阅读说明：本技术 一种基于十字轴铰接的柔性机械臂 (Flexible mechanical arm based on cross shaft hinge joint ) 是由 王旭浩 李明宇 吴孟丽 李德祚 林玉飞 吕东洋 陈莫 唐杰 张军 于 2021-10-19 设计创作，主要内容包括：一种基于十字轴铰接的柔性机械臂。其包括驱动机构和臂段机构；所述臂段机构包括结构完全相同且依次排布的第一关节单元、第二关节单元、第三关节单元和第四关节单元；其中第一关节单元的首端连接在驱动机构上；本发明优点：1、采用十字关节轴实现各个关节连杆之间的连接,使得该柔性机械臂外径尺寸较小,同时增加了柔性机械臂的抗扭转刚度,提高了柔性机械臂的可控性,可以很好地适应各种狭窄空间的检测和操作任务。2、关节连杆采用刚性材料,提高了柔性机械臂的刚度和轴向不可压缩性,同时端面设置倾斜面,保证了柔性机械臂的工作空间和运动灵活性。(A flexible mechanical arm based on cross shaft hinge joint. The device comprises a driving mechanism and an arm section mechanism; the arm section mechanism comprises a first joint unit, a second joint unit, a third joint unit and a fourth joint unit which have the same structure and are sequentially arranged; wherein the head end of the first joint unit is connected to the driving mechanism; the invention has the advantages that: 1. the cross joint shaft is adopted to realize the connection among the joint connecting rods, so that the outer diameter of the flexible mechanical arm is smaller, the anti-torsion rigidity of the flexible mechanical arm is increased, the controllability of the flexible mechanical arm is improved, and the flexible mechanical arm can be well suitable for detection and operation tasks in various narrow spaces. 2. The joint connecting rod is made of rigid materials, so that the rigidity and the axial incompressibility of the flexible mechanical arm are improved, and meanwhile, the inclined surface is arranged on the end face, so that the working space and the movement flexibility of the flexible mechanical arm are guaranteed.)

1. The utility model provides a flexible arm based on cross axle is articulated which characterized in that: the flexible mechanical arm based on the cross-shaped shaft hinge joint comprises a driving mechanism (1) and an arm section mechanism (2); the arm section mechanism (2) comprises a first joint unit (I), a second joint unit (II), a third joint unit (III) and a fourth joint unit (IV) which are identical in structure and are sequentially arranged; wherein the head end of the first joint unit (I) is connected to the driving mechanism (1);

each joint unit comprises a plurality of joint connecting rods (21), a plurality of cross joint shafts (22), an elastic supporting rod (23) and three driving ropes (24); wherein: the joint connecting rod (21) is of a cylindrical structure as a whole, two symmetrical U-shaped grooves (215) are formed on the circumferential surface of the middle part of the joint connecting rod in an inwards recessed mode, a first central hole (213) is formed at the axis in a penetrating mode, connecting grooves (212) are formed in the middle parts of two end faces in a radially symmetrical recessed mode, and a plurality of guide holes (214) are formed in the positions, located on the two sides of each connecting groove (212), in a penetrating mode along the axial direction; a cross joint shaft (22) is arranged between two adjacent joint connecting rods (21), the cross joint shaft (22) is composed of two joint shafts (221), a second central hole (222) is formed in the middle in a penetrating mode, the outer side parts of the two joint shafts (221) are embedded into connecting grooves (212) of the adjacent end faces of the two adjacent joint connecting rods (21) respectively, and therefore a first rotating pair (26) is formed; and the second central aperture (222) is aligned with the first central aperture (213); the elastic support rod (23) penetrates through a first center hole (213) on each joint connecting rod (21) and a second center hole (222) on the cross joint shaft (22); the three driving ropes (24) are arranged at intervals, one end of each driving rope is connected to a joint connecting rod (21) positioned at the tail end of the joint unit, and the middle part of each driving rope penetrates through guide holes (214) positioned at the same position of the joint connecting rods (21) on the joint unit and all joint units on the front side and is connected to the driving mechanism (1);

the driving mechanism (1) comprises four driving units respectively connected with a joint unit, a first connecting disc (102), a second connecting disc (104), a third connecting disc (109), a plurality of first connecting rods (110) and a fourth connecting disc (111); the first connecting disc (102), the second connecting disc (104) and the third connecting disc (109) are arranged in a parallel mode at intervals and are connected with one another; the fourth connecting disc (111) is fixedly connected with the third connecting disc (109) by a plurality of first connecting rods (110); each driving unit comprises three motors (101), three couplers (103), three lead screws (105), three sliding blocks (108), three guide rods (106) and three rope connecting parts (107); the three motors (101) are arranged on the bottom surface of the first connecting disc (102) at intervals, and the output ends of the three motors penetrate through the first connecting disc (102); the coupling (103) is positioned between the first connecting disc (102) and the second connecting disc (104); one end of a screw rod (105) is rotatably arranged on a third connecting disc (109), and the other end of the screw rod penetrates through a second connecting disc (104) and is connected with the output end of a motor (101) through a coupler (103); a guide rod (106) is arranged near each lead screw (105), and two ends of each guide rod (106) are respectively fixed on the second connecting disc (104) and the third connecting disc (109); each sliding block (108) is sleeved on a lead screw (105) and a guide rod (106) at the same time, so that the sliding blocks can move back and forth along the guide rods (106), and a rope connecting part (107) is arranged on each sliding block (108); the other end of each driving rope (24) on the arm section mechanism (2) penetrates through a fourth connecting disc (111) and a third connecting disc (109) and then is connected to a rope connecting part (107); the top surface of the fourth connecting plate (111) is connected with the front end surface of a joint connecting rod (21) which is positioned at the head end of the first joint unit (I).

2. The flexible robotic arm based on a cross-pin articulation of claim 1, characterized in that: the parts of the end surface of the joint connecting rod (21) which are positioned at the two sides of the connecting groove (212) are inclined surfaces (211).

3. The flexible robotic arm based on a cross-pin articulation of claim 1, characterized in that: the outer side part of the joint shaft (221) is an arc-shaped surface, and the connecting groove (212) on the joint connecting rod (21) is an arc-shaped groove.

4. The flexible robotic arm based on a cross-pin articulation of claim 1, characterized in that: the front end face of the joint connecting rod (21) positioned at the head end of the first joint unit (I) and the rear end face of the joint connecting rod (21) positioned at the tail end of the fourth joint unit (IV) are arranged into a plane structure.

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a flexible mechanical arm based on cross shaft hinge.

Background

The mechanical arm of the traditional rigid joint has large operation space, but has a heavy structure and poor motion flexibility, so that the application of the mechanical arm in a narrow space environment is limited, such as pipeline detection, detection and processing in a complex box body and the like. Therefore, as a special robot, the flexible mechanical arm has the advantages of multiple degrees of freedom, flexible action and the like, and is inevitably selected.

In order to realize high motion flexibility of the flexible mechanical arm, the joint usually adopts a cross universal hinge or a spherical hinge structure. The traditional universal hinge has a complex structure, so that the outer diameter of the flexible mechanical arm is large, and the application of the flexible mechanical arm is limited; the flexible mechanical arm adopting the spherical hinge structure generally has the problem of low torsional rigidity. In addition, some flexible arms are supported by pure flexible materials to serve as joints, the movement flexibility is improved, and the problems of low rigidity, axial compression and the like exist.

Disclosure of Invention

In order to solve the above problems, the present invention aims to provide a flexible mechanical arm based on a cross-axle hinge.

In order to achieve the aim, the flexible mechanical arm based on the cross-axle hinge joint comprises a driving mechanism and an arm section mechanism; the arm section mechanism comprises a first joint unit, a second joint unit, a third joint unit and a fourth joint unit which have the same structure and are sequentially arranged; wherein the head end of the first joint unit is connected to the driving mechanism;

each joint unit comprises a plurality of joint connecting rods, a plurality of cross joint shafts, an elastic supporting rod and three driving ropes; wherein: the joint connecting rod is of a cylindrical structure as a whole, two symmetrical U-shaped grooves are formed on the circumferential surface of the middle part of the joint connecting rod in an inwards recessed mode, a first central hole is formed in the axis of the joint connecting rod in a penetrating mode, a connecting groove is formed in the middle part of each end face in a radially symmetrical recessed mode, and a plurality of guide holes are formed in the positions, located on the two sides of the connecting groove, in a penetrating mode in the axial direction; a cross joint shaft is arranged between two adjacent joint connecting rods, the cross joint shaft is composed of two joint shafts, a second central hole is formed in the middle of the cross joint shaft in a penetrating mode, and the outer side parts of the two joint shafts are embedded into connecting grooves of the adjacent end faces of the two adjacent joint connecting rods respectively, so that a first rotating pair is formed; and the second central aperture is aligned with the first central aperture; the elastic support rod penetrates through a first central hole in each joint connecting rod and a second central hole in the cross joint shaft; the three driving ropes are arranged at intervals, one end of each driving rope is connected to the joint connecting rod positioned at the tail end of the joint unit, and the middle part of each driving rope penetrates through the guide holes positioned at the same positions of the joint connecting rods on the joint unit and all the joint units on the front side and then is connected to the driving mechanism;

the driving mechanism comprises four driving units, a first connecting disc, a second connecting disc, a third connecting disc, a plurality of first connecting rods and a fourth connecting disc, wherein the four driving units are respectively connected with one joint unit; the first connecting disc, the second connecting disc and the third connecting disc are arranged in parallel at intervals and are connected with each other; the fourth connecting disc is fixedly connected with the third connecting disc by a plurality of first connecting rods; each driving unit comprises three motors, three couplers, three lead screws, three sliding blocks, three guide rods and three rope connecting parts; the three motors are arranged on the bottom surface of the first connecting disc at intervals, and the output ends of the three motors penetrate through the first connecting disc; the coupling is positioned between the first connecting disc and the second connecting disc; one end of the screw rod is rotatably arranged on the third connecting disc, and the other end of the screw rod penetrates through the second connecting disc and is connected with the output end of a motor through a coupler; a guide rod is arranged near each screw rod, and two ends of each guide rod are respectively fixed on the second connecting disc and the third connecting disc; each sliding block is sleeved on a lead screw and a guide rod at the same time, so that the sliding blocks can move back and forth along the guide rods, and a rope connecting part is arranged on each sliding block; the other end of each driving rope on the arm section mechanism penetrates through the fourth connecting disc and the third connecting disc and then is connected to one rope connecting part; the top surface of the fourth connecting disc is connected with the front end surface of the joint connecting rod at the head end of the first joint unit.

The positions on the end surfaces of the joint connecting rods, which are positioned on the two sides of the connecting groove, are inclined surfaces, so that the adjacent joint connecting rods have certain rotating space.

The outer side part of the joint shaft is an arc-shaped surface, and the connecting groove on the joint connecting rod is an arc-shaped groove.

The front end face of the joint connecting rod at the head end of the first joint unit and the rear end face of the joint connecting rod at the tail end of the fourth joint unit are arranged into a plane structure.

The flexible mechanical arm based on the cross shaft hinge joint has the following advantages:

1. the cross joint shaft is adopted to realize the connection among the joint connecting rods, so that the outer diameter of the flexible mechanical arm is smaller, the anti-torsion rigidity of the flexible mechanical arm is increased, the controllability of the flexible mechanical arm is improved, and the flexible mechanical arm can be well suitable for detection and operation tasks in various narrow spaces.

2. The joint connecting rod is made of rigid materials, so that the rigidity and the axial incompressibility of the flexible mechanical arm are improved, and meanwhile, the inclined surface is arranged on the end face, so that the working space and the movement flexibility of the flexible mechanical arm are guaranteed.

Drawings

Fig. 1 is a perspective view of a flexible mechanical arm structure based on a cross-axle hinge provided by the invention.

Fig. 2 is a perspective view of a joint unit structure of the arm section mechanism in the flexible mechanical arm based on the cross-axle hinge provided by the invention.

Fig. 3 is a perspective view of a joint connecting rod structure in the flexible mechanical arm based on the cross-axle hinge provided by the invention.

Fig. 4 is a perspective view of a cross joint shaft structure in the flexible mechanical arm based on the cross shaft hinge joint provided by the invention.

Fig. 5 is a perspective view of a driving mechanism structure in a flexible mechanical arm based on a cross-axle hinge provided by the invention.

Detailed Description

The flexible mechanical arm based on the cross-axle hinge provided by the invention is described in detail in the following with reference to the attached drawings.

As shown in fig. 1-5, the flexible mechanical arm based on the cross-axle hinge provided by the invention comprises a driving mechanism 1 and an arm segment mechanism 2; the arm section mechanism 2 comprises a first joint unit I, a second joint unit II, a third joint unit III and a fourth joint unit IV which are identical in structure and are sequentially arranged; wherein the head end of the first joint unit I is connected to the driving mechanism 1;

each joint unit comprises a plurality of joint connecting rods 21, a plurality of cross joint shafts 22, an elastic supporting rod 23 and three driving ropes 24; wherein: the joint connecting rod 21 is of a cylindrical structure as a whole, two symmetrical U-shaped grooves 215 are formed on the circumferential surface of the middle part of the joint connecting rod in a concave manner, a first central hole 213 is formed at the axis in a penetrating manner, a connecting groove 212 is formed at the middle part of each end surface in a radially symmetrical concave manner, and a plurality of guide holes 214 are formed at the parts at two sides of the connecting groove 212 in a penetrating manner along the axial direction; a cross joint shaft 22 is arranged between two adjacent joint connecting rods 21, the cross joint shaft 22 is composed of two joint shafts 221, a second central hole 222 is formed in the middle in a penetrating mode, the outer side parts of the two joint shafts 221 are embedded into connecting grooves 212 of the adjacent end faces of the two adjacent joint connecting rods 21 respectively, and therefore a first rotating pair 26 is formed; and the second center hole 222 is aligned with the first center hole 213; the elastic support rod 23 penetrates through a first central hole 213 arranged on each joint connecting rod 21 and a second central hole 222 arranged on the cross joint shaft 22; the three driving ropes 24 are arranged at intervals, one end of each driving rope is connected to the joint connecting rod 21 positioned at the tail end of the joint unit, and the middle part of each driving rope penetrates through the guide holes 214 at the same position of the joint connecting rods 21 on the joint unit and all the joint units on the front side and is connected to the driving mechanism 1;

the driving mechanism 1 comprises four driving units respectively connected with a joint unit, a first connecting disc 102, a second connecting disc 104, a third connecting disc 109, a plurality of first connecting rods 110 and a fourth connecting disc 111; wherein the first land 102, the second land 104 and the third land 109 are arranged in parallel at intervals and connected to each other; the fourth connecting disc 111 is fixedly connected with the third connecting disc 109 by a plurality of first connecting rods 110; each driving unit comprises three motors 101, three couplers 103, three lead screws 105, three sliders 108, three guide rods 106 and three rope connecting parts 107; the three motors 101 are arranged on the bottom surface of the first connecting disc 102 at intervals, and the output ends of the three motors penetrate through the first connecting disc 102; the coupling 103 is located between the first connecting disc 102 and the second connecting disc 104; one end of the screw 105 is rotatably mounted on the third connecting disc 109, and the other end of the screw penetrates through the second connecting disc 104 and is connected with the output end of a motor 101 through a coupler 103; a guide rod 106 is arranged near each screw 105, and two ends of each guide rod 106 are respectively fixed on the second connecting disc 104 and the third connecting disc 109; each slide block 108 is sleeved on a lead screw 105 and a guide rod 106 at the same time, so that the slide blocks can move back and forth along the guide rods 106, and a rope connecting part 107 is arranged on each slide block 108; the other end of each driving rope 24 on the arm section mechanism 2 penetrates through a fourth connecting disc 111 and a third connecting disc 109 and then is connected to a rope connecting part 107; the top surface of the fourth connecting plate 111 is connected to the front end surface of the joint link 21 located at the head end of the first joint unit i.

The end surfaces of the joint links 21 at both sides of the connecting groove 212 are provided with inclined surfaces 211, so that the adjacent joint links 21 have a certain rotating space.

The outer side of the joint shaft 221 is an arc-shaped surface, and the connecting slot 212 on the joint link 21 is an arc-shaped slot.

The front end surface of the joint connecting rod 21 positioned at the head end of the first joint unit I and the rear end surface of the joint connecting rod 21 positioned at the tail end of the fourth joint unit IV are arranged into a plane structure.

The working principle of the flexible mechanical arm based on the cross shaft hinge joint provided by the invention is as follows: each motor 101 on the driving mechanism 1 can be used for respectively driving the rope 24 to move through the corresponding coupler 103, the lead screw 105, the slide block 108 and the rope connecting part 107, so that each joint unit is driven to realize bending motion with two degrees of freedom, and finally the control on the tail end position of the flexible mechanical arm is realized; the flexible mechanical arm has the advantages of flexible movement, high flexibility, high torsional rigidity, compact structure, small outer diameter size and the like, and can be well adapted to detection and operation tasks in various narrow spaces.