the corresponding winch on the base.

Compared with the prior art, the invention has the following technical effects:

The invention has the advantages of convenient transportation and arrangement, etc. Because the arm rod with the rectangular structure with the open top cross section is adopted, and the traction rope is guided to the bottom of the arm rod through the pulley, each arm rod can be folded in the previous arm rod, and the aim of reducing the outer contour size of the folding mechanical arm and facilitating transportation and deployment is achieved. The invention has the advantages of more joints which can be expanded, the rectangular section expansion joint only needs to lengthen the side length of one side, and the number of pulleys is not limited. The size of the mechanical arm from the base to the tail end is gradually reduced, so that the mechanical arm is more in line with the mechanical rule, and the mechanical arm can extend for a longer distance.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a mechanical arm according to the present invention;

FIG. 2 is a schematic vertical cross-section of an arm lever of the mechanical arm of the present invention;

FIG. 3 is a schematic view of the motion state principle of the pitch joint arm of the present invention;

FIG. 4 is a schematic diagram of the yaw motion state of the yaw and pitch joint arm of the present invention;

FIG. 5 is a schematic diagram of the principle of the pitching motion of the yaw and pitch joint arm of the present invention;

FIG. 6 is a schematic view of the mechanical arm of the present invention after being folded;

Reference numerals illustrate: 1. an arm lever; 2. a base; 3. a rope; 4. a winch; 5. controlling a motor; 6. a control computer; 7. a pitch joint arm; 8. yaw pitch joint arm; 9. a side plate; 10. a connecting rod; 11. a fixed wheel; 12. a fixed shaft; 13. a pulley; 14. and a vertical axis.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The invention aims to provide a mechanical arm which solves the problems in the prior art, can be folded and stored, and has a reduced volume, so that the mechanical arm is convenient to transport and arrange.

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

The invention provides a mechanical arm, as shown in figures 1,2, 3, 4, 5 and 6, comprising a plurality of arm rods 1 which are sequentially and movably connected in series and gradually reduce in size, wherein the arm rod 1 which is positioned at the head end and has the largest size is movably arranged on a base 2; as shown in fig. 2, the vertical section of the arm lever 1 is a rectangular structure with an open top, and the arm lever 1 near the tail end can be rotated and folded upwards into the adjacent arm lever 1 near the head end; the arm lever 1 is close to the fixed wheelset that is provided with of one end of base 2, and the wheelset is connected with a plurality of winches 4 that are located on the base 2 through rope 3 respectively one-to-one, and a plurality of winches 4 are connected with control motor 5 respectively, and control motor 5 electricity is connected with control computer 6. The arm 1 gradually decreases in size from the base 2 toward the end, and when folded, the arm 1 near the smaller end can be rotatably folded inside the arm 1 near the larger base 2, and the arm 1 includes a pitch arm 7 and a yaw pitch arm 8. The mechanical arm is pulled by means of the rope 3 to realize movement, and the mechanical arm is provided with 6 pitching joint arms 7 and 2 yawing pitching joint arms 8.

The pitching joint arms 7 are sequentially connected in series, the pitching joint arms 7 at the head end are movably connected with the base 2, the yaw pitching joint arms 8 are movably connected at one end, far away from the base 2, of the pitching joint arms 7 at the tail end, the yaw pitching joint arms 8 are sequentially connected in series, and the yaw pitching joint arms 8 close to one end of the base 2 are movably connected with the pitching joint arms 7 far away from one end of the base 2. The pitching joint arm 7 comprises two symmetrically arranged side plates 9, the bottoms of the two side plates 9 are fixedly connected through a bottom plate, the length of the two side plates 9 is larger than that of the bottom plate, in different embodiments, the pitching joint arm 7 can be provided with no bottom plate, the bottoms of the two side plates 9 are fixedly connected through a guide wheel shaft, and a guide wheel is sleeved on the guide wheel shaft; the fixed wheel group comprises fixed wheels 11 which are vertically and fixedly arranged at the head end of the side plate 9, the two fixed wheels 11 movably penetrate through a fixed shaft 12, two ends of the fixed shaft 12 are fixedly arranged at the tail ends of adjacent pitching joint arms 7 close to one end of the base 2, so that the two pitching joint arms 7 can be rotationally connected through the fixed shaft 12, the connection mode is not particularly limited, the tight connection of the mechanical arms can be realized by using a 360-degree hinge, and the final folding arrangement of the mechanical arms is realized. The fixed shaft 12 at the head end of the pitching joint arm 7 connected with the base 2 is fixedly arranged on the base 2, as shown in fig. 3, the driving of the pitching joint arm 7 is realized by a group of fixed wheels 11 which are arranged at one end of a rectangular arm rod close to the base 2 under the antagonistic driving of two groups of ropes 3; the pulleys 13 corresponding to the fixed wheels 11 are respectively arranged on all the fixed shafts 12 between the fixed wheels 11 and the base 2, and the sum of the number of the pulleys 13 on the fixed shafts 12 and the number of the fixed wheels 11 is equal to the number of the pulleys 13 on the adjacent fixed shafts 12 close to one end of the base 2, so that the fixed shafts 12 on the pitching joint arms 7 of the previous stage are sleeved with the pulleys respectively corresponding to the fixed wheels 11 of all the pitching joint arms 7 at the back, and when each pitching joint arm 7 moves respectively, the ropes 3 finally reach the corresponding winches 4 through the pulleys 13 respectively corresponding to the ropes, so that interference among a plurality of pitching joint arms 7 can not occur; the top and the bottom of the fixed wheel 11 are respectively fixedly connected with a rope 3, one end of the rope 3 is fixedly connected with the fixed wheel 11, and the other end of the rope 3 is fixedly connected with a winch 4 corresponding to the base 2 after being sequentially wound around pulleys 13 corresponding to all fixed shafts 12 between the fixed wheel 11 and the base 2. One end of each rope 3 is respectively fixed at the upper end and the lower end of the fixed wheel 11, and the other end is led out of a guide wheel which is wound at the tail end of the arm rod of the previous stage of the fixed wheel 11 and is close to the lower edge, so that the driving ropes are prevented from interfering when the arm rod is folded. The rope 3 passes through the outer bottom of the arm rod of the previous stage and then passes through the guide wheel of the other arm rod of the previous stage, which is positioned at the lower edge of the front end, and is wound on the pulley 13 of the arm rod of the previous stage, which is positioned in the direction of the fixed wheel 11, which is close to the base, after being led out from the pulley 13, is wound on the guide wheel of the tail end of the arm rod of the previous stage of the arm rod, and the like until the rope passes through the last joint and then is connected to the corresponding winch 4. When the motor drives the winch 4 to rotate, the driving rope can move to drive the arm rod to move. When the rope 3 above the fixed wheel 11 moves in the tightening direction, and the rope 3 below the fixed wheel 11 moves in the loosening direction, the pitching joint arm 7 moves upward, and conversely moves in the opposite direction.

The yaw pitch joint arm 8 comprises a yaw joint formed by two fixed wheels 11 and a pitch joint formed by two pulleys 13, two guide wheels are arranged between two side plates 9 of the pitch joint arm and positioned below the fixed shafts 12, the two guide wheels are respectively positioned at two ends of a bottom plate, the vertical projection of the bottom plate is positioned between the vertical projections of the two guide wheels, and the vertical projection of the two guide wheels is positioned between the vertical projections of two adjacent fixed shafts 12; the portion of the rope 3 between the adjacent two fixed shafts 12 is looped around the guide wheel between the adjacent two fixed shafts 12, and the portion of the rope 3 between the adjacent two fixed shafts 12 is disposed outside the bottom plate between the adjacent two fixed shafts 12. Specifically, the fixed wheel set of the yaw pitching joint arm 8 comprises two fixed wheels 11 horizontally and fixedly arranged at the head end of the side plate 9, the two fixed wheels 11 are symmetrically arranged at the upper part and the lower part of the head end of the side plate 9, a vertical shaft 14 which is vertically arranged is movably connected between the two fixed wheels 11, the vertical shaft 14 is fixedly connected with a fixed shaft 12 which is horizontally arranged through a connecting rod 10 which is horizontally arranged, the fixed shaft 12 is vertically arranged with the connecting rod 10, two ends of the fixed shaft 12 are rotatably arranged at the tail end of an adjacent yaw pitching joint arm 8 which is close to one end of the base 2, the fixed shaft 12 at the head end of the yaw pitching joint arm 8 which is connected with the pitching joint arm 7 is rotatably arranged on the pitching joint arm 7 at the tail end, and two pulleys 13 are fixedly sleeved on the fixed shaft 12; two sides of the fixed wheel 11 are respectively and fixedly connected with one rope 3, one end of each rope 3 is respectively and fixedly connected with two sides of the fixed wheel 11, and the other end is fixedly connected with a corresponding winch 4 on the base 2 after being wound around a pulley 13 adjacent to the same side. The yaw pitching joint arm 8 is arranged at the tail end of the mechanical arm, the rope 3 is wound on and fixed with the upper fixed wheel 11 and the lower fixed wheel, and the ropes 3 on the left side and the right side of the upper fixed wheel and the lower fixed wheel are respectively wound on the left pitching pulley and the right pitching pulley. As shown in fig. 4 and 5, when the upper two ropes 3 are moved in the tightening direction, the lower two ropes are moved in the loosening direction, and a pitching motion is generated. When the upper and lower ropes 3 on the same side are simultaneously moved in a tightening direction and the other two ropes 3 are moved in a loosening direction, a yaw motion is generated. When the rope 3 is led out from the pitching pulley, the rope is wound in the same way as a general pitching joint and finally connected with a winch.

The folding state of the mechanical arm is realized through the movement of the joints of the mechanical arm, as shown in fig. 6, the joints close to the tail end perform upward movement until the arm rod coincides with the arm rod at the upper stage, the previous movement of the arm rod at the upper stage is repeated, and the like until the mechanical arm is completely folded. The base is a device for connecting the mechanical arm rod and simultaneously carrying out traction driving on the mechanical arm rope. On the drive base, 16 winches 4 are arranged, each winch 4 being connected to one servo motor. A control computer and a servo motor driver are arranged at the bottom of the base 2. The computer calculates the motor to move to the servo motor driver according to the required gesture of the mechanical arm, and the driver drives the motor to drive the winch 4 to move, and the winch 4 pulls the rope 3 to finally realize the movement of the mechanical arm.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (1)

1. A mechanical arm, characterized in that: the device comprises a plurality of arm rods which are sequentially connected in series and movably and gradually reduce in size, wherein the arm rod which is positioned at the head end and has the largest size is movably arranged on a base; the vertical section of the arm rod is of a rectangular structure with an opening at the top, and the arm rod near the tail end can be rotated upwards to be folded into the adjacent arm rod near the head end; a fixed wheel set is fixedly arranged at one end of the arm rod, which is close to the base, and the fixed wheel set is respectively connected with a plurality of winches positioned on the base in a one-to-one correspondence manner through ropes, and the winches are respectively connected with a control motor; the arm lever comprises a pitching joint arm and a yawing pitching joint arm; the pitching joint arms are sequentially and movably connected in series, the pitching joint arm at the head end is movably connected with the base, one end, far away from the base, of the pitching joint arm at the tail end is movably connected with the yawing pitching joint arm, the yawing pitching joint arms are sequentially and movably connected in series, and the yawing pitching joint arm, which is close to one end of the base, is movably connected with the pitching joint arm, which is far away from one end of the base; the yaw pitching joint arm comprises two symmetrically arranged side plates, the bottoms of the two side plates are fixedly connected through a bottom plate, and the lengths of the two side plates are larger than that of the bottom plate; the fixed wheel set comprises two fixed wheels which are horizontally and fixedly arranged at the head end of the side plate, the two fixed wheels are symmetrically arranged at the upper part and the lower part of the head end of the side plate, a vertical shaft which is vertically arranged is movably connected between the two fixed wheels, the vertical shaft is fixedly connected with a fixed shaft which is horizontally arranged through a connecting rod which is horizontally arranged, the fixed shaft is vertically arranged with the connecting rod, two ends of the fixed shaft are rotatably arranged at the tail ends of the adjacent yaw pitching joint arms which are close to one end of the base, the fixed shaft at the head end of the yaw pitching joint arm which is connected with the pitching joint arm is rotatably arranged on the pitching joint arm at the tail end, and two pulleys are fixedly sleeved on the fixed shaft; one rope is fixedly connected to two sides of the fixed wheel respectively, one end of each rope is fixedly connected with two sides of the fixed wheel respectively, and the other end of each rope is fixedly connected with the corresponding winch on the base after being wound around the pulleys adjacent to the same side; the pitching joint arm comprises two symmetrically arranged side plates, the bottoms of the two side plates are fixedly connected through a bottom plate, and the length of the two side plates is larger than that of the bottom plate; the fixed wheel group comprises fixed wheels vertically and fixedly arranged at the head end of the side plate, the two fixed wheels movably penetrate through fixed shafts, two ends of each fixed shaft are fixedly arranged at the tail ends of the adjacent pitching joint arms close to one end of the base, and the fixed shafts at the head ends of the pitching joint arms connected with the base are fixedly arranged on the base; pulleys corresponding to the fixed wheels are respectively arranged on all the fixed shafts between the fixed wheels and the base, and the sum of the number of the pulleys on the fixed shafts and the number of the fixed wheels is equal to the number of the pulleys on the adjacent fixed shafts close to one end of the base; the top and the bottom of the fixed wheel are respectively and fixedly connected with one rope, one end of the rope is fixedly connected with the fixed wheel, and the other end of the rope is fixedly connected with a corresponding winch on the base after being sequentially wound on corresponding pulleys on all the fixed shafts between the fixed wheel and the base; two guide wheels are arranged between the two side plates of the pitching joint arm, the guide wheels are positioned below the fixed shafts, the two guide wheels are respectively positioned at two ends of the bottom plate, the vertical projection of the bottom plate is positioned between the vertical projections of the two guide wheels, and the vertical projection of the two guide wheels is positioned between the vertical projections of the two adjacent fixed shafts; the part of the rope between the two adjacent fixed shafts surrounds the guide wheel between the two adjacent fixed shafts, and the part of the rope between the two adjacent fixed shafts is arranged outside the bottom plate between the two adjacent fixed shafts.