CN112621809A - Flexible rotary joint module and pneumatic mechanical arm - Google Patents
Flexible rotary joint module and pneumatic mechanical arm Download PDFInfo
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- CN112621809A CN112621809A CN202011430823.XA CN202011430823A CN112621809A CN 112621809 A CN112621809 A CN 112621809A CN 202011430823 A CN202011430823 A CN 202011430823A CN 112621809 A CN112621809 A CN 112621809A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a flexible rotary joint module and a pneumatic mechanical arm, which comprise an installation shell and two cylinders, wherein the two cylinders are arranged on the bottom end surface of the installation shell and have parallel axes, piston rods on the two cylinders penetrate through the bottom end surface of the installation shell and extend into an inner cavity of the installation shell, and a conversion mechanism for converting linear motion of the piston rods into rotary motion is arranged in the installation shell; according to the invention, through the mutual matching of the air cylinder, the mounting shell and the conversion mechanism, the conversion mechanism can convert the linear motion of the piston rod on the air cylinder into the rotary motion, the flexible rotary joint module is driven in a gas driving mode, the flexibility of the joint can be adjusted by adjusting the pressure of driving gas in the air cylinder, and the compressibility of the gas can generate a buffer action, so that the flexible rotary joint module has the characteristic of passive compliance, and the problem of poor operation compliance of the mechanical arm joint is solved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a flexible rotary joint module and a pneumatic mechanical arm.
Background
Robotic arms are typical mechanical automation devices that have found wide application in industrial production, greatly facilitating advances in productivity. The mechanical arm can replace human to work in a severe environment, so that the human is released from simple, monotonous and repeated physical labor, and the production efficiency is greatly improved; to some extent, the mechanical arm is a sign of social development degree and technological progress, and along with the continuous improvement of the automation degree of mechanical equipment in the manufacturing industry, the station with severe working environment or higher labor intensity gradually replaces workers with the mechanical arm to work.
In the field of traditional mechanical arms, researchers focus on the aspects of load capacity, movement speed, acceleration, positioning accuracy, working space and the like of the mechanical arm, but the research on the safety of the mechanical arm used in a man-machine environment is deficient; joints of the mechanical arm are the core of operation in the operation process, the safety problem of the existing mechanical arm during working and use in the human-computer environment is mainly that the rigidity of each joint of the mechanical arm is high, the operation flexibility of each joint of the mechanical arm is poor, the rigidity of each joint of the mechanical arm is high in the operation process, the mechanical arm can rigidly touch peripheral objects to cause damage under error operation, the safety of the mechanical arm in the use process is affected, the safety of the mechanical arm in the interactive use process with human is insufficient, and the mechanical arm cannot meet the safety requirement in the human-computer environment coexisting with human.
Disclosure of Invention
The invention aims to: the utility model provides a flexible rotary joint module and pneumatic mechanical arm, aims at solving the problem that each joint of mechanical arm operation flexibility is not good and the mechanical arm can not be suitable for the security requirement in the human-computer environment with the coexistence among the relevant technique.
The technical scheme adopted by the invention is as follows:
the utility model provides a flexible rotary joint module, includes installation shell and installs two cylinders that the axis is parallel to each other on the bottom face of installation shell, two piston rod on the cylinder all runs through the bottom face of installation shell and extends to in the inner chamber of installation shell, the internally mounted of installation shell has the shifter that is used for converting the linear motion of piston rod into rotary motion.
Preferably, all linked firmly the extension plate on the top face of two piston rods, the shifter is including rotating the driving wheel, drive belt and the output shaft of connecting in the installation shell inside, the both ends of drive belt respectively are connected with an extension plate respectively, and the medial surface of drive belt is the flank of tooth to mesh the transmission mutually with the external tooth of driving wheel, the opening has been seted up on the installation shell, the output shaft passes through the bearing and rotates to install in open-ended inside and with driving wheel looks axial drive.
Preferably, the openings are formed in a pair of opposite side walls of the mounting shell, the number of the conversion mechanisms is two, the two conversion mechanisms are sequentially arranged along the axis of the output shaft, the opposite ends of the output shafts of the two conversion mechanisms are rotatably mounted in one opening respectively, and the output shafts of the two conversion mechanisms are coaxially connected into a whole.
The pneumatic mechanical arm comprises N arm bodies and N-1 joint modules which are sequentially arranged, wherein the arm bodies and the joint modules are distributed in a staggered manner and are sequentially connected; along the arrangement direction, the arm bodies are a first arm body, a second arm body, a third arm body … … and an Nth arm body in sequence, and the joint modules are a first joint module, a second joint module, a third joint module … … and an Nth-1 joint module in sequence;
the joint module is the flexible rotary joint module, the mounting shell of the (N-1) th joint module is connected with the (N-1) th arm body, and the output shaft of the (N-1) th joint module is connected with the (N) th arm body.
Preferably, N is 4; the first arm body is a cross rod, the second arm body is a large arm connecting rod, the third arm body is a small arm connecting rod, and the fourth arm body is a wrist connecting piece; the first joint module is a first flexible rotary joint module, the second joint module is a second flexible rotary joint module, and the third joint module is a third flexible rotary joint module;
the left end face of the installation shell on the first flexible rotary joint module is fixedly connected with the cross rod, one end, facing the first flexible rotary joint module, of the large arm connecting rod is fixedly connected with an output shaft at the right end of the installation shell on the first flexible rotary joint module, one end, facing the second flexible rotary joint module, of the large arm connecting rod is fixedly connected with the left end face of the installation shell on the second flexible rotary joint module, the output shaft on the right end face of the installation shell on the second flexible rotary joint module is fixedly connected with the small arm connecting rod through the first connecting piece, the installation cavity is formed in the small arm connecting rod, the third flexible rotary joint module is fixedly installed inside the installation cavity, and output shafts at the left end and the right end of the installation shell on the third flexible rotary joint module are fixedly connected with the wrist connecting piece.
Preferably, the left end face of the mounting shell on the first flexible rotary joint module is fixedly connected with the cross rod, one end of the large arm connecting rod facing the first flexible rotary joint module is fixedly connected with the output shaft at the right end of the mounting shell on the first flexible rotary joint module, one end face of the large arm connecting rod facing the second flexible rotary joint module is fixedly connected with the left end face of the mounting shell on the second flexible rotary joint module, the output shaft on the right end face of the mounting shell on the second flexible rotary joint module is fixedly connected with the small arm connecting rod through the first connecting piece, the mounting cavity is formed in the small arm connecting rod, the third flexible rotary joint module is fixedly mounted inside the mounting cavity, and the output shafts at the left end and the right end of the mounting shell on the third flexible rotary joint module are fixedly connected with the wrist connecting piece.
Preferably, the wrist connecting piece is provided with an assembling hole.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the invention, through the mutual matching of the air cylinder, the mounting shell and the conversion mechanism, the conversion mechanism can convert the linear motion of the piston rod on the air cylinder into the rotary motion, the flexible rotary joint module is driven in a gas driving mode, the flexibility of the joint can be adjusted by adjusting the pressure of driving gas in the air cylinder, and the compressibility of the gas can generate a buffer action, so that the flexible rotary joint module has the characteristic of passive compliance, and the problem of poor flexibility of the operation of the mechanical arm joint is solved.
2. According to the invention, the piston rods on the two cylinders can reciprocate up and down to drive the transmission belt to transmit, so that the driving wheels meshed with the transmission belt can convert the linear motion of the piston rods into rotary motion, and then the rotary motion of the driving wheels is output and rotated through the output shaft, thereby ensuring that the linear motion of the piston rods can be stably converted into rotary motion.
3. According to the invention, the two conversion mechanisms are arranged on the output shafts at the left end and the right end of the mounting shell on the flexible rotary joint module, so that the rotary motion of the two driving wheels can be synchronously output and rotated on the left end and the right end of the mounting shell on the flexible rotary joint module, and the use is convenient.
4. According to the invention, through the mutual matching of the first flexible rotary joint module, the second flexible rotary joint module, the third flexible rotary joint module, the cross rod, the large arm connecting rod, the small arm connecting rod and the wrist connecting piece, the flexibility effect of the operation of each joint of the mechanical arm is good, when the mechanical arm is driven by gas to move, the mechanical arm is in accidental contact with the external environment, the flexible collision of the mechanical arm can be realized by utilizing the flexibility of the flexible rotary joint modules, the damage caused by rigid collision is avoided, the safety of man-machine cooperation is improved, and the problem that the conventional mechanical arm cannot meet the safety requirement in the man-machine environment coexisting with human is solved.
5. According to the invention, through the mutual matching of the first flexible rotary joint module, the fourth flexible rotary joint module and the second connecting piece, the output shaft at the right end of the mounting shell on the first flexible rotary joint module can drive the fourth flexible rotary joint module and the whole body on the large arm connecting rod to swing in the front-back direction through the second connecting piece, and meanwhile, the output shafts at the left end and the right end of the mounting shell on the fourth flexible rotary joint module can drive the large arm connecting rod to swing in the left-right direction, so that the pneumatic mechanical arm can rotate in multiple directions, and the flexibility of the pneumatic mechanical arm is improved.
6. In the invention, the clamping jaws with different operations can be matched and installed on the wrist connecting piece through the assembling holes, so that the wrist connecting piece is convenient to use.
Drawings
FIG. 1 is a front view of a flexible rotary joint module of the present invention;
FIG. 2 is a rear view of a flexible rotary joint module of the present invention;
FIG. 3 is a perspective view of a flexible rotary joint module of the present invention;
FIG. 4 is a schematic view of the construction of the robotic arm of the present invention;
FIG. 5 is a perspective view of one of the robotic arms of the present invention;
FIG. 6 is a second perspective view of the robotic arm of the present invention;
fig. 7 is a schematic structural view of a cross bar in the present invention.
The labels in the figure are: 100. a flexible rotary joint module; 1. mounting a shell; 2. a cylinder; 201. a piston rod; 202. an extension plate; 3. driving the wheel; 301. a transmission belt; 4. an opening; 5. an output shaft; 6. a cross bar; 7. a large arm connecting rod; 8. a small arm connecting rod; 801. a mounting cavity; 9. a first flexible rotary joint module; 10. a second flexible rotary joint module; 11. a third flexible rotary joint module; 111. a first connecting member; 12. a fourth flexible rotary joint module; 13. a second connecting member; 14. a wrist connector; 15. an assembly hole; 16. a first mounting cavity; 17. a second mounting cavity; 18. a vertical rod; 19. a cross-shaped base.
Detailed Description
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example 1
Referring to fig. 1-3, a flexible rotary joint module 100 comprises a mounting shell 1 and two cylinders 2 mounted on the bottom end surface of the mounting shell 1, wherein the axes of the two cylinders 2 are parallel to each other, piston rods 201 on the two cylinders 2 penetrate through the bottom end surface of the mounting shell 1 and extend into an inner cavity of the mounting shell 1, the cylinders 2 are preferably rolling film cylinders, the two rolling film cylinders are mounted on the bottom end surface of the mounting shell 1 through 1/2-20UNF threads on the front portions of the cylinders, a conversion mechanism for converting linear motion of the piston rods 201 into rotary motion is mounted inside the mounting shell 1, extension plates 202 are fixedly connected to the top end surfaces of the two piston rods 201, the conversion mechanism comprises a driving wheel 3, a driving belt 301 and an output shaft 5 which are rotatably connected to the inside of the mounting shell 1, two ends of the driving belt 301 are respectively connected with one extension plate 202, and the inner side surfaces, the output shaft 5 is rotatably mounted inside the opening 4 through a bearing and axially driven with the driving wheel 3, one end of the output shaft 5 facing the driving wheel 3 is fixedly connected with the driving wheel 3, piston rods 201 on the two cylinders 2 can reciprocate up and down to drive a driving belt 301 for transmission, so that the driving wheel 3 meshed with the driving belt 301 can convert the linear motion of the piston rods 201 into rotary motion, and the rotary motion of the driving wheel 3 is output and rotated through the output shaft 5; or the components in the conversion mechanism can be a gear, a chain and an output shaft 5, the piston rod 201 linearly drives the chain, and the chain is meshed with the gear to convert the linear motion of the piston rod 201 into the rotary motion;
the working principle is as follows:
can promote piston rod 201 outwards motion when the air chamber is inflated in one of them cylinder 2, drive belt 301 one end promptly along 2 axial motion of one of them cylinder, then the piston rod 201 of pulling another cylinder 2 retrieves, and drive driving wheel 3 and rotate, thereby can make output shaft 5 output rotary motion, and then flexible rotary joint module 100 adopts the band pulley transmission mode with the linear motion conversion of cylinder 2 for rotary motion, and adopt the gas drive mode to drive flexible rotary joint module 100, can adjust the joint flexibility through the pressure of the inside drive gas of adjusting cylinder 2, gaseous compressibility can produce a cushioning effect, therefore flexible rotary joint module 100 has passive gentle and agreeable characteristic, the not good problem of arm joint operation compliance has been solved.
Example 2
Referring to fig. 1-3, it is further defined on the basis of embodiment 1 that the openings 4 are opened on a pair of opposite side walls of the mounting case 1, two conversion mechanisms are provided, two conversion mechanisms are sequentially arranged along the axis of the output shaft 5, the output shafts 5 of the two conversion mechanisms are rotatably mounted in one opening 4 at the opposite ends of each other, and the output shafts 5 of the two conversion mechanisms are coaxially connected with each other into a whole;
two transmission belt clamps are mounted on each extension plate 202, two ends of each transmission belt 301 are fixedly connected with the transmission belt clamps on the extension plates 202 through bolts, the tightness of the transmission belts 301 can be adjusted by adjusting the lengths of the transmission belts 301 in the transmission belt clamps through the mutual matching of the transmission belt clamps, the transmission belts 301 and the bolts, so that the transmission belts 301 and the driving wheels 3 can be adjusted to be tightly attached and meshed, and the transmission of the driving wheels 3 and the output shafts 5 by the transmission belts 301 is facilitated.
The working principle is as follows:
through two conversion mechanisms, the output shafts 5 arranged at the left end and the right end of the mounting shell 1 on the flexible rotary joint module 100 can synchronously output and rotate the rotary motion of the two driving wheels 3 at the left end and the right end of the mounting shell 1 on the flexible rotary joint module 100, and the use is convenient.
Example 3
Referring to fig. 1-7, further defined on the basis of embodiment 2, the pneumatic mechanical arm comprises N arm bodies and N-1 joint modules which are arranged in sequence, wherein the arm bodies and the joint modules are distributed in a staggered manner and connected in sequence; along the arrangement direction, the arm bodies are a first arm body, a second arm body, a third arm body … … and an Nth arm body in sequence, and the joint modules are a first joint module, a second joint module, a third joint module … … and an Nth-1 joint module in sequence;
the joint module is a flexible rotary joint module in embodiment 2, a mounting shell 1 of an N-1 joint module is connected with an N-1 arm body, and an output shaft 5 of the N-1 joint module is connected with the N arm body;
n is 4; the first arm body is a cross rod 6, the second arm body is a big arm connecting rod 7, the third arm body is a small arm connecting rod 8 and the fourth arm body is a wrist connecting piece 14; the first joint module is a first flexible rotary joint module 9, the second joint module is a second flexible rotary joint module 10, and the third joint module is a third flexible rotary joint module 11;
the bottom end face of the cross rod 6 is provided with a trunk mechanism for supporting the cross rod 6, and the trunk mechanism comprises a vertical rod 18 fixedly connected to the bottom end face of the cross rod 6 and a cross base 19 fixedly connected to the bottom end face of the vertical rod 18 for supporting;
the left end face of the mounting shell 1 on the first flexible rotary joint module 9 is fixedly connected with the cross rod 6, a first mounting cavity 16 is formed in one end face, facing the first flexible rotary joint module 9, of the cross rod 6, and an output shaft 5 at the left end of the mounting shell 1 on the first flexible rotary joint module 9 is inserted into the first mounting cavity 16 in a clearance mode;
one end of the large arm connecting rod 7, facing the first flexible rotary joint module 9, is fixedly connected with the output shaft 5 at the right end of the mounting shell 1 on the first flexible rotary joint module 9, and when the output shaft 5 at the right end on the first flexible rotary joint module 9 rotates in a reciprocating manner clockwise or anticlockwise, the whole component on the large arm connecting rod 7 can be driven to swing in the front-back direction;
one end face of the large arm connecting rod 7 facing the second flexible rotary joint module 10 is fixedly connected with the left end face of the mounting shell 1 on the second flexible rotary joint module 10, a second mounting cavity 17 is formed in one end face of the large arm connecting rod 7 facing the second flexible rotary joint module 10, and the left end output shaft 5 of the mounting shell 1 on the second flexible rotary joint module 10 is inserted in the second mounting cavity 17 in a clearance mode;
the output shaft 5 on the right end face of the mounting shell 1 on the second flexible rotary joint module 10 is fixedly connected with the small arm connecting rod 8 through a first connecting piece 111, the first connecting piece 111 is preferably a first connecting flange, the output shaft 5 on the right end face of the mounting shell 1 on the second flexible rotary joint module 10 is inserted into an inner hole of the first connecting flange in an interference mode, and when the output shaft 5 on the right end face of the second flexible rotary joint module 10 runs in a reciprocating mode clockwise or anticlockwise, the integral component on the small arm connecting rod 8 can be driven to rotate in the left-right direction;
an installation cavity 801 is formed in the forearm connecting rod 8, the third flexible rotary joint module 11 is fixedly installed inside the installation cavity 801, the output shafts 5 at the left end and the right end of the installation shell 1 on the third flexible rotary joint module 11 are fixedly connected with the wrist connecting piece 14, two installation cylinders are fixedly connected to one end of the wrist connecting piece 14 facing the third flexible rotary joint module 11, the output shafts 5 at the left end and the right end of the installation shell 1 on the third flexible rotary joint module 11 are respectively inserted into an inner cavity of one installation cylinder in an interference fit mode, and when the output shafts 5 at the left end and the right end of the installation shell 1 on the third flexible rotary joint module 11 rotate anticlockwise or clockwise, the wrist connecting piece 14 can be driven to swing in the front-back direction.
The working principle is as follows:
in the invention, through the mutual matching of the first flexible rotary joint module 9, the second flexible rotary joint module 10, the third flexible rotary joint module 11, the cross rod 6, the large arm connecting rod 7, the small arm connecting rod 8 and the wrist connecting piece 14, all joints of the mechanical arm are the flexible rotary joint modules 100, and the flexible rotary joint modules 100 have good flexibility effect, when the mechanical arm is driven by gas to move, the mechanical arm is in accidental contact with the external environment, the mechanical arm can realize flexible collision by utilizing the flexibility of the flexible rotary joint modules 100, the damage caused by rigid collision is avoided, the safety of man-machine cooperation is improved, and the problem that the conventional mechanical arm cannot meet the safety requirement in the man-machine environment coexisting with human is solved.
Example 4
Referring to fig. 1-6, it is further limited on the basis of embodiment 3 that a flexible rotary joint module and a second connecting member 13 are disposed between the first flexible rotary joint module 9 and the large arm connecting rod 7, and the flexible rotary joint module located between the first flexible rotary joint module 9 and the large arm connecting rod 7 is defined as a fourth flexible rotary joint module 12, one end surface of the second connecting member 13 is fixedly connected to the front end surface of the mounting housing 1 on the fourth flexible rotary joint module 12, the output shaft 5 on the right end of the mounting housing 1 on the first flexible rotary joint module 9 is fixedly connected to the front end surface of the mounting housing 1 on the fourth flexible rotary joint module 12 through the second connecting member 13, the second connecting member 13 is preferably a second connecting flange, the output shaft 5 on the right end of the mounting housing 1 on the first flexible rotary joint module 9 is interference-inserted into the mounting hole on the second connecting flange, meanwhile, one end of the large arm connecting rod 7 close to the fourth flexible rotary joint module 12 is fixedly connected with the output shafts 5 at the left end and the right end of the mounting shell 1 on the fourth flexible rotary joint module 12, the large arm connecting rod 7 is a hollow U-shaped plate, one end of the large arm connecting rod 7 close to the fourth flexible rotary joint module 12 is fixedly connected with two mounting sleeves, and the output shafts 5 at the left end and the right end of the mounting shell 1 on the fourth flexible rotary joint module 12 are respectively inserted into the inner cavity of one mounting sleeve in an interference mode.
The working principle is as follows:
in the invention, through the mutual matching of the first flexible rotary joint module 9, the fourth flexible rotary joint module 12 and the second connecting piece 13, the output shaft 5 at the right end of the mounting shell 1 on the first flexible rotary joint module 9 can drive the fourth flexible rotary joint module 12 and the whole body on the large arm connecting rod 7 to swing back and forth through the second connecting piece 13, and meanwhile, the output shafts 5 at the left end and the right end of the mounting shell 1 on the fourth flexible rotary joint module 12 can drive the large arm connecting rod 7 to swing left and right, so that the pneumatic mechanical arm can rotate in multiple directions, and the flexibility of the pneumatic mechanical arm is improved.
Example 5
Referring to fig. 6, it is further defined on the basis of any one of embodiments 3 to 4 that the wrist connecting member 14 is provided with an assembling hole 15, and the wrist connecting member 14 can be adapted and mounted with clamping jaws with different operations through the assembling hole 15, so as to facilitate the use.
Claims (7)
1. The flexible rotary joint module is characterized by comprising an installation shell (1) and two cylinders (2) which are arranged on the bottom end face of the installation shell (1) and have parallel axes, wherein piston rods (201) on the two cylinders (2) penetrate through the bottom end face of the installation shell (1) and extend into an inner cavity of the installation shell (1), and a conversion mechanism for converting linear motion of the piston rods (201) into rotary motion is arranged in the installation shell (1).
2. The flexible rotary joint module according to claim 1, wherein extension plates (202) are fixedly connected to the top end surfaces of the two piston rods (201), the switching mechanism comprises a driving wheel (3), a driving belt (301) and an output shaft (5) which are rotatably connected to the inside of the mounting shell (1), two ends of the driving belt (301) are respectively connected to one extension plate (202), the inner side surface of the driving belt (301) is a tooth surface and is in meshing transmission with the outer teeth of the driving wheel (3), an opening (4) is formed in the mounting shell (1), and the output shaft (5) is rotatably installed inside the opening (4) through a bearing and is in axial transmission with the driving wheel (3).
3. The flexible rotary joint module according to claim 2, wherein the openings (4) are opened in a pair of opposite side walls of the mounting case (1), two of the converting mechanisms are arranged in series along an axis of the output shaft (5), the output shafts (5) of the two converting mechanisms are rotatably mounted in one opening (4) at opposite ends thereof, respectively, and the output shafts (5) of the two converting mechanisms are coaxially connected to each other as a single body.
4. A pneumatic mechanical arm comprises N arm bodies and N-1 joint modules which are sequentially arranged, wherein the arm bodies and the joint modules are distributed in a staggered manner and are sequentially connected; along the arrangement direction, the arm bodies are a first arm body, a second arm body, a third arm body … … and an Nth arm body in sequence, and the joint modules are a first joint module, a second joint module, a third joint module … … and an Nth-1 joint module in sequence;
the flexible rotary joint module is characterized in that the joint module is a flexible rotary joint module according to any one of claims 1-3, a mounting shell (1) of an N-1 joint module is connected with an N-1 arm body, and an output shaft (5) of the N-1 joint module is connected with the N arm body.
5. The pneumatic robotic arm of claim 4, wherein said N is 4; the first arm body is a cross rod (6), the second arm body is a large arm connecting rod (7), the third arm body is a small arm connecting rod (8) and the fourth arm body is a wrist connecting piece (14); the first joint module is a first flexible rotary joint module (9), the second joint module is a second flexible rotary joint module (10), and the third joint module is a third flexible rotary joint module (11);
the left end face of a mounting shell (1) on the first flexible rotary joint module (9) is fixedly connected with a cross rod (6), one end of a large arm connecting rod (7) facing the first flexible rotary joint module (9) is fixedly connected with an output shaft (5) at the right end of the mounting shell (1) on the first flexible rotary joint module (9), one end face of the large arm connecting rod (7) facing a second flexible rotary joint module (10) is fixedly connected with the left end face of the mounting shell (1) on the second flexible rotary joint module (10), the output shaft (5) on the right end face of the mounting shell (1) on the second flexible rotary joint module (10) is fixedly connected with a small arm connecting rod (8) through a first connecting piece (111), a mounting cavity (801) is formed in the small arm connecting rod (8), and a third flexible rotary joint module (11) is fixedly mounted in the mounting cavity (801), and the output shafts (5) at the left end and the right end of the mounting shell (1) on the third flexible rotary joint module (11) are fixedly connected with a wrist connecting piece (14).
6. The pneumatic mechanical arm according to claim 5, wherein a flexible rotary joint module and a second connecting piece (13) are arranged between the first flexible rotary joint module (9) and the large arm connecting rod (7), the flexible rotary joint module between the first flexible rotary joint module (9) and the large arm connecting rod (7) is defined as a fourth flexible rotary joint module (12), one end face of the second connecting piece (13) is fixedly connected to the front end face of the mounting shell (1) on the fourth flexible rotary joint module (12), the output shaft (5) on the right end of the mounting shell (1) on the first flexible rotary joint module (9) is fixedly connected to the front end face of the mounting shell (1) on the fourth flexible rotary joint module (12) through the second connecting piece (13), and simultaneously one end of the large arm connecting rod (7) close to the fourth flexible rotary joint module (12) is fixedly connected to the left and right sides of the mounting shell (1) on the fourth flexible rotary joint module (12) The output shafts (5) at the two ends are fixedly connected.
7. A pneumatic arm as claimed in any one of claims 5 to 6, characterised in that the wrist joint (14) is provided with mounting holes (15).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011430823.XA CN112621809B (en) | 2020-12-09 | 2020-12-09 | Flexible rotary joint module and pneumatic mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011430823.XA CN112621809B (en) | 2020-12-09 | 2020-12-09 | Flexible rotary joint module and pneumatic mechanical arm |
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| CN112621809A true CN112621809A (en) | 2021-04-09 |
| CN112621809B CN112621809B (en) | 2023-06-23 |
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| CN202011430823.XA Active CN112621809B (en) | 2020-12-09 | 2020-12-09 | Flexible rotary joint module and pneumatic mechanical arm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479274A (en) * | 2021-08-19 | 2021-10-08 | 安徽理工大学 | Hydraulic foot type robot single-leg mechanism with passive flexible knee joint |
| CN115213879A (en) * | 2022-07-20 | 2022-10-21 | 安徽应流集团霍山铸造有限公司 | Inflatable space manipulator based on rigid-flexible conversion composite mechanism and use method thereof |
| CN115213879B (en) * | 2022-07-20 | 2024-11-15 | 安徽应流集团霍山铸造有限公司 | Inflatable space mechanical arm based on rigid-flexible conversion composite mechanism and application method thereof |
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| CN115213879B (en) * | 2022-07-20 | 2024-11-15 | 安徽应流集团霍山铸造有限公司 | Inflatable space mechanical arm based on rigid-flexible conversion composite mechanism and application method thereof |
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