CN106239497B - Fluid bone flexible mechanical arm assembly - Google Patents
Fluid bone flexible mechanical arm assembly Download PDFInfo
- Publication number
- CN106239497B CN106239497B CN201610798115.9A CN201610798115A CN106239497B CN 106239497 B CN106239497 B CN 106239497B CN 201610798115 A CN201610798115 A CN 201610798115A CN 106239497 B CN106239497 B CN 106239497B
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- Prior art keywords
- fluid
- hole
- tendon rope
- lower plate
- upper plate
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- 239000012530 fluid Substances 0.000 title claims abstract description 82
- 210000000988 bone and bone Anatomy 0.000 title claims abstract description 67
- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 13
- 210000002435 tendon Anatomy 0.000 claims description 60
- 238000009827 uniform distribution Methods 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 208000002925 dental caries Diseases 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Fluid bone flexible mechanical arm assembly, belongs to robotic technology field, including pedestal, driver, transmission mechanism, fluid bone elements and end piece etc..The device has multiple freedom degrees, it can be bent to multiple directions and flexible, various curved spatial forms can be made, the tool for being connected to imitative trunk robot arm device end is set to arrive at some spatial position, mobility is good, it is highly-safe during being interacted with people with preferable flexibility, while from heavy and light, small in size, compact-sized and at low cost.Fluid bone flexible mechanical arm assembly can be widely applied in the various automated systems for needing mechanical arm.
Description
Technical field
The invention belongs to robotic technology field, in particular to a kind of structure of fluid bone flexible mechanical arm assembly is set
Meter.
Background technique
The target of Robot Design is that people is replaced to complete task, it usually needs has a pair of arm.The arm of people has seven
Freedom degree belongs to series connection cantilever design, has flourishing muscle, can generate very big strength and transport at the higher speeds
Dynamic, these all make the development of mechanical arm have very big difficulty.The either CMU/ of Carnegie Mellon University, U.S. development
The ASIMO machine of HUBO robot, the development of Japanese honda company that Sarcos robot, high-tech research institute, South Korea develop
People ... have the characteristics that one it is common: these traditional robot arms are multiple rigid links is connected or simultaneously by joint
Connection constitute, exist structure is complicated, volume is big, weight is big, big energy-consuming, it is at high cost the deficiencies of.
For the inherent shortcoming for overcoming conventional discrete type rigid machine people, nearly more than two decades come about continuous type flexible body machine
The research of people worldwide a large amount of expansion.
J.Yang et al. is once in a kind of the continuous of opinion springs at different levels for drawing tandem respectively by multiple groups tendon rope of described in the text
Humanoid robot.The device is proved to have good mobility, reliability and economy.
Walker et al. once described the flexible non-individual body mechanical arm OCTARM developed in the literature.In addition, being given birth to
The inspiration of object circle trunk and flexible tentacle etc. and the robot Air-Octor designed, have preferable bending ability, and show
Its redundant degree of freedom performance is better than the Rigid Robot Manipulator of identical freedom degree in many situations.
German Fei Situo (FESTO) company imitates big trunk and fin concept has developed and a kind of utilizes the imitative of gas-powered
Trunk flexible mechanical arm.The device is made of multiple along the steering assembly that curve is arranged in a stacked fashion, each manipulation group
Part separately includes multiple gusset pieces and multiple fluid cavitys again.
Chinese invention patent CN103895012B once disclosed a kind of imitative trunk machinery arm unit, including pedestal, multiple artificial
Muscle component, multiple middlewares, multiple springs, end piece and flexible cover；Wherein artificial-muscle component includes driver, driver
Structure and flexible screw component.The device has multiple freedom degrees, can be bent to multiple directions.
But all there is following deficiency in existing most of flexible mechanical arm scheme:
1) driving mechanism is relative complex.Imitative trunk flexible mechanical arm as Air-Octor and FESTO company proposes needs to control
The special equipment of gas processed so that whole system quality it is larger, energy consumption and higher cost；And pass through tendon rope or flexible link various
It is required when realizing multi-direction bending since each tendon rope or flexible link correspond to a driver in the mechanical arm of displacement drive
Number of drives it is more, significantly increase the cost and complexity of system.
2) bearing capacity and stability are limited.Since the compliant members such as spring are widely used as support construction, Yi Xierou
The deformation as caused by loading easily occurs for property mechanical arm, to cause unstability or accuracy decline.
Summary of the invention
The purpose of the invention is to overcome the shortcoming of prior art, a kind of fluid bone flexible mechanical arm dress is proposed
It sets, makes it have multiple freedom degrees, can be flexibly bent to different directions, to make different spatial forms, make to connect
Some spatial position can be arrived in the tool of mechanical arm tail end, while from heavy and light, small in size, compact-sized and at low cost etc. special
Point.
Technical scheme is as follows:
A kind of fluid bone flexible mechanical arm assembly that the present invention designs, it is characterised in that: including pedestal, the first driving
Device, the second driver, third driver, the first transmission mechanism, the second transmission mechanism, third transmission mechanism, the first tendon rope, second
Tendon rope, third tendon rope, N number of fluid bone elements and end piece；First driver is fixedly mounted on the base, and described first
The output shaft of driver is connected with the input terminal of the first transmission mechanism, the output end of first transmission mechanism and the first tendon rope
One end is connected, and the other end of the first tendon rope is connected with end piece, and the first tendon rope passes through all fluid bone elements；
Second driver is fixedly mounted on the base, the input terminal phase of the output shaft and the second transmission mechanism of second driver
Even, the output end of second transmission mechanism is connected with one end of the second tendon rope, the other end and end piece of the second tendon rope
It is connected, the second tendon rope passes through all fluid bone elements；The third driver is fixedly mounted on the base, and described the
The output shaft of three drivers is connected with the input terminal of third transmission mechanism, the output end and third tendon rope of the third transmission mechanism
One end be connected, the other end of the third tendon rope is connected with end piece, and the third tendon rope is across all fluid bone lists
Member；The fluid bone elements include lower plate, upper plate, 3 flexible pipes, connecting tube, fluid, spring part and at least one motor-driven valve
Door；The both ends of the flexible pipe are separately connected lower plate and upper plate, and the both ends of the spring part are separately connected lower plate and upper plate, the stream
Body is sealed in connecting tube and 3 flexible pipes；The both ends of each flexible pipe pass through close under flexible pipe upper seal and flexible pipe respectively
Sealing closing, but flexible pipe lower seal is connected to the connecting tube；Therefore each flexible pipe described in communicating pipe connection.The motor-driven valve
Door is arranged in connecting tube, controls the fluid in 3 flexible pipes and is interconnected or mutually ends；3 flexible pipes are evenly arranged on
Between upper plate and lower plate；The the first lower plate through-hole, the second lower plate through-hole and third lower plate of circumference uniform distribution are provided in the lower plate
Through-hole；The the first upper plate through-hole, the second upper plate through-hole and third upper plate through-hole of circumference uniform distribution are provided on the upper plate；First
The lower plate of fluid bone elements and pedestal are affixed, and all fluid bone elements are successively connected one by one, each underlying
The upper plate of fluid bone elements and the lower plate for the fluid bone elements being located above are affixed；The last one fluid bone elements it is upper
Plate is affixed with end piece；It is logical that the first tendon rope sequentially passes through the first lower plate through-hole of all fluid bone elements, the first upper plate
Hole；The second tendon rope sequentially passes through the second lower plate through-hole of all fluid bone elements, the second upper plate through-hole；The third tendon
Rope sequentially passes through third lower plate through-hole, the third upper plate through-hole of all fluid bone elements；N is natural number.
Fluid bone flexible mechanical arm assembly of the present invention, it is characterised in that: the flexible pipe is using set spring silk wave
Line pipe or embedding spring silk bellows.
Fluid bone flexible mechanical arm assembly of the present invention, it is characterised in that: the fluid uses water.
Fluid bone flexible mechanical arm assembly of the present invention, it is characterised in that: the driver is using motor, hydraulic
Cylinder or cylinder.
Compared with prior art, the present invention having the following advantages that and high-lighting effect:
Fluid bone flexible mechanical arm assembly of the present invention have multiple freedom degrees, can to multiple directions be bent and
It is flexible, various curved spatial forms can be made, the tool for being connected to imitative trunk robot arm device end is allow to arrive at certain
A spatial position, mobility is good, have it is preferable flexible, it is highly-safe during being interacted with people, while from heavy and light, volume
It is small, compact-sized and at low cost.
Detailed description of the invention
Fig. 1 is a kind of stereo appearance figure of the embodiment for the fluid bone flexible mechanical arm assembly that the present invention designs.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the cross-sectional view of embodiment illustrated in fig. 1.
Fig. 4 is the perspective view of fluid bone elements in embodiment illustrated in fig. 1.
Fig. 5 is the front view of fluid bone elements in embodiment illustrated in fig. 1.
Fig. 6 is the front view of upper plate in embodiment illustrated in fig. 1 (or lower plate).
Fig. 7 is the explosive view of fluid bone elements in embodiment illustrated in fig. 1.
In Fig. 1 into Fig. 7:
1- pedestal,
The first driver of 21- (first motor), the second driver of 22- (the second motor), 23- third driver (third motor),
The first sliding rail of 312-, the second sliding rail of 322-, 332- third sliding rail,
The first nutplate of 313-, the second nutplate of 323-, 333- third nutplate,
The first lead screw of 314-, the second lead screw of 324-, 334- third lead screw,
41- the first tendon rope, 42- the second tendon rope, 43- third tendon rope,
5- fluid bone elements, 51- lower plate, 52- upper plate,
53- flexible pipe, 54- connecting tube, 55- fluid,
56- electrically operated valve, 571- the first lower plate through-hole, 572- the second lower plate through-hole,
573- third lower plate through-hole, 581- the first upper plate through-hole, 582- the second upper plate through-hole,
583- third upper plate through-hole, 591- flexible pipe upper seal, 592- flexible pipe lower seal,
6- end piece.
Specific embodiment
The contents such as specific structure of the invention, working principle are described in further detail with reference to the accompanying drawings and embodiments.
A kind of embodiment for the fluid bone flexible mechanical arm assembly that the present invention designs, as shown in Figure 1, including pedestal 1, the
One driver 21, the second driver 22, third driver 23, the first transmission mechanism, the second transmission mechanism, third transmission mechanism,
First tendon rope 41, the second tendon rope 42, third tendon rope 43, N number of fluid bone elements 5 and end piece 6；First driver 21 is solid
On pedestal 1, the output shaft of first driver 21 is connected with the input terminal of the first transmission mechanism for Dingan County, and described first passes
The output end of motivation structure is connected with one end of the first tendon rope 41, and the other end of the first tendon rope 41 is connected with end piece 6, described
First tendon rope 41 passes through all fluid bone elements 5；Second driver 22 is fixedly mounted on pedestal 1, and described second
The output shaft of driver 22 is connected with the input terminal of the second transmission mechanism, the output end of second transmission mechanism and the second tendon rope
42 one end is connected, and the other end of the second tendon rope 42 is connected with end piece 6, and the second tendon rope 42 passes through all fluids
Bone elements 5；The third driver 23 is fixedly mounted on pedestal 1, and the output shaft and third of the third driver are driven
The input terminal of mechanism is connected, and the output end of the third transmission mechanism is connected with one end of third tendon rope 43, the third tendon rope
43 other end is connected with end piece 6, and the third tendon rope 43 passes through all 55 bone elements 5 of fluid；The fluid bone
Unit 5 includes lower plate 51,52,3 flexible pipes 53 of upper plate, connecting tube 54, fluid 55, spring part and at least one electrically operated valve 56；
The both ends of the flexible pipe 53 are separately connected lower plate 51 and upper plate 52, and the both ends of the spring part are separately connected lower plate 51 and upper plate
52, the fluid 55 is sealed in connecting tube 54 and 3 flexible pipe 53；The connecting tube 54 is connected to 3 flexible pipes 53；The electricity
Movable valve 56 is arranged in connecting tube 54, controls the fluid 55 in 3 flexible pipes 53 and is interconnected or mutually ends；Described 3
Flexible pipe 53 is evenly arranged between upper plate 52 and lower plate 51；Be provided in the lower plate 51 circumference uniform distribution the first lower plate through-hole 571,
Second lower plate through-hole 572 and third lower plate through-hole 573；Be provided on the upper plate 52 circumference uniform distribution the first upper plate through-hole 581,
Second upper plate through-hole 582 and third upper plate through-hole 583；The lower plate 51 and pedestal 1 of first fluid bone elements 5 are affixed, own
The fluid bone elements 5 are successively connected one by one, the upper plates 52 of each underlying fluid bone elements 5 be located above
The lower plate 51 of fluid bone elements 5 is affixed；The upper plate 52 and end piece 6 of the last one fluid bone elements 5 are affixed；Described first
Tendon rope 41 sequentially passes through the first lower plate through-hole 571 of all fluid bone elements 5, the first upper plate through-hole 581；The second tendon rope
42 sequentially pass through the second lower plate through-hole 572 of all fluid bone elements 5, the second upper plate through-hole 582；The third tendon rope 43 according to
The secondary third lower plate through-hole 573 across all fluid bone elements 5,52 through-hole of third upper plate；N is natural number.
In the present embodiment, N 6.
Fluid bone flexible mechanical arm assembly of the present invention, it is characterised in that: the flexible pipe 53 is using set spring silk
Bellows or embedding spring silk bellows.In the present embodiment, the flexible pipe 53 uses embedding spring silk bellows.
Since the present embodiment flexible pipe 53 is using embedding spring silk bellows, wherein having there is spring part to be embedded into bellows
In, therefore can not separately set spring part.
In the present embodiment, the fluid 55 uses water.
Fluid bone flexible mechanical arm assembly of the present invention, it is characterised in that: first driver 21 is using electricity
Machine, hydraulic cylinder or cylinder.In the present embodiment, first driver 21 uses motor.
Fluid bone flexible mechanical arm assembly of the present invention, it is characterised in that: second driver 22 is using electricity
Machine, hydraulic cylinder or cylinder.In the present embodiment, second driver 22 uses motor.
Fluid bone flexible mechanical arm assembly of the present invention, it is characterised in that: the third driver 23 is using electricity
Machine, hydraulic cylinder or cylinder.In the present embodiment, the third driver 23 uses motor.
In the present embodiment, the first transmission mechanism, the second transmission mechanism are identical with third transmission mechanism structure, with the first transmission
Illustrate for mechanism.First transmission mechanism includes lead screw 312 and nutplate 313, the output shaft of the first motor 21 with
First lead screw 314 is connected, and first lead screw 314 is threadedly coupled with the first nutplate 313, and first nutplate 313 is slided
It is embedded in pedestal 1, first nutplate 313 is connected with one end of the first tendon rope 41.
In the present embodiment, the first upper plate through-hole 581, the second upper plate through-hole 582,583 place circumference of third upper plate through-hole are same
First flexible pipe, the second flexible pipe, third flexible pipe the center of circle where circumferential concentric, and the first upper plate through-hole 581, the second upper plate
Through-hole 582, third upper plate through-hole 583 the center of circle be located at the first flexible pipe 53, the second flexible pipe 53, third flexible pipe 53
The center of circle where radius on；In the present embodiment, the first lower plate through-hole 571, the second lower plate through-hole 572, third lower plate through-hole 573
Place circumference circumferential concentric where the center of circle of the first flexible pipe 53, the second flexible pipe 53, third flexible pipe 53, and the first lower plate together
Through-hole 571, the second lower plate through-hole 572, third lower plate through-hole 573 the center of circle be located at the first flexible pipe 53, the second flexible pipe 53,
On radius where the center of circle of third flexible pipe 53.
The pedestal 1 further includes the first sliding rail 312, the second sliding rail 322 and third sliding rail 332 being fixed together.It is described
The sliding of first nutplate 313 is embedded on the first sliding rail 312, and the sliding of the second nutplate 323 is embedded in the second sliding rail 322
On, the sliding of third nutplate 333 is embedded on third sliding rail 332.
The working principle of the present embodiment, is described below in conjunction with attached drawing:
When the present embodiment is in original state, as shown in Figure 1.
Some electrically operated valve 56 is opened, remaining electrically operated valve 56 is closed, then the first driver 21 rotates, and passes by first
Motivation structure drives the first nutplate 313 linear downward motion, pulls downward on the first tendon rope 41, corresponding with the first tendon rope 41 (
Opening in 55 bone elements 5 of fluid of electrically operated valve 56) the first flexible pipe is squeezed, and fluid 55 therein flows to same
The second flexible pipe and third flexible pipe of layer, at the same time, the second tendon rope corresponding with the second flexible pipe, third flexible pipe
42, third tendon rope 43 respectively the second driver 22, third driver 23 rotary action under also move up, thus be first
The fluid 55 of flexible pipe discharge reserves volume space.The electrically operated valve 56 is finally closed, fluid 55 is forbidden to continue to flow.
It opens another electrically operated valve 56 again later, proceeds as described above.
By the first tendon rope 41 of distribution, the displacement of the second tendon rope 42 and third tendon rope 43, the end of the device can control
Part 6 arrives at any position in working space.
When carrying out reverse operating to mechanical arm, principle is identical with the above process, and only the moving direction of each tendon rope is not on the contrary,
It repeats again.
Fluid bone flexible mechanical arm assembly of the present invention have multiple freedom degrees, can to multiple directions be bent and
It is flexible, various curved spatial forms can be made, the tool for being connected to imitative trunk robot arm device end is allow to arrive at certain
A spatial position, mobility is good, have it is preferable flexible, it is highly-safe during being interacted with people, while from heavy and light, volume
It is small, compact-sized and at low cost.
Claims (4)
1. a kind of fluid bone flexible mechanical arm assembly, it is characterised in that: including pedestal, the first driver, the second driver,
Three drivers, the first transmission mechanism, the second transmission mechanism, third transmission mechanism, the first tendon rope, the second tendon rope, third tendon rope, N
A fluid bone elements and end piece；First driver is fixedly mounted on the base, the output shaft of first driver
It is connected with the input terminal of the first transmission mechanism, the output end of first transmission mechanism is connected with one end of the first tendon rope, described
The other end of first tendon rope is connected with end piece, and the first tendon rope passes through all fluid bone elements；Second driving
Device is fixedly mounted on the base, and the output shaft of second driver is connected with the input terminal of the second transmission mechanism, and described second
The output end of transmission mechanism is connected with one end of the second tendon rope, and the other end of the second tendon rope is connected with end piece, and described
Two tendon ropes pass through all fluid bone elements；The third driver is fixedly mounted on the base, the third driver
Output shaft is connected with the input terminal of third transmission mechanism, one end phase of the output end and third tendon rope of the third transmission mechanism
Even, the other end of the third tendon rope is connected with end piece, and the third tendon rope passes through all fluid bone elements；The stream
Body bone elements include lower plate, upper plate, 3 flexible pipes, connecting tube, fluid, spring part and at least one electrically operated valve；The flexibility
The both ends of pipe are separately connected lower plate and upper plate, and the both ends of the spring part are separately connected lower plate and upper plate, and the Fluid Sealing is even
In adapter tube and 3 flexible pipes；The connecting tube is connected to 3 flexible pipes；The electrically operated valve is arranged in connecting tube, controls 3
Fluid in flexible pipe is interconnected or mutually cut-off；3 flexible pipes are uniformly distributed between the upper and lower plates；In the lower plate
It is provided with the first lower plate through-hole, the second lower plate through-hole and third lower plate through-hole of circumference uniform distribution；Circumference is provided on the upper plate
Uniformly distributed the first upper plate through-hole, the second upper plate through-hole and third upper plate through-hole；The lower plate and pedestal of first fluid bone elements
Affixed, all fluid bone elements are successively connected one by one, the upper plate of each underlying fluid bone elements be located at
The lower plate of the fluid bone elements of top is affixed；The upper plate of the last one fluid bone elements and end piece are affixed；Described first
Tendon rope sequentially passes through the first lower plate through-hole of all fluid bone elements, the first upper plate through-hole；The second tendon rope sequentially passes through
The second lower plate through-hole, the second upper plate through-hole of all fluid bone elements；The third tendon rope sequentially passes through all fluid bones
Third lower plate through-hole, the third upper plate through-hole of unit；N is natural number.
2. fluid bone flexible mechanical arm assembly as described in claim 1, it is characterised in that: the flexible pipe is using set spring silk
Bellows or embedding spring silk bellows.
3. fluid bone flexible mechanical arm assembly as described in claim 1, it is characterised in that: the fluid uses water.
4. fluid bone flexible mechanical arm assembly as described in claim 1, it is characterised in that: the driver using motor,
Hydraulic cylinder or cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798115.9A CN106239497B (en) | 2016-08-31 | 2016-08-31 | Fluid bone flexible mechanical arm assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798115.9A CN106239497B (en) | 2016-08-31 | 2016-08-31 | Fluid bone flexible mechanical arm assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106239497A CN106239497A (en) | 2016-12-21 |
| CN106239497B true CN106239497B (en) | 2019-04-23 |
Family
ID=58080806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610798115.9A Expired - Fee Related CN106239497B (en) | 2016-08-31 | 2016-08-31 | Fluid bone flexible mechanical arm assembly |
Country Status (1)
| Country | Link |
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| CN (1) | CN106239497B (en) |
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| CN205111880U (en) * | 2015-02-15 | 2016-03-30 | 清华大学 | Crooked robot arm device of flexible pole spiral drive qxcomm technology |
| CN205363953U (en) * | 2016-03-08 | 2016-07-06 | 山东科技大学 | Flexible mechanical arm of pneumatic rope accuse load type |
| CN206393632U (en) * | 2016-08-31 | 2017-08-11 | 清华大学 | Fluid bone flexible mechanical arm assembly |
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| KR20230121390A (en) * | 2022-02-11 | 2023-08-18 | 한국생산기술연구원 | Folding link system with wire mechanism for changing the stiffness of folding link |
| KR102634111B1 (en) * | 2022-02-11 | 2024-02-06 | 한국생산기술연구원 | Folding link system with wire mechanism for changing the stiffness of folding link |
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