CN108818509A - A kind of flexible robot's mechanical arm - Google Patents

Abstract

The invention relates to the field of robot technology, and discloses a mechanical arm for a flexible robot, comprising a mechanical arm connected to a robot driving structure, a clamp is fixedly connected to the end of the mechanical arm, and a U-shaped arm corresponding to the mechanical arm is fixedly connected to the upper end of the clamp. There is a cylindrical groove on the surface of the end of the mechanical arm, and a telescopic rod is connected to the cylindrical groove through a ball bearing. One end of the telescopic rod extends out of the cylindrical groove and is fixedly connected to a rotary block. The surface of the mechanical arm is provided with a rotary The fixed groove corresponding to the block, the rod wall of the telescopic rod located in the cylindrical groove is uniformly fixed and socketed with a plurality of active helical gears, and the side wall of the mechanical arm is provided with a through groove that communicates with the cylindrical groove and corresponds to the active helical gear. A screw rod is rotatably connected to the inside through a ball bearing, one end of the screw rod is fixedly connected with a driven helical gear meshed with the driving helical gear, and the other end of the screw rod is threadedly connected with a limiting screw barrel. The flexible robot uses a mechanical arm, which is convenient for disassembling and assembling the fixture.

Description

A robotic arm for a flexible robot

technical field

The invention relates to the technical field of robots, in particular to a mechanical arm for a flexible robot.

Background technique

A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Its mission is to assist or replace human work, such as manufacturing, construction, or dangerous work. Robots are the product of advanced integration of cybernetics, mechatronics, computers, materials and bionics. It has important uses in fields such as industry, medicine, agriculture, construction and even military affairs. The concept of robots in the world has gradually converged. Generally speaking, people can accept this statement, that is, a robot is a kind of machine that realizes various functions by its own power and control ability. The United Nations Standardization Organization adopted the definition of a robot from the American Robotics Association: "A programmable and multifunctional manipulator; or a specialized system that can be changed by a computer and programmed to perform different tasks." It can be used for Human beings bring many conveniences.

As the robot system moves toward high speed, heavy load, and high precision, and the robot components move toward light weight, this will inevitably increase the elastic deformation of the components, causing a contradiction with the stability and accuracy of the robot's motion, thus highlighting the various aspects of the robot. The effect of elastic deformation of components. In addition, there are more and more robotic applications that require lightweight robotic arms; aerospace applications, vehicle-mounted robots, large machinery in construction, and more. These robotic arms must be connected by some thin (relative to length) intersecting parts, which create flexibility, cause mechanical vibrations, and make control of the position of their ends very difficult. Therefore, the traditional rigid robot research methods are obviously not suitable for this kind of robot research. For this reason, people introduce a branch of mechanism dynamics—elastic dynamics into it, and a new kind of robot is produced: soft robot.

The flexibility of flexible robots is divided into two types: rod flexibility and joint flexibility, both of which introduce additional degrees of freedom into the robot system, making the original rigid robot with limited degrees of freedom become a flexible robot with unlimited degrees of freedom.

At present, robots are used for auxiliary production in various industries, which greatly saves labor and improves work efficiency. However, in the prior art, most of the clamps at the end of the mechanical arm are connected and fixed through flange joints. When the clamps need to be replaced, they need to be screwed. Moving multiple screws to release the lock is inconvenient for disassembling and assembling the fixture, which greatly affects the use.

Contents of the invention

(1) Solved technical problems

Aiming at the deficiencies of the prior art, the present invention provides a mechanical arm for a flexible robot, which has the advantages of being easy to disassemble and assemble the fixture, and solves the problem of disassembling and assembling the fixture by twisting multiple screws to unlock when the fixture needs to be replaced. All relatively inconvenient, have greatly affected the use problem.

(2) Technical solution

In order to achieve the purpose of facilitating disassembly and assembly of the clamp, the present invention provides the following technical solutions: a mechanical arm for a flexible robot, including a mechanical arm connected to the robot drive structure, the end of the mechanical arm is fixedly connected with a clamp, and the upper end of the clamp is A U-shaped clamp corresponding to the mechanical arm is fixedly connected, and a cylindrical groove is opened on the end surface of the mechanical arm, and a telescopic rod is connected to the cylindrical groove through ball bearing rotation, and one end of the telescopic rod extends out of the cylindrical groove , and is fixedly connected with a rotary block, the surface of the mechanical arm is provided with a fixed groove corresponding to the rotary block, the rod wall of the telescopic rod located in the cylindrical groove is evenly and fixedly sleeved with a plurality of active helical gears, the mechanical arm The side wall of the cylinder is provided with a through groove that communicates with the cylindrical groove and corresponds to the driving helical gear. In the through groove, a screw is rotatably connected through a ball bearing, and one end of the screw is fixedly connected with a driven helical gear meshing with the driving helical gear. Gear, the other end of the screw rod is threadedly connected to the limit screw barrel, the side wall of the U-shaped clamp is provided with a limit hole corresponding to the limit screw barrel, and the side wall of the rotary block is provided with a receiving groove, so A thrust spring is provided in the storage tank, one end of the thrust spring is fixedly connected to the inner wall of the storage tank, the other end of the thrust spring is fixedly connected to the limit rod, and the side wall of the fixed groove is provided with a valve corresponding to the limit rod. The limit groove, the surface of the turning block is provided with a reset groove corresponding to the storage groove, and one end of the limit rod located in the storage groove is fixedly connected with a reset rod, and the reset rod passes between the storage groove and the reset groove. The through hole provided extends into the reset groove, and is fixedly connected with a T-shaped tie rod.

Preferably, the outer wall of the limiting screw barrel is symmetrically and fixedly connected with two first limiting sliders, and the inner wall of the through groove is provided with a first limiting chute matching the first limiting sliders.

Preferably, one end of the mechanical arm corresponding to the U-shaped clamping plate is evenly and fixedly connected with a plurality of positioning blocks, and the surface of the U-shaped clamping plate is provided with positioning grooves corresponding to the positioning blocks.

Preferably, two second limit sliders are symmetrically and fixedly connected to the rod wall of the limit rod, and the inner wall of the receiving groove is provided with a second limit slide groove matching the second limit sliders.

Preferably, one end of the T-shaped tie rod located in the reset groove is fixedly connected with a third limit slide block, and the inner wall of the reset groove is provided with a third limit slide slot matching the third limit slide block.

Preferably, the surface of the mechanical arm is evenly hinged with a plurality of arc-shaped splints, and the end of the arc-shaped splint away from the joint of the hinge is fixedly connected to the limit plate, and the surface of the limit plate is provided with a bayonet. The surface of the mechanical arm is provided with a groove corresponding to the bayonet, the side wall in the groove is fixedly connected with an elastic telescopic rod, and the other end of the elastic telescopic rod is fixedly connected with a moving rod, and the moving rod is far away from the One end of the groove is fixedly connected with a triangular chuck corresponding to the bayonet.

Preferably, one end of the moving rod located in the groove is fixedly connected with a fourth limit slider, and the inner wall of the groove is provided with a fourth limit slide groove matching the fourth limit slider.

(3) Beneficial effects

Compared with the prior art, the present invention provides a mechanical arm for a flexible robot, which has the following

Beneficial effect:

1. The mechanical arm of the flexible robot is used to clamp the clamp and the mechanical arm together through the U-shaped clamping plate. The cooperation of the positioning block and the positioning groove can make the position of the clamp and the mechanical arm accurately placed together, and then rotate Turn the block, the turn block drives the telescopic rod to rotate, and then drives the driving helical gear to rotate, uses the meshing effect of the driving helical gear and the driven helical gear to drive the screw to rotate, and then uses the threaded connection between the screw and the limit screw to make the limit screw Extending out of the mechanical arm and engaging with the limit hole, the mechanical arm and the clamp can be quickly and stably connected together, and when it needs to be unlocked, it can be unlocked by turning the turning block in the opposite direction, which is convenient for people to use.

2. The flexible robot uses a mechanical arm to push the limit rod out of the storage slot through the thrust spring to engage the limit rod and the limit slot, so that the rotary block can be firmly fixed in the fixed slot, avoiding the external factors affecting the rotary block. The impact of the rotation produces rotation, which in turn drives the driving gear and the screw to rotate, affects the stable clamping of the limit screw barrel and the limit hole, affects the stable connection between the clamp and the mechanical arm, and improves the stability of the structure.

3. The mechanical arm of the flexible robot can clamp the cables needed for the fixture during use on the mechanical arm through the arc-shaped splint, press the limit plate, and the bayonet squeezes the triangular chuck. The slope of the chuck makes the triangular chuck move with the moving rod. When the triangular chuck penetrates the bayonet, the elastic telescopic rod pulls back the moving rod, and then pulls back with the triangular chuck, so that the horizontal part of the triangular chuck is pulled back to The surface of the limit plate, and then fix the stable limit of the arc splint, and when it is necessary to unlock and take off the cable, push the triangular chuck, so that the triangular chuck moves to the bayonet to release the arc splint The relative limit locking is convenient for the disassembly and assembly of the cable, and it is convenient for people to use.

Description of drawings

Fig. 1 is a kind of flexible robot mechanical arm structure schematic diagram that the present invention proposes;

Fig. 2 is an enlarged view of the local structure of part A in Fig. 1 of a mechanical arm for a flexible robot proposed by the present invention;

Fig. 3 is the structural representation that the mechanical arm of a kind of flexible robot robot arm that the present invention proposes is connected with U-shaped clamping plate;

Fig. 4 is an enlarged view of the local structure of part B in Fig. 3 of a mechanical arm for a flexible robot proposed by the present invention;

Fig. 5 is a structural schematic diagram of a curved splint of a mechanical arm for a flexible robot proposed by the present invention;

FIG. 6 is an enlarged view of a partial structure of part C in FIG. 5 of a mechanical arm for a flexible robot proposed by the present invention.

In the figure: 1 mechanical arm, 2 fixtures, 3 U-shaped clamping plates, 4 cylindrical slots, 5 telescopic rods, 6 rotating blocks, 7 fixed slots, 8 driving helical gears, 9 through slots, 10 screw rods, 11 driven helical gears, 12 Limit screw barrel, 13 limit hole, 14 storage slot, 15 thrust spring, 16 limit rod, 17 limit slot, 18 reset slot, 19 reset rod, 20T-shaped pull rod, 21 arc splint, 22 limit plate, 23 bayonet slots, 24 grooves, 25 elastic telescopic rods, 26 moving rods, 27 triangular chucks.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Figure 1-6, a mechanical arm for a flexible robot, including a mechanical arm 1 connected to the driving structure of the robot, the end of the mechanical arm 1 is fixedly connected with a clamp 2, and the upper end of the clamp 2 is fixedly connected with a U-shaped clamping plate 3, a cylindrical groove 4 is opened on the end surface of the mechanical arm 1, and a telescopic rod 5 is rotatably connected to the cylindrical groove 4 through a ball bearing, and one end of the telescopic rod 5 extends out of the cylindrical groove 4, and is fixedly connected with a rotating block 6. The surface of the mechanical arm 1 is provided with a fixed groove 7 corresponding to the rotary block 6. The rod wall of the telescopic rod 5 located in the cylindrical groove 4 is evenly and fixedly sleeved with a plurality of active helical gears 8. The side wall of the mechanical arm 1 is provided with It communicates with the cylindrical groove 4 and corresponds to the driving helical gear 8. The through groove 9 is connected with the screw 10 through the ball bearing rotation. One end of the screw 10 is fixedly connected with the driven helical gear 11 meshing with the driving helical gear 8. , the other end of the screw rod 10 is threadedly connected to the limit screw barrel 12, the side wall of the U-shaped clamping plate 3 is provided with a limit hole 13 corresponding to the limit screw barrel 12, and the side wall of the turning block 6 is provided with a receiving groove 14, which accommodates A thrust spring 15 is arranged in the groove 14, and one end of the thrust spring 15 is fixedly connected with the inner wall of the receiving groove 14, and the other end of the thrust spring 15 is fixedly connected with a limit rod 16, and the side wall of the fixed groove 7 is provided with a valve corresponding to the limit rod 16. The limit groove 17 of the rotating block 6 is provided with a reset groove 18 corresponding to the storage groove 14 on the surface of the rotary block 6, and one end of the limit rod 16 located in the storage groove 14 is fixedly connected with a reset rod 19, and the reset rod 19 passes through the storage groove 14 and resets. The through holes opened between the slots 18 extend into the reset slots 18 and are fixedly connected with a T-shaped tie rod 20 .

The outer wall of the limiting screw barrel 12 is symmetrically fixedly connected with two first limiting sliders, and the inner wall of the through groove 9 is provided with a first limiting chute matching the first limiting sliders.

One end of the mechanical arm 1 corresponding to the U-shaped clamping plate 3 is evenly and fixedly connected with a plurality of positioning blocks, and the surface of the U-shaped clamping plate 3 is provided with positioning grooves corresponding to the positioning blocks.

The rod wall of the limiting rod 16 is symmetrically fixedly connected with two second limiting sliders, and the inner wall of the receiving groove 14 is provided with a second limiting chute matching the second limiting sliders.

One end of the T-shaped tie rod 20 located in the reset groove 18 is fixedly connected with a third limit slide block, and the inner wall of the reset groove 18 is provided with a third limit slide groove matching the third limit slide block.

The surface of the mechanical arm 1 is evenly hinged with a plurality of arc-shaped splints 21, and the end of the arc-shaped splint 21 away from the joint of the hinge is fixedly connected to the limit plate 22. The surface of the limit plate 22 is provided with a bayonet 23. The mechanical arm 1 The surface of the surface is provided with a groove 24 corresponding to the bayonet 23, the side wall in the groove 24 is fixedly connected with an elastic telescopic rod 25, and the other end of the elastic telescopic rod 25 is fixedly connected with a moving rod 26, and the moving rod 26 is far away from the groove 24 One end is fixedly connected with a triangular chuck 27 corresponding to the bayonet socket 23 .

One end of the moving rod 26 located in the groove 24 is fixedly connected with a fourth limiting slider, and the inner wall of the groove 24 is provided with a fourth limiting chute matching the fourth limiting slider.

To sum up, when the mechanical arm of the flexible robot is used, the clamp 2 and the mechanical arm 1 are clamped together by the U-shaped clamping plate 3 provided, and the cooperation of the positioning block and the positioning groove can make the clamp 2 and the mechanical arm The position of 1 is placed together accurately, and then the rotary block 6 is turned, the rotary block 6 drives the telescopic rod 5 to rotate, and then drives the driving helical gear 8 to rotate, and the meshing effect of the driving helical gear 8 and the driven helical gear 11 drives the screw 10 to rotate , and then use the threaded connection between the screw rod 10 and the limit screw barrel 12 to make the limit screw barrel 12 extend out of the mechanical arm 1 and engage with the limit hole 13, so that the mechanical arm 1 and the fixture 2 can be quickly and stably connected Together, and when it is necessary to unlock, turn the turning block 6 in the opposite direction to unlock, which is convenient for people to use. The limit rod 16 is pushed out of the storage groove 14 by the thrust spring 15 so that the limit rod 16 and the limit groove 17 are locked. together, the turning block 6 can be firmly fixed in the fixing groove 7, avoiding the rotation of the turning block 6 affected by external factors, and then driving the driving gear 8 and the screw rod 10 to rotate and affecting the stability of the limiting screw barrel 12 and the limiting hole 13 Clamping affects the problem of the stable connection between the fixture 2 and the mechanical arm 1, and improves the stability of the structure. The cables needed for the fixture 2 during use can be clamped on the mechanical arm 1 through the provided arc-shaped splint 21 , press the limit plate 22, the bayonet 23 squeezes the triangular chuck 27, and uses the slope of the triangular chuck 27 to move the triangular chuck 27 with the moving rod 26. When the triangular chuck 27 penetrates the bayonet 23, the elastic telescopic rod 25 pull back the moving rod 26, and then pull back with the triangular chuck 27, so that the horizontal part of the triangular chuck 27 is pulled back to the surface of the limit plate 22, and then the arc splint 21 is firmly limited and fixed, and in When it is necessary to unlock and take off the cable, push the triangular clamp 27 to move the triangular clamp 27 to the bayonet 23 to release the relative limit lock on the arc splint 21, which is convenient for the disassembly and assembly of the cable, and is convenient for people use.

It should be noted that the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also includes none other elements specifically listed, or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (7)

1. A mechanical arm for a flexible robot, comprising a mechanical arm (1) connected to a robot drive structure, characterized in that: the end of the mechanical arm (1) is fixedly connected with a clamp (2), and the clamp (2) The upper end of the upper end of the mechanical arm (1) is fixedly connected with a U-shaped clamp (3) corresponding to the mechanical arm (1). The end surface of the mechanical arm (1) is provided with a cylindrical groove (4), and the ball bearing is passed through the cylindrical groove (4). A telescopic rod (5) is rotatably connected, and one end of the telescopic rod (5) stretches out of the cylindrical groove (4), and is fixedly connected with a rotary block (6). The fixed groove (7) corresponding to the block (6), the rod wall of the telescopic rod (5) located in the cylindrical groove (4) is evenly and fixedly sleeved with a plurality of active helical gears (8), and the mechanical arm (1) The side wall is provided with a through groove (9) which communicates with the cylindrical groove (4) and corresponds to the driving helical gear (8). The screw rod (10) is connected to the through groove (9) through ball bearing rotation, and the One end of the screw rod (10) is fixedly connected with a driven helical gear (11) meshing with the driving helical gear (8), and the other end of the screw rod (10) is threadedly connected with a limiting screw barrel (12), and the U-shaped clamp The side wall of the plate (3) is provided with a limit hole (13) corresponding to the limit screw barrel (12), and the side wall of the rotary block (6) is provided with a storage groove (14), and the storage groove (14) ) is provided with a thrust spring (15), one end of the thrust spring (15) is fixedly connected to the inner wall of the storage tank (14), and the other end of the thrust spring (15) is fixedly connected to the limit rod (16), so The side wall of the fixed groove (7) is provided with a limit groove (17) corresponding to the limit rod (16), and the surface of the rotary block (6) is provided with a reset groove (18) corresponding to the storage groove (14). ), one end of the limit rod (16) located in the storage groove (14) is fixedly connected with a reset rod (19), and the reset rod (19) passes through between the storage groove (14) and the reset groove (18) The through hole offered stretches in the resetting groove (18), and is fixedly connected with a T-shaped pull bar (20). 2. A kind of flexible robot mechanical arm according to claim 1, is characterized in that: the outer wall of described limit screw barrel (12) is symmetrically fixedly connected with two first limit slide blocks, and described through groove ( 9) The inner wall is provided with a first limit chute matched with the first limit slide block. 3. A kind of mechanical arm of flexible robot according to claim 1, it is characterized in that: one end of said mechanical arm (1) corresponding to U-shaped clamping plate (3) is evenly and fixedly connected with a plurality of positioning blocks, and said U The surface of the shaped clamping plate (3) is provided with a positioning groove corresponding to the positioning block. 4. A kind of mechanical arm of flexible robot according to claim 1, is characterized in that: the rod wall of described limit rod (16) is symmetrically fixedly connected with two second limit slide blocks, and described receiving groove ( 14) The inner wall is provided with a second limit chute matched with the second limit slide. 5. A mechanical arm for a flexible robot according to claim 1, characterized in that: one end of the T-shaped tie rod (20) located in the reset groove (18) is fixedly connected with a third limit slider, and the The inner wall of the reset slot (18) is provided with a third limiting chute matching the third limiting slide block. 6. A kind of flexible robot mechanical arm according to claim 1, is characterized in that: the surface uniform hinge of described mechanical arm (1) is connected with a plurality of arc splints (21), and described arc splint ( 21) One end far away from the joint of the hinge is fixedly connected to the limit plate (22), the surface of the limit plate (22) is provided with a bayonet (23), and the surface of the mechanical arm (1) is provided with a bayonet (23) the corresponding groove (24), the side wall in the groove (24) is fixedly connected with an elastic telescopic rod (25), and the other end of the elastic telescopic rod (25) is fixedly connected with a moving rod (26 ), one end of the moving rod (26) away from the groove (24) is fixedly connected with a triangular chuck (27) corresponding to the bayonet socket (23). 7. A mechanical arm for a flexible robot according to claim 6, characterized in that: one end of the moving rod (26) located in the groove (24) is fixedly connected with a fourth limit slider, and the concave The inner wall of the groove (24) is provided with a fourth limiting chute matched with the fourth limiting slide block.