CN109015612B - Thread swinging type chain robot - Google Patents

Abstract

The invention provides a thread swinging and rotating type chain robot, which comprises a base body and a manipulator body, wherein the manipulator body is arranged on the base body; the manipulator body comprises a plurality of linked movable joints, two adjacent movable joints are hinged with each other and driven by a joint component arranged in each movable joint; the base body is internally provided with a control unit, and each joint component is in control connection with the control unit through a circuit. The joint component comprises a unit motor, a right-handed screw, a left-handed screw, a right-handed thread transmission arm, a left-handed thread transmission arm, a first connecting rod, a second connecting rod and a swinging component. The invention can bend according to the snake strip structure, and can move even in narrow bending space.

Description

Thread swinging type chain robot

Technical Field

The invention relates to the field of mechanical equipment, in particular to a thread swinging type chain robot.

Background

An industrial robot is a mechanical device with high degree of freedom and powerful functions, and is widely applied to industrial production. Most industrial robots are provided with a plurality of mechanical joints, imitate the limbs of human bodies, and can rotate and swing to realize various actions.

Industrial robots in the prior art do not have a serpentine structure, are single in action, require a large deployment space to move, and cannot move in a narrow space. Each joint is relatively bulky and cannot perform any motion once in a curved and narrow environment.

It is obvious that the prior art has certain defects.

Disclosure of Invention

The invention aims to solve the technical problem of providing a thread swinging chain robot which can bend and move in a narrow bending space by imitating a snake-shaped strip structure.

In order to achieve the purpose, the invention adopts the following technical scheme:

a thread swinging chain robot comprises a base body and a manipulator body arranged on the base body; the manipulator body comprises a plurality of linked movable joints, two adjacent movable joints are hinged with each other and driven by a joint component arranged in each movable joint; a control unit is arranged in the base body, and each joint component is in control connection with the control unit through a circuit;

the joint component comprises a unit motor, a right-handed screw, a left-handed screw, a right-handed transmission arm, a left-handed transmission arm, a first connecting rod, a second connecting rod and a swinging component; the unit motor is fixedly arranged in the movable joint positioned at the next layer and is connected with the control unit, the unit motor is in transmission connection with a right-handed screw and a left-handed screw, the right-handed screw and the left-handed screw are coaxially arranged in a staggered manner, the surface of the right-handed screw is provided with a right-handed thread along the axial direction, and the surface of the left-handed screw is provided with a left-handed thread along the axial direction; the right thread transmission arm and the left thread transmission arm are strip-shaped and are respectively arranged at the left side and the right side and are connected with the inner wall of the movable joint at the next layer in a sliding manner along the axial direction; the inner side surface of the right thread transmission arm is provided with a right thread transmission part which protrudes inwards, and the surface of the right thread transmission part is provided with an incomplete right-handed thread along the axial direction; the inner side surface of the left thread transmission arm is provided with a left thread transmission part which protrudes inwards, and the surface of the left thread transmission part is provided with an incomplete left-hand thread along the axial direction; the right thread transmission arm is meshed with the right-handed thread on the surface of the right-handed screw through the right thread transmission part, and the left thread transmission arm is meshed with the left-handed thread on the surface of the left-handed screw through the left thread transmission part, so that the right-handed screw and the left-handed screw are respectively driven to perform reverse linear sliding when rotating; the end parts, facing the upper layer of movable joint, of the right thread transmission arm and the left thread transmission arm are respectively provided with a first hinged wrist and a second hinged wrist, two sides of the swing component are respectively provided with a hinged seat, the first hinged wrist is connected with the corresponding hinged seat through a first connecting rod, two ends of the first connecting rod are respectively hinged with the first hinged wrist and the hinged seat, the second hinged wrist is connected with the corresponding hinged seat through a second connecting rod, and two ends of the second connecting rod are respectively hinged with the second hinged wrist and the hinged seat; the middle part of the swing component is rotationally connected with the head part of the movable joint positioned on the next layer through a hinged shaft, and the tail part of the movable joint positioned on the previous layer is fixedly connected with the swing component.

Furthermore, a sleeve is sleeved between the left-handed screw and the right-handed screw, so that the left-handed screw and the right-handed screw are arranged at intervals.

Furthermore, a sliding rail is arranged on the inner wall of the movable joint along the axial direction; the right thread transmission arm and the left thread transmission arm are provided with sliding grooves matched with the sliding rails along the axial direction, and the sliding rails on the two sides are respectively connected inside the sliding grooves in a sliding mode.

Furthermore, the sliding grooves of the right and left screw transmission arms extend from the bottom to the first and second articulated wrists, and the length of the sliding grooves is smaller than that of the right and left screw transmission arms; the inside of first articulated wrist and the articulated wrist of second runs through along the axial and is equipped with the screw hole, and the screw hole extends to link up to the terminal surface of sliding tray end, and the inside threaded connection of screw hole has and is used for adjusting spacing bolt, makes spacing bolt from the terminal surface protrusion of sliding tray, slides when right side screw drive arm or left hand thread drive arm extremely spacing with the terminal surface butt of slide rail.

Furthermore, the swinging member is disc-shaped, the hinged seats are fixed on two sides of the bottom of the swinging member, a protruding swinging seat is arranged in the middle of the bottom of the swinging member, and the swinging member is rotatably connected with the movable joint located on the next layer through the swinging seat.

Furthermore, the top of the swing component is provided with a motor fixing part for installing a unit motor, and the unit motor is fixed on the motor fixing part.

Furthermore, the head of the movable joint is provided with a hinged part which protrudes and extends towards the upper layer of movable joint, and the movable joint positioned at the lower layer is rotationally connected with the middle part of the swinging component through the hinged part.

Furthermore, two sides of the tail part of the movable joint are provided with baffle parts which protrude and extend towards the lower layer of movable joint, and the baffle parts are matched and meshed with the hinged parts, so that two sides of the hinged parts are shielded.

Furthermore, the hinge shaft directions of the heads of the two adjacent movable joints are orthogonal to each other, so that the swinging directions of the two adjacent joints are orthogonal to each other.

The thread swing rotation type chain robot provided by the invention has the following advantages:

the snake-shaped structure is simulated, so that the plurality of movable joints realize special actions such as swinging, coiling and the like, present special forms and motion tracks and can be developed even in a narrow bending space;

the volume is smaller than that of the manipulator in the prior art, so that the space is easily saved;

the joint is driven by a thread structure, the motion amplitude is high in controllability, certain load capacity is achieved, and the precision is higher;

the movable joints are tightly matched with each other, the shielding performance is good, and internal mechanical parts are not exposed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic view of the overall structure of the screw swing type chain robot of the present invention.

Fig. 2 is an exploded view of the joint assembly.

Fig. 3 is an exploded view of the right and left screw driving arms and the movable joint.

Fig. 4 is a schematic structural view of the right screw driving arm.

Fig. 5 is a schematic structural diagram of the left-hand thread transmission arm.

Fig. 6 is an internal schematic view of the movable joint and the combined structure between the movable joints.

Description of reference numerals:

1.base body 2 and manipulator body

3.Movable joint 4, unit motor

5. Right-handed screw 6 and left-handed screw

7. Rightthread transmission arm 8 and left thread transmission arm

9. First connectingrod 10 and second connecting rod

11.Swing component 12, hinged seat

13.Sleeve 14, slide rail

15. Slidinggroove 16 and right thread transmission part

17. First articulatedwrist 18, left threaded drive

19. Second articulatedwrist 20, articulation

21. Stop piece part

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 1 to 5, the present invention discloses a thread swing type chain robot, including a base 1 and amanipulator body 2 mounted on the base 1; themanipulator body 2 comprises a plurality of linkedmovable joints 3, two adjacentmovable joints 3 are hinged with each other and are driven by a joint component arranged in themovable joints 3; a control unit is arranged in the base body 1, and each joint component is in control connection with the control unit through a circuit;

the joint component comprises aunit motor 4, a right-handed screw 5, a left-handed screw 6, a right-handed transmission arm 7, a left-handed transmission arm 8, a first connecting rod 9, a second connectingrod 10 and aswinging component 11; theunit motor 4 is fixedly arranged in themovable joint 3 positioned at the next layer and is connected with the control unit, theunit motor 4 is in transmission connection with a right-handed screw 5 and a left-handed screw 6, the right-handed screw 5 and the left-handed screw 6 are coaxially arranged in a staggered manner, the surface of the right-handed screw 5 is provided with a right-handed thread along the axial direction, and the surface of the left-handed screw 6 is provided with a left-handed thread along the axial direction; the rightthread transmission arm 7 and the leftthread transmission arm 8 are strip-shaped and are respectively arranged at the left side and the right side and are connected with the inner wall of themovable joint 3 at the next layer in a sliding manner along the axial direction; the inner side surface of the rightthread transmission arm 7 is provided with a rightthread transmission part 16 protruding inwards, and the surface of the rightthread transmission part 16 is provided with an incomplete right-handed thread along the axial direction; the inner side surface of the leftthread transmission arm 8 is provided with a leftthread transmission part 18 protruding inwards, and the surface of the leftthread transmission part 18 is provided with an incomplete left-hand thread along the axial direction; the rightthread transmission arm 7 is meshed with the right-handed thread on the surface of the right-handed screw 5 through the rightthread transmission part 16, and the leftthread transmission arm 8 is meshed with the left-handed thread on the surface of the left-handed screw 6 through the leftthread transmission part 18, so that the right-handed screw 5 and the left-handed screw 6 respectively drive the rightthread transmission arm 7 and the leftthread transmission arm 8 to perform reverse linear sliding when rotating; the end parts, facing the upper layer ofmovable joint 3, of the rightthread transmission arm 7 and the leftthread transmission arm 8 are respectively provided with a first hingedwrist 17 and a second hingedwrist 19, two sides of theswing component 11 are respectively provided with hingedseats 12, the first hingedwrist 17 is connected with the corresponding hingedseat 12 through a first connecting rod 9, two ends of the first connecting rod 9 are respectively hinged with the first hingedwrist 17 and thehinged seat 12, the second hingedwrist 19 is connected with the correspondinghinged seat 12 through a second connectingrod 10, and two ends of the second connectingrod 10 are respectively hinged with the second hingedwrist 19 and thehinged seat 12; the middle part of theswing component 11 is rotationally connected with the head part of themovable joint 3 positioned on the next layer through a hinged shaft, and the tail part of themovable joint 3 positioned on the previous layer is fixedly connected with theswing component 11.

The swing between themovable joints 3 is realized by driving a rightthread transmission arm 7 through a right-handed screw 5 and driving a leftthread transmission arm 8 through a left-handed screw 6 to linearly slide and stretch, and because the right-handed screw 5 and the left-handed screw 6 are coaxially arranged, when theunit motor 4 rotates, threads in two different directions can enable the rightthread transmission arm 7 and the leftthread transmission arm 8 to do completely synchronous reverse telescopic motion, so that aswing component 11 is driven to swing around the hinged shaft at the middle part in a rotating manner. Theswing member 11 is fixed to the movable joint 3 on the upper layer, and thus drives the movable joint 3 on the upper layer to swing. Because the screw thread is comparatively meticulous, not only driven stationarity is high, can bear certain load moreover, and the drive ratio is also great, is convenient for improve driven precision. As long as the control unit performs rotation control on thecorresponding unit motor 4, the free swing of the corresponding movable joint 3 can be controlled.

Referring to fig. 2 and 6, preferably, asleeve 13 is sleeved between the right-handed screw 5 and the left-handed screw 6, so that the left-handed screw 6 and the right-handed screw 5 are spaced apart from each other, and the right-handed screw 5 and the left-handed screw 6 are spaced apart from each other, thereby preventing the right-handed transmission part 16 and the left-handed screw 6, or the left-handed transmission part 18 and the right-handed screw 5 from being interfered with each other and being jammed. As shown in the drawings, the right and left threadedtransmissions 16 and 18 are correspondingly offset. The remaining portions of the right and leftscrew drive arms 7 and 8 do not contact the right-hand screw 5 or the left-hand screw 6, except that the right and leftscrew drive portions 16 and 18 are inwardly projected to be engaged with the right-hand screw 5 and the left-hand screw 6.

As shown in detail in fig. 3, preferably, aslide rail 14 is axially arranged inside themovable joint 3; the rightthread transmission arm 7 and the leftthread transmission arm 8 are provided with slidinggrooves 15 matched with the slidingrails 14 along the axial direction, and the sliding rails 14 on the two sides are respectively connected inside the slidinggrooves 15 in a sliding mode.

The rightthread transmission arm 7 and the leftthread transmission arm 8 are axially connected with the movable joint 3 in a sliding manner through the structure. Since the threads of the right and left threadedtransmission parts 16 and 18 need to be matched, the swing angle of theswing member 11 can be adjusted during assembly. After manual assembly is completed, the rightthread transmission arm 7 and the leftthread transmission arm 8 are slightly uneven in height due to the problem of the thread matching angle, and theunit motor 4 can be controlled to rotate through the control unit, so that leveling calibration is performed.

As shown in fig. 2 and fig. 6 in detail, as a further preferred option, theswing member 11 is in a shape of a disk, the hinge seats 12 are fixed on two sides of the bottom of theswing member 11, and a protrudingswing seat 22 is disposed in the middle of the bottom of theswing member 11, and theswing member 11 is rotatably connected to the movable joint 3 located at the next layer through theswing seat 22. In the technical scheme of the invention, the center of theswing member 11 and the space above the swing member are not interfered by the joint assembly at all, and the structure scheme can be used for installing other parts, such as installing theunit motor 4 of the movable joint 3 on the upper layer onto theswing member 11, and is also a preferable structure scheme. However, the specific mounting orientation structure is not a technical point of the present invention, and is not limited thereto.

Preferably, the head of themovable joint 3 is provided with ahinge 20 protruding and extending toward the upper layer of themovable joint 3, and the movable joint 3 at the lower layer is rotatably connected with the middle part of theswing member 11 through thehinge 20. Preferably, the two sides of the tail of the movable joint 3 are provided with ablocking piece part 21 protruding and extending towards the lower layer of themovable joint 3, and theblocking piece part 21 is matched and engaged with thehinge part 20 so as to shield the two sides of thehinge part 20.

The protrudinghinge portion 20 can be hinged to theswing member 11, and the protruding blockingportion 21 can be fixedly connected to theswing member 11, so that the degree of matching between the two sections ofmovable joints 3 is improved. And the structure makes the swingingcomponent 11 face to the inner side of thehinge part 20 and thebaffle part 21 on one hand, which is convenient for arranging the swingingcomponent 11; meanwhile, theswing component 11, theunit motor 4 and other parts are shielded to the maximum extent to avoid exposure, the appearance of the product is improved while dust is prevented, the safety of the product is improved, and external objects are prevented from being clamped in the joint assembly.

In addition, the hinge axes of the heads of the two adjacentmovable joints 3 are orthogonal to each other, and the swinging directions of the two adjacent joints are orthogonal to each other. With this construction, the structure of the movable joint 3 may be modified correspondingly, and specifically, the orientations of thehinge portion 20 and thestop portion 21 may be adjusted correspondingly. When the hinge shaft directions of the heads of two adjacentmovable joints 3 are parallel to each other, the swinging directions of the two adjacent joints are consistent, and the implemented actions can be correspondingly reduced; when the hinge shaft directions of the heads of the two adjacentmovable joints 3 are orthogonal to each other, the swing directions of the two adjacent joints are different from each other, so that the swing freedom degrees in two different directions are realized, and more actions can be performed.

The thread swing type chain robot provided by the invention simulates a snake-shaped structure, so that the plurality ofmovable joints 3 realize special actions such as swinging, coiling and the like, present special forms and motion tracks and can be developed even in a narrow bending space. Because of the strip shape, the volume is much smaller than that of the mechanical hand in the prior art. The joint is driven by a thread structure, the motion amplitude controllability is high, certain load capacity is achieved, and higher stability and motion precision are achieved. Themovable joint 3 is tightly matched with themovable joint 3, the shape design has good shielding performance, and internal mechanical parts are not exposed.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (7)

1. A thread swinging type chain robot is characterized in that: comprises a base body and a manipulator body arranged on the base body; the manipulator body comprises a plurality of linked movable joints, two adjacent movable joints are hinged with each other and driven by a joint component arranged in each movable joint; a control unit is arranged in the base body, and each joint component is in control connection with the control unit through a circuit;

the joint component comprises a unit motor, a right-handed screw, a left-handed screw, a right-handed transmission arm, a left-handed transmission arm, a first connecting rod, a second connecting rod and a swinging component; the unit motor is fixedly arranged in the movable joint positioned at the next layer and is connected with the control unit, the unit motor is in transmission connection with a right-handed screw and a left-handed screw, the right-handed screw and the left-handed screw are coaxially arranged in a staggered manner, the surface of the right-handed screw is provided with a right-handed thread along the axial direction, and the surface of the left-handed screw is provided with a left-handed thread along the axial direction; the right thread transmission arm and the left thread transmission arm are strip-shaped and are respectively arranged at the left side and the right side and are connected with the inner wall of the movable joint at the next layer in a sliding manner along the axial direction; the inner side surface of the right thread transmission arm is provided with a right thread transmission part which protrudes inwards, and the surface of the right thread transmission part is provided with an incomplete right-handed thread along the axial direction; the inner side surface of the left thread transmission arm is provided with a left thread transmission part which protrudes inwards, and the surface of the left thread transmission part is provided with an incomplete left-hand thread along the axial direction; the right thread transmission arm is meshed with the right-handed thread on the surface of the right-handed screw through the right thread transmission part, and the left thread transmission arm is meshed with the left-handed thread on the surface of the left-handed screw through the left thread transmission part, so that the right-handed screw and the left-handed screw are respectively driven to perform reverse linear sliding when rotating; the end parts, facing the upper layer of movable joint, of the right thread transmission arm and the left thread transmission arm are respectively provided with a first hinged wrist and a second hinged wrist, two sides of the swing component are respectively provided with a hinged seat, the first hinged wrist is connected with the corresponding hinged seat through a first connecting rod, two ends of the first connecting rod are respectively hinged with the first hinged wrist and the hinged seat, the second hinged wrist is connected with the corresponding hinged seat through a second connecting rod, and two ends of the second connecting rod are respectively hinged with the second hinged wrist and the hinged seat; the middle part of the swing component is rotationally connected with the head part of the movable joint positioned on the next layer through a hinged shaft, and the tail part of the movable joint positioned on the previous layer is fixedly connected with the swing component.

2. The thread swing type chain robot according to claim 1, characterized in that: and a sleeve is sleeved between the left-handed screw and the right-handed screw, so that the left-handed screw and the right-handed screw are arranged at intervals.

3. The thread swing type chain robot according to claim 1, characterized in that: a sliding rail is arranged in the movable joint along the axial direction; the right thread transmission arm and the left thread transmission arm are provided with sliding grooves matched with the sliding rails along the axial direction, and the sliding rails on the two sides are respectively connected inside the sliding grooves in a sliding mode.

4. The thread swing type chain robot according to claim 1, characterized in that: the swing member is disc-shaped, the hinge seats are fixed on two sides of the bottom of the swing member, a protruding swing seat is arranged in the middle of the bottom of the swing member, and the swing member is rotatably connected with the movable joint located on the next layer through the swing seat.

5. The thread swing type chain robot according to claim 1, characterized in that: the head of the movable joint is provided with a hinged part which protrudes and extends towards the upper layer of movable joint, and the movable joint positioned at the lower layer is rotationally connected with the middle part of the swinging component through the hinged part.

6. The thread swing type chain robot according to claim 5, characterized in that: the two sides of the tail part of the movable joint are provided with baffle parts which protrude and extend towards the lower layer of the movable joint, and the baffle parts are matched and meshed with the hinged parts to enable the two sides of the hinged parts to be shielded.

7. The thread swing type chain robot according to claim 1, characterized in that: the direction of the articulated shaft of the head of two adjacent movable joints is orthogonal, so that the swinging direction of two adjacent joints is orthogonal.

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