CN116834065B - Rigid-flexible coupling type mechanical arm with two plane connecting rods - Google Patents
Rigid-flexible coupling type mechanical arm with two plane connecting rods Download PDFInfo
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- CN116834065B CN116834065B CN202310896592.9A CN202310896592A CN116834065B CN 116834065 B CN116834065 B CN 116834065B CN 202310896592 A CN202310896592 A CN 202310896592A CN 116834065 B CN116834065 B CN 116834065B
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- 230000008878 coupling Effects 0.000 title claims abstract description 14
- 238000010168 coupling process Methods 0.000 title claims abstract description 14
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 14
- 230000001360 synchronised effect Effects 0.000 claims abstract description 147
- 230000005540 biological transmission Effects 0.000 claims abstract description 41
- 210000001503 joint Anatomy 0.000 claims description 32
- 238000005096 rolling process Methods 0.000 claims description 16
- 230000003993 interaction Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 abstract description 2
- 238000003032 molecular docking Methods 0.000 description 20
- 239000011888 foil Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000003321 amplification Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
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Abstract
The invention provides a rigid-flexible coupling type mechanical arm with two plane connecting rods, which comprises the following components: a base, the inside of which is provided with a first synchronous belt transmission assembly; the rigid connecting rod is internally provided with a second synchronous belt transmission assembly; a flexible connecting rod; the first joint comprises a limit connector, one end of the limit connector is connected with the output end of the first synchronous belt transmission assembly, and the other end of the limit connector is connected with one end of the rigid connecting rod; and one end of the second joint is connected with the output end of the second synchronous belt transmission assembly, and the other end of the second joint is connected with the flexible connecting rod. The invention has the beneficial effects that: the structure design of coupling of the rigid connecting rod and the flexible connecting rod is adopted, the rigid connecting rod and the flexible connecting rod are connected stably, the load bearing capacity of the mechanical arm is improved, the safety during man-machine interaction can be effectively improved, meanwhile, the flexible movement of the tail end clamping object can be realized, and the damage of unsmooth movement to the clamping object is avoided.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a rigid-flexible coupling type mechanical arm with two plane connecting rods.
Background
With the continuous development of the fields of industrial production, aerospace and the like, the requirements of people on the safety, precision, flexibility and light weight of the operation of industrial robots are continuously improved, and the flexible mechanical arm with the slender connecting rod structure shows strong advantages. On one hand, the method for inhibiting the elastic vibration of the system caused by the flexibility is specially researched according to the characteristics of the flexible mechanical arm, so that the control precision of the mechanical arm can be greatly improved; on the other hand, the flexible connecting rod of the flexible mechanical arm is generally designed by adopting a material with smaller rigidity and is of an elongated rod structure, so that the flexibility and the light weight of the mechanical arm are improved, and the working area of the mechanical arm is further enlarged. In addition, the application of the flexible soft material also ensures the safety of man-machine interaction to a certain extent.
However, the elongated linkage structure and flexible design material also cause the flexible robotic arm to lose some load carrying capacity. For a multi-link flexible mechanical arm system, if all links of the system are designed by flexible links, the links directly contacted with an object bear excessive load, and the links are easy to generate permanent distortion and even damage and break.
Disclosure of Invention
In view of this, in order to solve the problem that the connecting rod of the multi-connecting rod flexible mechanical arm system, which is directly contacted with an object, is subjected to excessive load to cause distortion and even breakage, the embodiment of the invention provides a rigid-flexible coupling type mechanical arm with two planar connecting rods.
The embodiment of the invention provides a rigid-flexible coupling type mechanical arm with two plane connecting rods, which comprises the following components:
a base, the inside of which is provided with a first synchronous belt transmission assembly;
the rigid connecting rod is internally provided with a second synchronous belt transmission assembly;
a flexible connecting rod;
the first joint comprises a limit connector, one end of the limit connector is connected with the output end of the first synchronous belt transmission assembly, and the other end of the limit connector is connected with one end of the rigid connecting rod;
and one end of the second joint is connected with the output end of the second synchronous belt transmission assembly, and the other end of the second joint is connected with the flexible connecting rod.
Further, the first joint still includes first shell, first thrust bearing, first antifriction bearing and first thrust bearing down, limit connector includes the rolling disc, the middle part of rolling disc is equipped with the first butt joint post that goes up of downwardly extending, just encircle on the rolling disc the first butt joint post that goes up is equipped with first upper bearing groove, first synchronous belt drive assembly's output is first output synchronous pulley, first output synchronous pulley is equipped with the first butt joint post that upwards extends, first output synchronous pulley upside encircles first butt joint post is equipped with first lower bearing groove down, first upper butt joint post with first butt joint post aligns and fastening connection from top to bottom, first upper thrust bearing install in the first upper bearing groove, first thrust bearing install in the first lower bearing groove, first antifriction bearing inlays to be located the upper surface of base, just first antifriction bearing cover is located first upper butt joint post with the junction of first butt joint post down.
Further, two spacing protrusions are arranged on the side wall of the rotating disc at intervals, a spacing piece is arranged on the base, and the spacing piece is arranged on the movement path of the spacing protrusions.
Further, the synchronous belt driving device further comprises a first driving motor and a second driving motor, wherein the first driving motor is connected with the input end of the first synchronous belt transmission assembly, and the second driving motor is connected with the input end of the second synchronous belt transmission assembly.
Further, the device also comprises a limit sensor which is connected with the first driving motor, wherein the limit sensor is provided with a contact roller, and the contact roller is the limit piece.
Further, the lower edge of the first shell is fixedly connected with the edge of the rotating disc, and the input end of the second synchronous belt transmission assembly is arranged in the first shell.
Further, the first synchronous belt transmission assembly further comprises a first input synchronous belt pulley, a first duplex synchronous belt pulley, a first input synchronous belt and a first output synchronous belt, wherein the first input synchronous belt is sleeved on the first input synchronous belt pulley and the first duplex synchronous belt pulley, the first output synchronous belt pulley is sleeved on the first duplex synchronous belt pulley and the first output synchronous belt pulley, and the limiting connector is connected with the first output synchronous belt pulley.
Further, the second synchronous belt transmission assembly comprises a second input synchronous belt pulley, a second duplex synchronous belt pulley, a second output synchronous belt pulley, a second input synchronous belt and a second output synchronous belt, wherein the second input synchronous belt is sleeved on the second input synchronous belt pulley and the second duplex synchronous belt pulley, the second output synchronous belt pulley is sleeved on the second duplex synchronous belt pulley and the second output synchronous belt pulley, and one end of the second joint is connected with the second output synchronous belt pulley.
Further, the second joint includes second shell, second upper thrust bearing, second antifriction bearing and second thrust bearing down, be equipped with the second of downwardly extending in the second shell and go up the butt joint post, just encircle in the second shell the second is gone up the butt joint post and is equipped with the second and goes up the bearing groove, the second output synchronous pulley is equipped with the second of upwardly extending and goes down the butt joint post, second output synchronous pulley upside encircles the second is down the butt joint post and is equipped with the second and down the bearing groove, go up the butt joint post with the butt joint post aligns from top to bottom and fastening connection down in the second, second upper thrust bearing install in the second upper bearing groove, second lower thrust bearing install in the second lower bearing inslot, the second output synchronous pulley set up in the rigid connecting rod, the second antifriction bearing inlays to be located the upper surface of rigid connecting rod, just the second antifriction bearing cover is located the junction of butt joint post with second lower.
Further, the vibration sensor comprises a strain gauge and a circuit board, wherein the strain gauge is arranged at the rear end of the flexible connecting rod, and the circuit board is connected with the strain gauge to acquire vibration information of the flexible connecting rod, so as to acquire deflection of the flexible connecting rod.
The technical scheme provided by the embodiment of the invention has the beneficial effects that:
1. according to the rigid-flexible coupling type mechanical arm with the two planar connecting rods, the rigid connecting rods and the flexible connecting rods are coupled, and the rigid connecting rods and the flexible connecting rods are stably connected, so that the load bearing capacity of the mechanical arm is improved, the safety during man-machine interaction can be effectively improved, meanwhile, the flexible movement of the tail end clamping object can be realized, and the damage of the unsmooth movement to the clamping object is avoided.
2. According to the rigid-flexible coupling type mechanical arm with the two plane connecting rods, the rigid connecting rods and the flexible connecting rods are driven through the crawler-type synchronous belt, so that the movement of the mechanical arm can be accurately controlled.
3. According to the plane two-connecting-rod rigid-flexible coupling type mechanical arm, the rotation position of the mechanical arm can be monitored through the limit sensor, collision between the rigid connecting rod and surrounding objects due to overlarge rotation range is avoided, and meanwhile the problem of winding of a data wire can be effectively avoided.
Drawings
FIG. 1 is a schematic view of a planar two-link rigid-flexible coupled mechanical arm of the present invention;
FIG. 2 is a schematic illustration of a first timing belt drive assembly;
FIG. 3 is a schematic view of a first joint;
FIG. 4 is a schematic view of a spacing connector;
fig. 5 is a schematic view of a first output pulley;
FIG. 6 is a schematic diagram of a second timing belt drive assembly;
fig. 7 is a schematic view of a second joint.
In the figure: 1. a base; 2. a rigid link; 3. a flexible connecting rod; 4. a first housing; 5. a second housing; 6. a first driving motor; 7. a second driving motor; 8. a vibration sensor; 9. a strain gage; 10. a circuit board; 11. a first input synchronous pulley; 12. a first duplex synchronous pulley; 13. a first output pulley; 14. a first input timing belt; 15. a first output timing belt; 16. a rotating disc; 17. a first upper thrust bearing; 18. a first rolling bearing; 19. a first lower thrust bearing; 20. a first upper docking post; 21. a first upper bearing groove; 22. a limit protrusion; 23. a limit sensor; 24. a contact roller; 25. a first lower docking post; 26. a first lower bearing groove; 27. a second input synchronous pulley; 28. a second duplex synchronous pulley; 29. a second output timing pulley; 30. a second input timing belt; 31. a second output timing belt; 32. a second upper thrust bearing; 33. a second rolling bearing; 34. and a second lower thrust bearing.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings. The following presents a preferred one of a number of possible embodiments of the invention in order to provide a basic understanding of the invention, but is not intended to identify key or critical elements of the invention or to delineate the scope of the invention.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description.
In the description of the present invention, it should be noted that, in the present invention, circuits, electronic components, and modules are all related to the prior art, and those skilled in the art may implement the present invention completely, and it is needless to say that the protection of the present invention does not relate to improvement of internal structures and methods.
It is further noted that unless specifically stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1, an embodiment of the present invention provides a planar two-link rigid-flexible coupled mechanical arm, which includes a base 1, a rigid link 2, a flexible link 3, a first joint and a second joint.
As shown in fig. 2, the base 1 is approximately rectangular, the inside of the base is hollow, and a first synchronous belt transmission assembly is arranged inside the base 1. The first synchronous belt transmission assembly is used for driving the rigid connecting rod 2 to rotate, and is a crawler type synchronous belt assembly.
The first synchronous belt transmission assembly can be formed by a plurality of synchronous wheel combinations according to actual application scenes. As in the present embodiment, the first synchronous belt transmission assembly further includes a first input synchronous pulley 11, a first duplex synchronous pulley 12, a first output synchronous pulley 13, a first input synchronous belt 14 and a first output synchronous belt 15, wherein the first input synchronous belt 14 is sleeved on the first input synchronous pulley 11 and the first duplex synchronous pulley 12, the first output synchronous pulley 13 is sleeved on the first duplex synchronous pulley 12 and the first output synchronous pulley 13, the first input synchronous pulley 11 is an input end of the first synchronous belt transmission assembly, and the first output synchronous pulley 13 is an output end of the first synchronous belt transmission assembly.
Referring to fig. 3, 4 and 5, the output end of the first synchronous belt transmission assembly is connected with one end of the rigid connecting rod 2 through the first joint. The first joint comprises a limiting connector, one end of the limiting connector is connected with the output end of the first synchronous belt transmission assembly, and the other end of the limiting connector is connected with one end of the rigid connecting rod 2.
More specifically, the first joint further includes a first housing 4, a first upper thrust bearing 17, a first rolling bearing 18 and a first lower thrust bearing 19, the limit connector includes a rotating disc 16, a first upper docking post 20 extending downward is disposed in the middle of the rotating disc 16, a first upper bearing groove 21 is disposed on the rotating disc 16 around the first upper docking post 20, an output end of the first synchronous belt transmission assembly is a first output synchronous pulley 13, the first output synchronous pulley 13 is provided with a first lower docking post 25 extending upward, and a first lower bearing groove 26 is disposed on the upper side of the first output synchronous pulley 13 around the first lower docking post 25.
The first upper docking post 20 and the second lower docking post are cylinders having the same diameter, the lower ends of the upper docking posts are inserted into the base 1, and the first upper docking post 20 and the first lower docking post 25 are aligned up and down and fastened, as in this case, by fastening bolts. The first upper thrust bearing 17 is installed in the first upper bearing groove 21, the first lower thrust bearing 19 is installed in the first lower bearing groove 26, the first rolling bearing 18 is embedded in the upper surface of the base 1, and the first rolling bearing 18 is sleeved at the joint of the first upper butt joint post 20 and the first lower butt joint post 25.
The rigid connecting rod 2 is a cuboid linear connecting rod, and the middle part of the inner part of the rigid connecting rod is provided. The first shell 4 is connected with the rear end of the rigid connection, and the second synchronous belt transmission assembly is arranged in the rigid connecting rod 2 and used for driving the flexible connecting rod 3 to rotate, and is also a crawler type synchronous belt assembly.
As shown in fig. 6, the second synchronous belt transmission assembly may be formed by a plurality of synchronous wheel sets according to the actual application scenario. As in the present embodiment, the second synchronous belt transmission assembly includes a second input synchronous pulley 27, a second duplex synchronous pulley 28, a second output synchronous pulley 29, a second input synchronous belt 30 and a second output synchronous belt 31, wherein the second input synchronous belt 30 is sleeved on the second input synchronous pulley 27 and the second duplex synchronous pulley 28, and the second output synchronous pulley 29 is sleeved on the second duplex synchronous pulley 28 and the second output synchronous pulley 29.
The second input synchronous pulley 27 is an input end of the second synchronous belt transmission assembly, a lower edge of the first housing 4 is fixedly connected with an edge of the rotating disc 16, and an input end of the second synchronous belt transmission assembly is arranged in the first housing 4. The second input timing belt 30 penetrates through the side wall of the first housing 4, and spans between the first housing 4 and the rigid link 2. The second output synchronous pulley 29 is an output end of the second synchronous belt drive assembly.
The output end of the second synchronous belt transmission assembly is connected with the flexible connecting rod 3 through the second joint. The second joint is arranged at the front end of the rigid connecting rod 2, one end of the second joint is connected with the output end of the second synchronous belt transmission assembly, and the other end of the second joint is connected with the rear end of the flexible connecting rod 3.
As shown in fig. 7, the second joint includes a second housing 5, a second upper thrust bearing 32, a second rolling bearing 33 and a second lower thrust bearing 34, a second upper docking post extending downward is disposed in the second housing 5, a second upper bearing groove is disposed around the second upper docking post in the second housing 5, a second lower docking post extending upward is disposed around the second lower docking post on the upper side of the second output synchronous pulley 29, a second lower bearing groove is disposed around the second lower docking post, the second upper docking post and the second lower docking post are aligned up and down and are in fastening connection, the second upper thrust bearing 32 is mounted in the second upper bearing groove, the second lower thrust bearing 34 is mounted in the second lower bearing groove, the second output synchronous pulley 29 is disposed in the rigid connecting rod 2, the second rolling bearing 33 is embedded in the upper surface of the rigid connecting rod 2, and the second rolling bearing 33 is sleeved on the second upper docking post and the second lower docking post.
In order to realize the drive of the first synchronous belt transmission assembly and the second synchronous belt transmission assembly, the plane two-connecting-rod rigid-flexible coupling type mechanical arm further comprises a first driving motor 6 and a second driving motor 7, and the first driving motor 6 and the second driving motor 7 both select servo motors with high control precision. The first driving motor 6 is connected with a first input synchronous pulley 11 of the first synchronous belt transmission assembly, and the second driving motor 7 is connected with a second input synchronous pulley 27 of the second synchronous belt transmission assembly.
In order to limit the rotation angle of the rotating disc 16, two spacing protrusions 22 are arranged on the side wall of the rotating disc 16 at intervals, and a spacing piece is arranged on the base 1 and is arranged on the movement path of the spacing protrusions 22. The two protrusions limit the rotating disc 16 in two rotating directions respectively, so that the rotating disc 16 only rotates in a certain range, further the rotating angle of the rigid connecting rod 2 is controlled, collision between the rigid connecting rod 2 and surrounding objects due to overlarge rotating range is avoided, and meanwhile the problem of winding of data wires can be effectively avoided.
As an optimized technical scheme, the plane two-connecting-rod rigid-flexible coupling type mechanical arm further comprises
The limit sensor 23 is connected to the first driving motor 6, the limit sensor 23 is provided with a contact roller 24, in this embodiment, the contact roller 24 is directly used as the limit member, after the contact roller 24 contacts the limit protrusion 22, the limit sensor 23 sends a signal to the first driving motor 6, and the first driving motor 6 stops rotating after receiving the signal.
In addition, in order to acquire the deformation of flexible connecting rod 3 operating condition, this rigid flexible coupling formula arm of two connecting rods in plane still includes vibration sensor 8, and it includes foil gage 9 and circuit board 10, foil gage 9 set up in the rear end of flexible connecting rod 3, circuit board 10 mainly integrates and has amplification module, circuit board 10 connects foil gage 9, thereby when flexible connecting rod 3 takes place to vibrate, foil gage 9 can produce corresponding deformation and produce the change of resistance, through amplification module's processing, can acquire flexible connecting rod 3's vibration information, and then acquire flexible connecting rod 3's amount of deflection.
In this document, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that they are relative concepts and can be varied in many ways depending upon the application and placement, and that the use of such orientation terms should not be taken to limit the scope of protection of the present application.
The embodiments described above and features of the embodiments herein may be combined with each other without conflict. The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (9)
1. A rigid-flexible coupling type mechanical arm with two planar connecting rods is characterized by comprising:
a base, the inside of which is provided with a first synchronous belt transmission assembly;
the rigid connecting rod is internally provided with a second synchronous belt transmission assembly;
a flexible connecting rod;
the first joint comprises a limit connector, one end of the limit connector is connected with the output end of the first synchronous belt transmission assembly, the other end of the limit connector is connected with one end of the rigid connecting rod, the first joint further comprises a first shell, a first upper thrust bearing, a first rolling bearing and a first lower thrust bearing, the limit connector comprises a rotating disc, a first upper butt joint column which extends downwards is arranged in the middle of the rotating disc, a first upper bearing groove is formed in the rotating disc in a surrounding mode of the first upper butt joint column, the output end of the first synchronous belt transmission assembly is provided with a first output synchronous belt pulley, a first lower butt joint column which extends upwards is arranged on the upper side of the first output synchronous belt pulley in a surrounding mode of the first lower butt joint column, the first upper butt joint column and the first lower butt joint column are aligned up and down and are connected in a fastening mode, the first upper thrust bearing is arranged in the first lower bearing groove, the first upper thrust bearing is arranged on the first lower bearing groove, the first upper rolling bearing is arranged on the upper surface of the first base in a sleeved mode, and the first lower thrust bearing is arranged on the first butt joint column;
and one end of the second joint is connected with the output end of the second synchronous belt transmission assembly, and the other end of the second joint is connected with the flexible connecting rod.
2. The planar two-link rigid-flexible coupled mechanical arm as set forth in claim 1, wherein: the side wall of the rotating disc is provided with two spacing protrusions arranged at intervals, the base is provided with a spacing piece, and the spacing piece is arranged on the movement path of the spacing protrusions.
3. The planar two-link rigid-flexible coupled mechanical arm as set forth in claim 2, wherein: the synchronous belt driving device comprises a first synchronous belt driving assembly, a first driving motor and a second driving motor, wherein the first driving motor is connected with the input end of the first synchronous belt driving assembly, and the second driving motor is connected with the input end of the second synchronous belt driving assembly.
4. A planar two-link rigid-flexible coupled mechanical arm as defined in claim 3, wherein: the device further comprises a limit sensor which is connected with the first driving motor, wherein the limit sensor is provided with a contact roller, and the contact roller is the limit piece.
5. The planar two-link rigid-flexible coupled mechanical arm as set forth in claim 1, wherein: the lower edge of the first shell is fixedly connected with the edge of the rotating disc, and the input end of the second synchronous belt transmission assembly is arranged in the first shell.
6. The planar two-link rigid-flexible coupled mechanical arm as set forth in claim 1, wherein: the first synchronous belt transmission assembly further comprises a first input synchronous belt pulley, a first duplex synchronous belt pulley, a first input synchronous belt and a first output synchronous belt, wherein the first input synchronous belt is sleeved on the first input synchronous belt pulley and the first duplex synchronous belt pulley, the first output synchronous belt pulley is sleeved on the first duplex synchronous belt pulley and the first output synchronous belt pulley, and the limiting connector is connected with the first output synchronous belt pulley.
7. The planar two-link rigid-flexible coupled mechanical arm as set forth in claim 1, wherein: the second synchronous belt transmission assembly comprises a second input synchronous belt pulley, a second duplex synchronous belt pulley, a second output synchronous belt pulley, a second input synchronous belt and a second output synchronous belt, wherein the second input synchronous belt is sleeved on the second input synchronous belt pulley and the second duplex synchronous belt pulley, the second output synchronous belt pulley is sleeved on the second duplex synchronous belt pulley and the second output synchronous belt pulley, and one end of the second joint is connected with the second output synchronous belt pulley.
8. The planar two-link rigid-flexible coupled mechanical arm as defined in claim 7, wherein: the second joint comprises a second shell, a second upper thrust bearing, a second rolling bearing and a second lower thrust bearing, wherein a second upper butt joint column which extends downwards is arranged in the second shell, a second upper bearing groove is formed in the second shell around the second upper butt joint column, a second lower butt joint column which extends upwards is arranged on the second output synchronous pulley, a second lower bearing groove is formed in the second lower butt joint column around the upper side of the second output synchronous pulley, the second upper butt joint column and the second lower butt joint column are vertically aligned and are in fastening connection, the second upper thrust bearing is arranged in the second upper bearing groove, the second lower thrust bearing is arranged in the second lower bearing groove, the second output synchronous pulley is arranged in the rigid connecting rod, the second rolling bearing is embedded in the upper surface of the rigid connecting rod, and the second rolling bearing is sleeved at the joint of the second upper butt joint column and the second lower butt joint column.
9. The planar two-link rigid-flexible coupled mechanical arm as set forth in claim 1, wherein: the vibration sensor comprises a strain gauge and a circuit board, wherein the strain gauge is arranged at the rear end of the flexible connecting rod, and the circuit board is connected with the strain gauge to acquire vibration information of the flexible connecting rod, so as to acquire deflection of the flexible connecting rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310896592.9A CN116834065B (en) | 2023-07-20 | 2023-07-20 | Rigid-flexible coupling type mechanical arm with two plane connecting rods |
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| CN202310896592.9A CN116834065B (en) | 2023-07-20 | 2023-07-20 | Rigid-flexible coupling type mechanical arm with two plane connecting rods |
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| CN116834065B true CN116834065B (en) | 2024-02-13 |
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| CN117718998B (en) * | 2024-01-22 | 2024-06-14 | 中国地质大学（武汉） | Two-connecting-rod rigid-flexible coupling type mechanical arm system capable of measuring terminal vibration state |
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| CN105675285A (en) * | 2016-03-23 | 2016-06-15 | 南京航空航天大学 | Spatial intelligence flexible manipulator tester |
| CN107588940A (en) * | 2017-10-15 | 2018-01-16 | 安徽理工大学 | Flexible mechanical arm damping test device and its application method based on machine vision |
| CN214560904U (en) * | 2020-12-03 | 2021-11-02 | 深圳众为兴技术股份有限公司 | Horizontal articulated robot |
| CN217801792U (en) * | 2022-07-28 | 2022-11-15 | 纯米科技(上海)股份有限公司 | Robot joint structure and robot |
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