CN106976104A - A kind of space five-freedom mechanical arm - Google Patents
A kind of space five-freedom mechanical arm Download PDFInfo
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- CN106976104A CN106976104A CN201710330773.XA CN201710330773A CN106976104A CN 106976104 A CN106976104 A CN 106976104A CN 201710330773 A CN201710330773 A CN 201710330773A CN 106976104 A CN106976104 A CN 106976104A
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- support arm
- mounting seat
- rotating shaft
- friction plate
- limited block
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of space five-freedom mechanical arm, belong to robotic technology field, including base, first support arm is rotatablely equipped with the base, provided with the first locking joint between the first support arm and base, the end of the first support arm swings and is provided with second support arm, provided with the second locking joint between the second support arm and first support arm, the end of the second support arm swings and is provided with the 3rd support arm, provided with the 3rd locking joint between 3rd support arm and second support arm, the end of 3rd support arm is rotatablely equipped with the 4th support arm, provided with the 4th locking joint between 4th support arm and the 3rd support arm, the end of 4th support arm swings and is provided with the 5th support arm, provided with the 5th locking joint between 5th support arm and the 4th support arm.The present invention is simple in construction, can complete simple joint locking, realize the mechanized operation of Minimally Invasive Surgery, can be widely applied in medical operating.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of space five-freedom mechanical arm.
Background technology
In neurosurgery, involved art kind includes emergency treatment hypertensive cerebral hemorrhage, Intracerebral lesion biopsy
Deng these operations require that precision is high to operation, because small error can cause brain injury；At present, traditional minimally invasive hand
Art requires that doctor has very high operating technology level, and the difficulty of doctor's operation can be reduced as far as possible by borrowing surgery mechanical people.
However, existing machinery arm is mostly using forms such as servomotors, complicated, cost is high, and operation difficulty is big, it is difficult to
The such high operation of required precision is flexibly realized in the limited environment in space.
Therefore, based on above mentioned problem, in robotic technology field, for space five-freedom mechanical arm still suffer from research and
Improved demand, this is also the study hotspot and emphasis in current robotic technology field, and the even more present invention is accomplished
Starting point.
The content of the invention
It is simple in construction it is an object of the invention to provide a kind of space five-freedom mechanical arm, simple joint lock can be completed
It is fixed, realize the mechanized operation of Minimally Invasive Surgery.
In order to solve the above technical problems, the technical scheme is that there is provided a kind of space five-freedom mechanical arm, including
First support arm is rotatablely equipped with base, the base, the base is coaxially disposed with first support arm, the first support arm and bottom
Provided with the first locking joint between seat, the end of the first support arm, which is swung, is provided with second support arm, the second support arm and the
Provided with the second locking joint between one support arm, the end of the second support arm, which is swung, is provided with the 3rd support arm, the 3rd support arm
Provided with the 3rd locking joint between second support arm, the end of the 3rd support arm is rotatablely equipped with the 4th support arm, the described 3rd
Support arm is vertically arranged with the 4th support arm, provided with the 4th locking joint, described 4th between the 4th support arm and the 3rd support arm
The end of arm swings and is provided with the 5th support arm, provided with the 5th locking joint between the 5th support arm and the 4th support arm.
As a kind of optimal technical scheme, the first locking joint is fixedly installed in the first support arm including end
First rotating shaft, side of the base away from the first support arm be installed with the first support base, and the first rotating shaft is passed through
Wear the base and be rotatablely installed on first support base, first support base is provided with the first hydraulic cavities, described the
The side away from the first support arm on first piston, the base is slidably fitted with one hydraulic cavities and is installed with friction
The first friction plate group corresponding with the friction Board position is installed with plate, the first rotating shaft, positioned at described first
The friction plate at friction plate group two ends offsets with the piston rod and friction plate of the first piston respectively.
As a kind of optimal technical scheme, the first limited block, first friction are installed with the first rotating shaft
Piece group is fixedly installed on first limited block.
As a kind of optimal technical scheme, the cross sectional shape of first limited block is regular hexagon, and described first is spacing
Block is flush-mounted in the first friction plate group and is coaxially disposed.
As a kind of optimal technical scheme, the second locking joint includes the be fixedly installed in the second support arm
Two rotating shafts, the first support arm is respectively arranged on the left side and the right side the first left mounting seat and the first right mounting seat, second rotating shaft
It is rotatablely installed by bearing in the first support arm, and the two ends of second rotating shaft are respectively protruding into the described first left mounting seat
There is the second friction plate group with the first right mounting seat, described first, the friction plate positioned at the two ends of the second friction plate group is distinguished
Offseted with first knob and the first left mounting seat；The second support base is installed with the first right mounting seat, it is described
The right-hand member of second rotating shaft is through the described first right mounting seat and is rotatablely installed on second support base, second support base
It is provided with the second hydraulic cavities, second hydraulic cavities and is slidably fitted with second piston, the right-hand member of second rotating shaft fixes peace
Equipped with the 3rd limited block, the 3rd friction plate group is installed with the 3rd limited block, positioned at the 3rd friction plate group
The friction plate at two ends offsets with the piston rod of the first piston and the first right mounting seat respectively.
As a kind of optimal technical scheme, the 3rd locking joint includes the be fixedly installed on the 3rd support arm
Three rotating shafts, the second support arm is respectively arranged on the left side and the right side the second left mounting seat and the second right mounting seat, the 3rd rotating shaft
It is rotatablely installed by bearing in the second support arm, and the two ends of the 3rd rotating shaft are respectively protruding into the described second left mounting seat
With the second right mounting seat, the second left mounting seat is threadedly coupled the second knob, and the left end of the 3rd rotating shaft is installed with
The 4th friction plate group is installed with 4th limited block, the 4th limited block, positioned at the two ends of the 4th friction plate group
Friction plate offseted respectively with second knob and the second left mounting seat；The 3rd is installed with the second right mounting seat
Support base, the right-hand member of the 3rd rotating shaft is through the described second right mounting seat and is rotatablely installed on the 3rd support base, institute
The 3rd support base is stated provided with the 3rd hydraulic cavities, the 3rd piston, the 3rd rotating shaft are slidably fitted with the 3rd hydraulic cavities
Right-hand member be installed with the 5th limited block, the 5th limited block and be installed with the 5th friction plate group, positioned at described
The friction plate at the two ends of five friction plate groups offsets with the piston rod of the second piston and the second right mounting seat respectively.
As a kind of optimal technical scheme, the 4th locking joint is fixedly installed on the 4th support arm including end
The 4th rotating shaft, the 3rd support arm is respectively arranged on the left side and the right side the 3rd left mounting seat and the 3rd right mounting seat, the described 4th
Rotating shaft is rotatablely installed on the 3rd support arm by bearing, and the two ends of the 4th rotating shaft are respectively protruding into the described 3rd left peace
Fill seat and the 3rd right mounting seat, the 3rd left mounting seat is threadedly coupled the 3rd knob, the 3rd knob sleeve is loaded on described the
On four support arms, the left end of the 4th rotating shaft, which is installed with the 6th limited block, the 6th limited block, is installed with
Six friction plate groups, positioned at the two ends of the 6th friction plate group friction plate respectively with the 3rd knob and the 3rd left mounting seat
Offset；Four-supporting is installed with the 3rd right mounting seat, the right-hand member of the 4th rotating shaft is right through the described 3rd
Mounting seat and it is rotatablely installed on the four-supporting, the four-supporting is provided with the 4th hydraulic cavities, the 4th liquid
Pressure intracavitary is slidably fitted with the 4th piston, and the right-hand member of the 4th rotating shaft is installed with the 7th limited block, and the described 7th is spacing
The 7th friction plate group is installed with block, the friction plate positioned at the two ends of the 7th friction plate group is lived with the described 4th respectively
The piston rod of plug and the 3rd right mounting seat offset.
As a kind of optimal technical scheme, the 5th locking joint includes the be fixedly installed on the 5th support arm
Five rotating shafts, the 4th support arm is respectively arranged on the left side and the right side the 4th left mounting seat and the 4th right mounting seat, the 5th rotating shaft
It is rotatablely installed by bearing on the 4th support arm, and the two ends of the 5th rotating shaft are respectively protruding into the 4th left mounting seat
With the 4th right mounting seat, the 4th left mounting seat is threadedly coupled the 4th knob, and the left end of the 5th rotating shaft is installed with
The 8th friction plate group is installed with 8th limited block, the 8th limited block, positioned at the two ends of the 8th friction plate group
Friction plate offseted respectively with the 4th knob and the 4th left mounting seat；The 5th is installed with the 4th right mounting seat
Support base, the right-hand member of the 5th rotating shaft is through the 4th right mounting seat and is rotatablely installed on the 5th support base, institute
The 5th support base is stated provided with the 5th hydraulic cavities, the 5th piston, the 5th rotating shaft are slidably fitted with the 5th hydraulic cavities
Right-hand member be installed with the 9th limited block, the 9th limited block and be installed with the 9th friction plate group, positioned at described
The friction plate at the two ends of nine friction plate groups offsets with the piston rod and the 4th right mounting seat of the 5th piston respectively.
It is used as a kind of optimal technical scheme, the first rotating shaft, the second rotating shaft, the 3rd rotating shaft, the 4th rotating shaft and the 5th turn
Axle is all connected with encoder.
It is used as a kind of optimal technical scheme, first hydraulic cavities, the second hydraulic cavities, the 3rd hydraulic cavities, the 4th hydraulic cavities
A hydraulic control unit is connected respectively with the 5th hydraulic cavities.
The invention has the advantages that：
(1) structure of the present invention is compacter, and spatial volume is small, light weight, and space can not only be realized in small space
All there is an independent locking joint between the displacement of five degree of freedom, and the lever arm being often connected, single joint can be completed
Locking, realizes and is accurately positioned so that the mechanized operation of Minimally Invasive Surgery becomes a reality.
(2) because each locking joint is locked using the piston of friction plate group and hydraulic-driven, during locking, use
Positive pressure in friction plate group in being locked, it is necessary to pressure release can be achieved the normal pressure of friction plate group and release during activity, behaviour
Make to get up more flexibly convenient.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the embodiment of the present invention.
Fig. 2 is the structural representation of the embodiment of the present invention.
Fig. 3 is the cross section structure diagram of A-A in Fig. 2.
Fig. 4 is the structural representation in the first locking joint in the embodiment of the present invention.
Fig. 5 is the structural representation in the second locking joint in the embodiment of the present invention.
Fig. 6 is the structural representation in the 4th locking joint in the embodiment of the present invention.
In figure：1st, base, 2, first support arm, 3, second support arm, the 4, the 3rd support arm, the 5, the 4th support arm, the 6, the 5th support arm, 7,
First locking joint, 701, first rotating shaft, the 702, first support base, the 703, first hydraulic cavities, 704, first piston, 705, first
Limited block, the 706, first friction plate group, the 707, friction plate, 8, second locking joint, the 801, second rotating shaft, 802, first left installs
Seat, the 803, first right mounting seat, the 804, first knob, the 805, second limited block, the 806, second friction plate group, the 807, second support
Seat, the 808, second hydraulic cavities, 809, second piston, the 810, the 3rd limited block, the 811, the 3rd friction plate group, the 9, the 3rd locking is closed
Section, the 10, the 4th locking joint, the 1001, the 4th rotating shaft, the 1002, the 3rd left mounting seat, the 1003, the 3rd right mounting seat, 1004, the
Three knobs, the 1005, the 6th limited block, the 1006, the 6th friction plate group, 1007, four-supporting, the 1008, the 4th hydraulic cavities,
1009th, the 4th piston, the 1010, the 7th limited block, the 1011, the 7th friction plate group, the 11, the 5th locking joint, 12, encoder.
Embodiment
Following examples are used to illustrate the present invention, but are not limited to the scope of the present invention.
Embodiment one
As shown in Figure 1, Figure 2 and Figure 3, the invention provides a kind of space five-freedom mechanical arm, including base 1, base 1
On be rotatablely equipped with first support arm 2, base 1 is coaxially disposed with first support arm 2, between first support arm 2 and base 1 provided with first lock
Tight joint 7 (here, " between " be construed as in structure " between ", rather than on locus " between "), first
The end of arm 2 swings and is provided with second support arm 3, provided with the second locking joint 8, second between second support arm 3 and first support arm 2
The end of arm 3 swings and is provided with the 3rd support arm 4, provided with the 3rd locking joint 9, the 3rd between the 3rd support arm 4 and second support arm 3
The end of arm 4 is rotatablely equipped with the 4th support arm 5, and the 3rd support arm 4 is vertically arranged with the 4th support arm 5, the 4th support arm 5 and the 3rd support arm
Provided with the 4th locking joint 10 between 4, the end of the 4th support arm 5, which is swung, is provided with the 5th support arm 6, the 5th support arm 6 and the 4th
Provided with the 5th locking joint 11 between arm 5, this mechanical arm configuration is compacter, and spatial volume is small, light weight, can not only be narrow
Being realized in small space all has an independent locking joint between the displacement of space five-freedom, and the lever arm being often connected,
Simple joint locking can be completed, realizes and is accurately positioned so that the mechanized operation of Minimally Invasive Surgery becomes a reality.
Embodiment two
The invention provides a kind of space five-freedom mechanical arm, its structure and embodiment one are essentially identical, and it is distinguished
In, on the basis of embodiment one, following characteristics are added again, further improvement is made that, improve the present invention use
Performance.
As shown in figure 4, the first locking joint 7 includes the first rotating shaft 701 that end is fixedly installed in first support arm 2, bottom
1 side away from first support arm 2 of seat is installed with the first support base 702, and first rotating shaft 701 is through base 1 and rotational installation
In on the first support base 702, the first support base 702 is provided with the first hydraulic cavities 703, the first hydraulic cavities 703 and is slidably fitted with
The side away from first support arm 2 is installed with friction plate 707, first rotating shaft 701 fixed peace on first piston 704, base 1
Equipped with the first limited block 705, first friction plate corresponding with the position of friction plate 707 is installed with the first limited block 705
Group 706, the cross sectional shape of the first limited block 705 is usually regular hexagon or the polygon of other shapes, and is flush-mounted in first
In friction plate group 706, positioned at the friction plate piston rod respectively with first piston 704 at the two ends of the first friction plate group 706 and friction
Plate 707 offsets, and the piston rod of first piston 704 has the through hole for accommodating first rotating shaft 701, therefore the piston of first piston 704
Bar section is loop configuration, acts against the periphery of the first friction plate group 706, when the hydraulic oil in the first hydraulic cavities 703 is produced just
During pressure, first piston 704 is promoted to shift to the first friction plate group 706 so that the first friction plate group 706 is deformed realizing
After hydraulic oil pressure release in the locking of first support arm 2 and base 1, the first hydraulic cavities 703, the first friction plate group 706 just can be with
Friction plate 707 is relatively rotated, so that first support arm 2 produces angle displacement with base 1.
As shown in figure 5, the second locking joint 8 includes the second rotating shaft 801 being fixedly installed in second support arm 3, first
Arm 2 is respectively arranged on the left side and the right side the first right mounting seat 803 of left mounting seat 802 and first, and the second rotating shaft 801 rotated by bearing
It is installed in first support arm 2, and the two ends of the second rotating shaft 801 are respectively protruding into the first right mounting seat of left mounting seat 802 and first
803, the first left mounting seat 802 is threadedly coupled the first knob 804, and the left end of the second rotating shaft 801 is installed with the second limited block
805, the second friction plate group 806 is installed with the second limited block 805, the friction positioned at the two ends of the second friction plate group 806
Piece offsets with the first knob 804 and the first left mounting seat 802 respectively, by the first knob of turn 804, can cause the first knob
804 compress the second friction plate group 806, so that second support arm 3 be locked with first support arm 2；Fixed peace in first right mounting seat 803
Equipped with the second support base 807, the right-hand member of the second rotating shaft 801 runs through the first right mounting seat 803 and is rotatablely installed in the second support base
On 807, the second support base 807 is provided with the second hydraulic cavities 808, the second hydraulic cavities 808 and is slidably fitted with second piston 809,
The right-hand member of second rotating shaft 801 is installed with the 3rd limited block 810, the 3rd limited block 810 and is installed with the 3rd friction plate
Group 811, positioned at the two ends of the 3rd friction plate group 811 friction plate respectively with the piston rod of first piston 704 and first it is right install
Seat 803 offsets, equally, when the hydraulic oil in the second hydraulic cavities 808 produces normal pressure, promotes second piston 809 to shift to the 3rd
Friction plate group 811 so that the 3rd friction plate group 811 is deformed so as to realize the locking of first support arm 2 and second support arm 3, the
After hydraulic oil pressure release in two hydraulic cavities 808, the 3rd friction plate group 811 just can be relatively rotated with the first right mounting seat 803, from
And can cause first support arm 2 is produced with second support arm 3 to swing displacement.Hydraulic locking and mechanical, hand-driven locking can individually make
With can also be used in conjunction with, while playing a part of locking.
3rd locking joint 9 includes the 3rd rotating shaft being fixedly installed on the 3rd support arm 4, the left and right sides of second support arm 3
It is respectively equipped with the second left mounting seat and the second right mounting seat, the 3rd rotating shaft is rotatablely installed in second support arm 3 by bearing, and
The two ends of three rotating shafts are respectively protruding into the second left mounting seat and the second right mounting seat, and the second left mounting seat is threadedly coupled the second knob,
The left end of 3rd rotating shaft is installed with the 4th limited block, the 4th limited block and is installed with the 4th friction plate group, positioned at
The friction plate at the two ends of four friction plate groups offsets with the second knob and the second left mounting seat respectively；Fixed peace in second right mounting seat
Equipped with the 3rd support base, the right-hand member of the 3rd rotating shaft is through the second right mounting seat and is rotatablely installed on the 3rd support base, the 3rd
Support seat, which is provided with the 3rd hydraulic cavities, the 3rd hydraulic cavities, is slidably fitted with the 3rd piston, and the right-hand member of the 3rd rotating shaft is installed with
The 5th friction plate group is installed with 5th limited block, the 5th limited block, the friction plate positioned at the two ends of the 5th friction plate group
Offseted respectively with the piston rod of second piston 809 and the second right mounting seat, its structure refer to Fig. 5, application method is also with second
Lock joint 8 similar, will not be repeated here.
As shown in fig. 6, the 4th locking joint 10 includes the 4th rotating shaft 1001 that end is fixedly installed on the 4th support arm 5,
3rd support arm 4 is respectively arranged on the left side and the right side the 3rd right mounting seat 1003 of left mounting seat 1002 and the 3rd, and the 4th rotating shaft 1001 leads to
Bearing is crossed to be rotatablely installed on the 3rd support arm 4, and the two ends of the 4th rotating shaft 1001 are respectively protruding into the 3rd left mounting seat 1002 and
Three right mounting seats 1003, the 3rd left mounting seat 1002 is threadedly coupled the 3rd knob 1004, and the 3rd knob 1004 is set in the 4th
On arm 5, the periphery of the 3rd knob 1004 is provided with annular knurl line, in order to operator's manual rotation, and the left end of the 4th rotating shaft 1001 is consolidated
Dingan County is equipped with the 6th limited block 1005, the 6th limited block 1005 and is installed with the 6th friction plate group 1006, is rubbed positioned at the 6th
The friction plate at the two ends of pad group 1006 offsets with the 3rd knob 1004 and the 3rd left mounting seat 1002 respectively；3rd right mounting seat
Four-supporting 1007 is installed with 1003, the right-hand member of the 4th rotating shaft 1001 is through the 3rd right mounting seat 1003 and rotation peace
Loaded on four-supporting 1007, four-supporting 1007 is provided with the 4th hydraulic cavities 1008, the 4th hydraulic cavities 1008 and slided
4th piston 1009 is installed, the right-hand member of the 4th rotating shaft 1001 is installed with the 7th limited block 1010, the 7th limited block 1010
On be installed with the 7th friction plate group 1011, positioned at the two ends of the 7th friction plate group 1011 friction plate respectively with the 4th piston
1009 piston rod and the 3rd right mounting seat 1003 offset.After hydraulic oil pressure release in 4th hydraulic cavities 1008, the 7th friction plate
Group 1011 just can be relatively rotated with the 3rd right mounting seat 1003, so that the 3rd support arm 4 and the 4th support arm 5 produce angle
Spend displacement.Mechanical caging and hydraulic locking can be equally realized, not only be can be used alone, can also be locked jointly, to improve
Locking effect.
5th locking joint 11 includes the 5th rotating shaft being fixedly installed on the 5th support arm 6, the left and right sides of the 4th support arm 5
It is respectively equipped with the 4th left mounting seat and the 4th right mounting seat, the 5th rotating shaft is rotatablely installed on the 4th support arm 5 by bearing, and
The two ends of five rotating shafts are respectively protruding into the 4th left mounting seat and the 4th right mounting seat, and the 4th left mounting seat is threadedly coupled the 4th knob,
The left end of 5th rotating shaft is installed with the 8th limited block, the 8th limited block and is installed with the 8th friction plate group, positioned at
The friction plate at the two ends of eight friction plate groups offsets with the 4th knob and the 4th left mounting seat respectively；Fixed peace in 4th right mounting seat
Equipped with the 5th support base, the right-hand member of the 5th rotating shaft is through the 4th right mounting seat and is rotatablely installed on the 5th support base, the 5th
Support seat, which is provided with the 5th hydraulic cavities, the 5th hydraulic cavities, is slidably fitted with the 5th piston, and the right-hand member of the 5th rotating shaft is installed with
The 9th friction plate group is installed with 9th limited block, the 9th limited block, the friction plate positioned at the two ends of the 9th friction plate group
The piston rod and the 4th right mounting seat with the 5th piston are offseted respectively, and its structure refer to Fig. 5, and application method is also locked with second
Joint 8 is similar, will not be repeated here.
First hydraulic cavities, the second hydraulic cavities, the 3rd hydraulic cavities, the 4th hydraulic cavities and the 5th hydraulic cavities are all connected respectively
One hydraulic control unit, these hydraulic control units are subordinated to a hydraulic station, and each hydraulic control unit is controlled by artificial machinery or microcomputer controller,
The loading or pressure release of hydraulic oil are realized, to realize the independent locking in each joint, so that this mechanical arm is more flexible, its liquid
Control principle conventional by those skilled in the art, will not be repeated here.
Embodiment three
As shown in Figure 4, Figure 5 and Figure 6, the invention provides a kind of space five-freedom mechanical arm, its structure and embodiment
One is essentially identical, and its difference is, on the basis of embodiment two, following characteristics are added again, further improvement is made that,
Improve the performance of the present invention.
First rotating shaft 701, the second rotating shaft 801, the 3rd rotating shaft, the 4th rotating shaft 1001 and the 5th rotating shaft are all connected with encoder
12, in order to gather related data (for example, swinging or rotational angle), accurate control is realized, automaticity is improved,
The mounting means of encoder 12 is those skilled in the art institute common technology means, be will not be repeated here.
This mechanical arm copies the arm of people to carry out overall construction design, can be operated operator with easier；This
Mechanical arm is locked into state under normality situation for hydraulic pressure, the behaviour for so facilitating doctor to be performed the operation while mechanical arm is had good positioning
Make；This mechanical arm machinery positioning is miscellaneous function, can preferably ensure the operation of mechanical arm.
Although above with general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements, belong to the scope of protection of present invention without departing from theon the basis of the spirit of the present invention.
Claims (10)
1. a kind of space five-freedom mechanical arm, the mechanical arm includes base, it is characterised in that be rotatablely installed on the base
There is first support arm, the base is coaxially disposed with first support arm, provided with the first locking joint between the first support arm and base,
The end of the first support arm swings and is provided with second support arm, is closed between the second support arm and first support arm provided with the second locking
Section, the end of the second support arm, which is swung, is provided with the 3rd support arm, provided with the 3rd lock between the 3rd support arm and second support arm
Tight joint, the end of the 3rd support arm is rotatablely equipped with the 4th support arm, and the 3rd support arm is vertically arranged with the 4th support arm, institute
State provided with the 4th locking joint between the 4th support arm and the 3rd support arm, the end of the 4th support arm, which is swung, is provided with the 5th
Arm, provided with the 5th locking joint between the 5th support arm and the 4th support arm.
2. space five-freedom mechanical arm as claimed in claim 1, it is characterised in that the first locking joint includes end
The first rotating shaft in the first support arm is fixedly installed in, side of the base away from the first support arm is installed with
One support base, the first rotating shaft is through the base and is rotatablely installed on first support base, first support base
It is provided with the first hydraulic cavities, first hydraulic cavities and is slidably fitted with first piston, the base away from described first
The side of arm, which is installed with, is installed with first corresponding with the friction Board position in friction plate, the first rotating shaft
Friction plate group, the friction plate piston rod and friction plate phase respectively with the first piston positioned at the first friction plate group two ends
Support.
3. space five-freedom mechanical arm as claimed in claim 2, it is characterised in that be installed with the first rotating shaft
First limited block, the first friction plate group is fixedly installed on first limited block.
4. space five-freedom mechanical arm as claimed in claim 3, it is characterised in that the cross sectional shape of first limited block
For regular hexagon, first limited block is flush-mounted in the first friction plate group and is coaxially disposed.
5. space five-freedom mechanical arm as claimed in claim 4, it is characterised in that the second locking joint includes fixing
It is installed on the second rotating shaft in the second support arm, the first support arm is respectively arranged on the left side and the right side the first left mounting seat and
One right mounting seat, second rotating shaft is rotatablely installed in the first support arm by bearing, and the two ends of second rotating shaft
The described first left mounting seat and the first right mounting seat are respectively protruding into, the first left mounting seat is threadedly coupled the first knob, described
The left end of second rotating shaft is installed with the second limited block, second limited block and is installed with the second friction plate group, position
Friction plate in the two ends of the second friction plate group offsets with first knob and the first left mounting seat respectively；Described first
The second support base is installed with right mounting seat, the right-hand member of second rotating shaft is through the described first right mounting seat and rotation peace
Loaded on second support base, second support base is provided with the second hydraulic cavities, second hydraulic cavities and is slidably installed
There is second piston, the right-hand member of second rotating shaft, which is installed with the 3rd limited block, the 3rd limited block, to be installed with
3rd friction plate group, positioned at the two ends of the 3rd friction plate group friction plate respectively with the piston rod of the first piston and
One right mounting seat offsets.
6. space five-freedom mechanical arm as claimed in claim 5, it is characterised in that the 3rd locking joint includes fixing
It is installed on the 3rd rotating shaft on the 3rd support arm, the second support arm is respectively arranged on the left side and the right side the second left mounting seat and
Two right mounting seats, the 3rd rotating shaft is rotatablely installed in the second support arm by bearing, and the two ends of the 3rd rotating shaft
The described second left mounting seat and the second right mounting seat are respectively protruding into, the second left mounting seat is threadedly coupled the second knob, described
The left end of 3rd rotating shaft is installed with the 4th limited block, the 4th limited block and is installed with the 4th friction plate group, position
Friction plate in the two ends of the 4th friction plate group offsets with second knob and the second left mounting seat respectively；Described second
The 3rd support base is installed with right mounting seat, the right-hand member of the 3rd rotating shaft is through the described second right mounting seat and rotation peace
Loaded on the 3rd support base, the 3rd support base is provided with the 3rd hydraulic cavities, the 3rd hydraulic cavities and is slidably installed
There is the 3rd piston, the right-hand member of the 3rd rotating shaft, which is installed with the 5th limited block, the 5th limited block, to be installed with
5th friction plate group, positioned at the two ends of the 5th friction plate group friction plate respectively with the piston rod of the second piston and
Two right mounting seats offset.
7. space five-freedom mechanical arm as claimed in claim 6, it is characterised in that the 4th locking joint includes end
It is fixedly installed in the 4th rotating shaft on the 4th support arm, the 3rd support arm is respectively arranged on the left side and the right side the 3rd left mounting seat
With the 3rd right mounting seat, the 4th rotating shaft is rotatablely installed on the 3rd support arm by bearing, and the 4th rotating shaft
Two ends are respectively protruding into the 3rd left mounting seat and the 3rd right mounting seat, and the 3rd left mounting seat is threadedly coupled the 3rd knob,
3rd knob sleeve is loaded on the 4th support arm, and the left end of the 4th rotating shaft is installed with the 6th limited block, described
Be installed with the 6th friction plate group on 6th limited block, positioned at the two ends of the 6th friction plate group friction plate respectively with institute
State the 3rd knob and the 3rd left mounting seat offsets；Four-supporting, the described 4th are installed with the 3rd right mounting seat
The right-hand member of rotating shaft is through the 3rd right mounting seat and is rotatablely installed on the four-supporting, is set on the four-supporting
Have and the 4th piston is slidably fitted with the 4th hydraulic cavities, the 4th hydraulic cavities, the right-hand member of the 4th rotating shaft is installed with
The 7th friction plate group is installed with 7th limited block, the 7th limited block, positioned at the two ends of the 7th friction plate group
Piston rod and threeth right mounting seat of the friction plate respectively with the 4th piston offset.
8. space five-freedom mechanical arm as claimed in claim 7, it is characterised in that the 5th locking joint includes fixing
It is installed on the 5th rotating shaft on the 5th support arm, the 4th support arm is respectively arranged on the left side and the right side the 4th left mounting seat and
Four right mounting seats, the 5th rotating shaft is rotatablely installed on the 4th support arm by bearing, and the two ends of the 5th rotating shaft
The 4th left mounting seat and the 4th right mounting seat are respectively protruding into, the 4th left mounting seat is threadedly coupled the 4th knob, described
The left end of 5th rotating shaft is installed with the 8th limited block, the 8th limited block and is installed with the 8th friction plate group, position
Friction plate in the two ends of the 8th friction plate group offsets with the 4th knob and the 4th left mounting seat respectively；Described 4th
The 5th support base is installed with right mounting seat, the right-hand member of the 5th rotating shaft is through the 4th right mounting seat and rotation peace
Loaded on the 5th support base, the 5th support base is provided with the 5th hydraulic cavities, the 5th hydraulic cavities and is slidably installed
There is the 5th piston, the right-hand member of the 5th rotating shaft, which is installed with the 9th limited block, the 9th limited block, to be installed with
9th friction plate group, positioned at the two ends of the 9th friction plate group friction plate respectively with the piston rod of the 5th piston and
Four right mounting seats offset.
9. space five-freedom mechanical arm as claimed in claim 8, it is characterised in that the first rotating shaft, the second rotating shaft,
Three rotating shafts, the 4th rotating shaft and the 5th rotating shaft are all connected with encoder.
10. space five-freedom mechanical arm as claimed in claim 8 or 9, it is characterised in that first hydraulic cavities, second
Hydraulic cavities, the 3rd hydraulic cavities, the 4th hydraulic cavities and the 5th hydraulic cavities are connected respectively a hydraulic control unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710330773.XA CN106976104A (en) | 2017-05-11 | 2017-05-11 | A kind of space five-freedom mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710330773.XA CN106976104A (en) | 2017-05-11 | 2017-05-11 | A kind of space five-freedom mechanical arm |
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| CN106976104A true CN106976104A (en) | 2017-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710330773.XA Pending CN106976104A (en) | 2017-05-11 | 2017-05-11 | A kind of space five-freedom mechanical arm |
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