Flexible mechanical arm

Abstract

The flexible mechanical arm comprises a connecting arm, a driving device and a plurality of flexible units, each flexible unit comprises a rigid rod piece I and a rigid rod piece II, a plurality of rigid rod pieces I are arranged at intervals in the axial direction of the rigid rod piece II and form a plurality of rotating arms, the connecting arm is arranged on the rigid rod piece II in a running fit mode, and the connecting arm is arranged on the rigid rod piece II in a running fit mode. The adjacent flexible units are connected in series through the connecting arms, the driving devices are used for driving the rotating arms and the connecting arms to rotate up and down, flexible movement of the mechanical arm is achieved in the mode that the connecting arms, the driving devices and the multiple flexible units are controlled in a segmented mode, the complexity and the control method of the flexible mechanical arm structure are increased, and the flexibility of the structure is enhanced. Good flexibility can be obtained only through simple rope driving.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of intelligent robot, especially a flexible mechanical arm. BACKGROUND

[0002] The robot mechanical arm is the automation mechanical device that is most widely practically applied in the mechanical man technical field, can receive instruction, accurately position to the certain point on three (or two) dimensional space and carry out work.

[0003] The traditional robot is difficult to use flexibly in the narrow space because of its structure limitation, at present, the mechanical arm of robot mainly adopts rigid mechanical arm, and the rigid mechanical arm has the problems of high cost, slow operation speed, small load-weight ratio, high energy consumption, poor operability, inconvenient transportation and low operation safety, and the operability of the rigid mechanical arm in the narrow space or complex environment is poor.

[0004] Therefore, it is urgent to improve the mechanical arm of the robot so as to adapt to the operability in the narrow space or complex environment. UTILITY MODEL CONTENTS

[0005] Therefore, the utility model provides a flexible mechanical arm, adopts multiple flexible unit structures, the mechanical arm is connected with each other through connecting points or joints between the flexible unit structures, and each unit itself has certain flexibility and deformability.

[0006] The utility model provides a flexible mechanical arm adopts the following technical scheme:

[0007] A flexible mechanical arm, including connecting arm, drive arrangement and multiple flexible units, the flexible unit includes rigid rod piece one and rigid rod piece two, the rigid rod piece one is arranged with multiple and forms multiple rotating arms along the axial direction of the rigid rod piece two, the connecting arm is rotationally fitted to the rigid rod piece two, the adjacent flexible units are connected in series through the connecting arm, and the drive arrangement is used to drive the rotating arm and the connecting arm to rotate up and down.

[0008] Optionally, the longitudinal section of the rigid rod piece one is cross-shaped, the longitudinal section of the rigid rod piece two is cross-shaped, the flexible unit further includes rigid rod piece three, and the cross section of the rigid rod piece three is a single letter shape.

[0009] Optionally, the four ends of the rigid rod piece one are respectively provided with rotating parts, the rigid rod piece two has a connecting part one, and the rotating part is rotationally fitted with the connecting part one.

[0010] Optionally, the two sides of the rigid rod piece two are respectively provided with rigid rod piece three, the rigid rod piece two and rigid rod piece three form a rectangular frame, the rigid rod piece three has a connecting part two, and the rotating part is rotationally connected with the connecting part two.

[0011] Optionally, the driving device comprises a driving member, a fixed pulley and a connecting member, the fixed pulley is rotationally arranged on the flexible unit, the rigid rod member has a through hole for the connecting member to pass through on one side, the connecting member is arranged around the fixed pulley and connected with the rigid rod member on the same side, and the driving member drives the fixed pulley to rotate to drive the rigid rod member on the same side to rotate synchronously through the connecting member.

[0012] Optionally, the driving member is a motor, the output end of the motor is provided with a speed reduction gear set, the output end of the speed reduction gear set is provided with a machine disc, and the machine disc is fixedly connected with the fixed pulley.

[0013] Optionally, a control system is further included, a position feedback potentiometer is arranged on the machine disc, the feedback potentiometer is connected with the control system, and the control system is used for controlling the rotating speed of the motor and the forward and reverse rotation of the motor.

[0014] Optionally, the rigid rod member is arranged between adjacent flexible units to form a connecting arm, and the connecting arm is rotationally connected with the rigid rod member two of the adjacent flexible units.

[0015] In summary, the utility model has at least one of the following beneficial technical effects: the flexible movement of the mechanical arm is realized through the segmented control of the connecting arm, the driving device and the plurality of flexible units, the complexity of the flexible mechanical arm structure and the control method are increased, the flexibility of the structure is enhanced, and good flexibility can be obtained only through simple rope driving. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0017] Figure 1 It is a rigid rod member one structure schematic view of the utility model embodiment;

[0018] Figure 2 It is a rigid rod member two structure schematic view of the utility model embodiment;

[0019] Figure 3 It is a rigid rod member three structure schematic view of the utility model embodiment;

[0020] Figure 4 It is an explosion structure schematic view of a single flexible unit of the utility model embodiment;

[0021] Figure 5is a schematic diagram of a connecting structure of adjacent flexible units of the embodiment of the utility model;

[0022] Figure 6 is a schematic diagram of a flexible mechanical arm structure of the embodiment of the utility model.

[0023] Mark explanation: 1, rigid rod piece one;2, rigid rod piece two;3, rigid rod piece three;4, fixed pulley;5, connecting piece. Specific implementation

[0024] The following through specific examples of the embodiment of the utility model, those skilled in the art can easily understand the other advantages and effects of the utility model from the content disclosed in the specification. The utility model can also be implemented or applied by another different specific implementation, and each detail in the specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the utility model.

[0025] The following will be combined with the drawings Figures 1-6 The utility model is further explained in detail.

[0026] The embodiment of the utility model discloses a flexible mechanical arm.

[0027] Refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 A kind of flexible mechanical arm, including connecting arm, drive device and multiple flexible units, flexible unit includes upper rotating arm, lower rotating arm and support frame, upper rotating arm and lower rotating arm are respectively rotationally matched and arranged in the top and bottom of support frame, connecting arm is rotationally matched and arranged in support frame, adjacent flexible units are connected in series by connecting arm, upper rotating arm, lower rotating arm and support frame are coaxially arranged, drive device is used to drive upper rotating arm, lower rotating arm and connecting arm swing up and down, the flexible movement of mechanical arm is realized by the form of the segmented control of connecting arm, drive device and multiple flexible units, increase the complexity of flexible mechanical arm structure and control method, enhance the flexibility of structure, realized only through simple rope driving can obtain good flexibility.

[0028] The flexible unit comprises a plurality of rigid rods 1 and rigid rods 2, the rigid rods 1 are provided with a plurality of rotating parts along the circumferential symmetry thereof, the rigid rods 2 are provided with connecting parts 1, and the rotating parts are rotatably arranged in the corresponding connecting parts 1. The rigid rods 1 serve as the main skeleton of the flexible mechanical arm, and the rigid rods 1 are provided with perforations for cooperating with the driving device. The longitudinal section of the rigid rods 1 is cross-shaped, the rotating parts are circular shafts extending from the rigid rods 1, the circular shafts are arranged on the four end faces of the cross-shaped structure, and the connecting parts 1 are circular holes formed in the rigid rods 1, so that the circular shafts can rotate along the circumferential direction of the circular holes.

[0029] The rigid rods 2 are provided with rigid rods 3 on both sides, the longitudinal section of the rigid rods 2 is cross-shaped, the cross section of the rigid rods 3 is one-shaped, the rigid rods 2 and the rigid rods 3 form a rectangular frame, the rigid rods 3 are provided with connecting parts 2, the rotating parts are rotatably arranged in the corresponding connecting parts 2, the rigid rods 1 are arranged in the rectangular frame, and the rotating parts of each end of the rigid rods 1 are connected with the connecting parts 1 and the connecting parts 2 of the corresponding rectangular frame, so that the rigid rods 1 can rotate relative to the rectangular frame.

[0030] Further, the rigid rods 2 and the rigid rods 3 are provided with two rigid rods 2, the two rigid rods 2 are symmetrically arranged on both sides of the rigid rods 1, the two rigid rods 3 are symmetrically arranged on both sides of the rigid rods 1, and a plurality of rigid rods 1 are arranged between the two rigid rods 2. One of the rigid rods 1 is rotatably arranged on the top of the rigid rod 2 to form an upper rotating arm, and one of the rigid rods 1 is rotatably arranged on the bottom of the rigid rod 2 to form a lower rotating arm.

[0031] The rigid rods 3 mainly play the role of perfecting the unit structure, fixing the main skeleton rigid rods 1, and fixing the rigid rods 2, so that the structure unit can bend left and right while having a certain rigidity and will not be damaged during detection.

[0032] The shafts of the rigid rods 2 and the rigid rods 3 are provided with the rigid rods 1 to form a support frame.

[0033] In the embodiment, one of the central axes of the rigid rods 2 is provided with three connecting parts 1, the three connecting parts 1 are connected with the three rigid rods 1 respectively, that is, three rigid rods 1 are arranged on one rigid rod 2.

[0034] The central axis of the rigid rods 3 is provided with a connecting part 2 in the middle for connecting with the rotating parts of the rigid rods 1 forming the support frame, and the two sides of the rigid rods 3 are provided with circular perforations and are connected with the two rigid rods 2 respectively.

[0035] In summary, one flexible unit includes three rigid rods one 1, two rigid rods two 2 and two rigid rods three 3, wherein the two rigid rods two 2 and the two rigid rods three 3 form a rectangular frame, and the three rigid rods one 1 are arranged along the central axis of the rigid rods two 2 and are located at the bottom, middle and top of the rigid rods two 2 respectively. The driving device can drive the rigid rods one 1 in the flexible unit to rotate, and the rigid rods one 1 at the top and bottom can realize the bending of the unit structure through the driving device.

[0036] In this embodiment, perforations are provided on the four edges of the rigid rods one 1, which are rope holes. Through the driving device, the rigid rods one 1 can realize the freedom of four directions, i.e. forward, backward, left and right, and realize the bending of the flexible unit structure.

[0037] The rigid rods one 1 arranged between adjacent flexible units form connecting arms. In this embodiment, the rigid rods one 1 at the top and bottom of the flexible unit become connecting arms, and the connecting arms are rotatably connected with the rigid rods two 2 of the adjacent flexible units. The two adjacent dot array unit structures are connected through the rigid rods one 1, and the connection mode of the rigid rods one 1 and the rigid rods two 2 is similar to a cross universal joint. Through the rigid rods one 1, multi-angle rotation between the two adjacent dot array unit structures is realized, which lays a foundation for the flexible mechanical arm to explore in complex pipelines.

[0038] The driving device includes a driving member, a fixed pulley 4 and a connecting member 5. The fixed pulley 4 is rotatably arranged in the support frame. The rigid rods one 1 have perforations for the connecting member 5 to pass through. The connecting member 5 is wound around the fixed pulley 4 and connected with the upper rotating arm and the lower rotating arm on the same side. The driving member drives the fixed pulley 4 to rotate, thereby driving the upper rotating arm and the lower rotating arm on the same side to rotate synchronously through the connecting member 5.

[0039] The driving member is a motor. The output end of the motor is provided with a speed reduction gear set. The output end of the speed reduction gear set is provided with a machine disc. The machine disc is fixedly connected with the fixed pulley 4.

[0040] Further, the connecting member 5 is driven by a rope. Rope driving is to fix one or more groups of stretchable lines in the axial direction of the flexible arm. Generally, three or four groups of driving lines can be configured to control the flexible arm to realize bending movement or torsional movement.

[0041] In other embodiments, more complex movements can be realized by connecting and combining multiple rope driving modules.

[0042] The flexible arm based on the rope driving has large output force, strong anti-load capacity and simple control, and the posture control of the soft arm can be realized by only controlling the stretching length of the rope, the top end of the mechanical arm is provided with a rod, and the rod is connected with the flexible unit, and the specific operation is as follows, first, a fixed pulley 4 is installed at the bottom center of the rigid rod two 2, and a motor is installed beside the fixed pulley 4, then the rope passes through the pulley and the rope holes arranged on the rigid rods of the flexible units, and finally the rope is connected with the top end of the mechanical arm and fixed on the top end of the mechanical arm, then the rotation of the pulley is driven by the motor to drive the rope to slide, so that the mechanical arm is forced to be high on one side and low on the other side, and the flexible swing of the mechanical arm is realized, the rotation of the rigid rod one 1 on the same central axis is realized through the fixed pulley 4 and the rope, and the rope driving and the motor driving can realize the related swing function of the mechanical arm, and the motor driving is stable in transmission under the condition of meeting the compact structure, has no impact, can accurately control the rotation angle and has high transmission efficiency.

[0043] In order to further improve the rotation accuracy, a control system is further included, the control system adopts a control circuit board, a position feedback potentiometer is arranged on the machine disc, the feedback potentiometer is connected with the control system, and the control system is used for controlling the rotation speed and the forward and reverse rotation of the motor. The control circuit board receives a control signal from a signal line, controls the rotation of the motor, and drives a series of speed reduction gear sets, and then transmits to the output machine disc after speed reduction. The output shaft of the motor is connected with the position feedback potentiometer, the machine disc drives the position feedback potentiometer to rotate at the same time, the potentiometer feeds back a voltage signal to the control circuit board, and then the control circuit board decides the rotation direction and speed of the motor according to the position, so as to stop at the target. The motor is installed at the hinge between the two adjacent structure units, the movement of the mechanical arm can be realized, the motor can be directly controlled, the accurate control of position, speed and torque is facilitated, and fine swing action is completed.

[0044] The flexible mechanical arm is composed of many small flexible unit structures through multiple rigid rods, mainly includes rigid rod one 1, rigid rod two 2 and rigid rod three 3, the three rigid rods interact with each other to form a single dot matrix unit structure, which can not only ensure the stability of the flexible mechanical arm skeleton, but also realize the multi-angle movement between adjacent dot matrix units.

[0045] The traditional mechanical arm is differentiated, multiple flexible units are combined to form a mechanical arm, the related functions of the mechanical arm are realized, the connection mode between adjacent flexible units is selected as a series connection mode, the series connection mode is that multiple rigid and flexible units are connected and combined into a single unit structure, then the unit structure is connected through a cross universal joint hinge, and the series connection becomes a chain type flexible mechanical arm.

[0046] Compared with the prior art, the flexible mechanical arm as a new type of robot device has wide application prospects in the industrial and medical fields.

[0047] (1) In industrial production, the flexible mechanical arm can be suitable for operation in narrow space, for example, when completing fine assembly task on assembly line. Its flexibility and adaptability make the flexible mechanical arm suitable for various complex working environments, improve production efficiency and product quality.

[0048] (2) In the medical field, the flexible mechanical arm can be used for minimally invasive surgery, reducing the trauma and recovery time of patients, and improving the accuracy and safety of surgery.

[0049] (3) The flexible mechanical arm can also be applied to picking work such as picking fruits and vegetables, and pipeline maintenance to improve efficiency and reduce labor cost.

[0050] The principles and implementation modes of the utility model are described by applying specific examples in this paper, and the above examples are only used to help understand the method and core idea of the utility model. The above described is only the preferred implementation mode of the utility model, it should be pointed out that due to the limited nature of the expression, there are objectively infinite specific structures, for ordinary skilled personnel in the technical field, without departing from the principles of the utility model, a number of improvements, refinements or changes can be made, and the above technical features can be combined in an appropriate way; these improvements, refinements, changes or combinations, or the direct application of the concept and technical solution of the utility model to other occasions without improvement, should be regarded as the protection scope of the utility model.

Claims

1. A flexible robotic arm, characterized by: The flexible unit comprises a rigid rod member I and a rigid rod member II, the rigid rod member I is provided with a plurality of rotating arms in axial direction of the rigid rod member II, the connecting arm is rotatably arranged on the rigid rod member II, the adjacent flexible units are connected in series through the connecting arm, and the driving device is used for driving the rotating arms and the connecting arms to swing up and down.

2. The flexible robotic arm of claim 1, wherein: The longitudinal section of the rigid rod member I is cross-shaped, the longitudinal section of the rigid rod member II is cross-shaped, the flexible unit further comprises a rigid rod member III, and the cross section of the rigid rod member III is one-shaped.

3. The flexible robotic arm of claim 2, wherein: The four ends of the rigid rod member I are respectively provided with rotating parts, the rigid rod member II has a connecting part I, and the rotating part is rotatably connected with the connecting part I.

4. The flexible robotic arm of claim 3, wherein: The rigid rod member III is arranged on both sides of the rigid rod member II, the rigid rod member II and the rigid rod member III form a rectangular frame, the rigid rod member III has a connecting part II, and the rotating part is rotatably connected with the connecting part II.

5. The flexible robotic arm of claim 4, wherein: The driving device comprises a driving member, a fixed pulley and a connecting member, the fixed pulley is rotatably arranged on the flexible unit, the rigid rod member I is provided with a through hole for the connecting member to pass through, the connecting member is arranged around the fixed pulley and connected with the rigid rod member I on the same side, and the driving member drives the fixed pulley to rotate, so that the rigid rod member I on the same side is synchronously rotated through the connecting member.

6. The flexible robotic arm of claim 5, wherein: The driving member is a motor, the output end of the motor is provided with a speed reduction gear set, the output end of the speed reduction gear set is provided with a motor disc, and the motor disc is fixedly connected with the fixed pulley.

7. The flexible robotic arm of claim 6, wherein: A control system is further arranged, the motor disc is provided with a position feedback potentiometer, the feedback potentiometer is connected with the control system, and the control system is used for controlling the rotating speed of the motor and the forward and reverse rotation of the motor.

8. The flexible robotic arm of claim 7, wherein: The rigid rod member I is arranged between the adjacent flexible units to form a connecting arm, and the connecting arm is rotatably connected with the rigid rod member II of the adjacent flexible units.

Images