CN108621148A - Modularized pneumatic control type flexible mechanical arm - Google Patents
Modularized pneumatic control type flexible mechanical arm Download PDFInfo
- Publication number
- CN108621148A CN108621148A CN201810424655.XA CN201810424655A CN108621148A CN 108621148 A CN108621148 A CN 108621148A CN 201810424655 A CN201810424655 A CN 201810424655A CN 108621148 A CN108621148 A CN 108621148A
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- China
- Prior art keywords
- control type
- gas control
- bellows chamber
- mechanical arm
- pneumatic control
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Classifications
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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
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Air Bags (AREA)
Abstract
The invention relates to a modularized pneumatic control type soft telescopic mechanical arm, and belongs to the technical field of mechanical arm application. The mechanical arm comprises more than two pneumatic control type software single modules, the pneumatic control type software single modules are connected in an end-to-end connection mode, each pneumatic control type software single module comprises a pneumatic control type rotary joint used for steering and a pneumatic control type straight arm section used for controlling extension, each pneumatic control type rotary joint comprises a plurality of corrugated cavities and connecting ropes arranged on the side walls of the corrugated cavities, each pneumatic control type straight arm section comprises a silica gel sealing layer with a gas storage cavity arranged inside and a fabric limiting layer with elastic ropes penetrating through the side walls, and each pneumatic control type rotary joint is connected with each pneumatic control type straight arm section. The steering mechanism realizes steering through the air pressure difference between the corrugated cavities, ensures the rigidity of extension by controlling the air pressure of the air storage cavity, has light and handy structure and high flexibility, and meets the requirement of steering and extension of the mechanical arm in a larger range.
Description
Technical field
The invention belongs to mechanical arm applied technical field, a kind of software machinery for turning to and stretching using pneumatic control of design
A kind of arm assembly, and in particular to modular gas control type software telescopic mechanical arm.
Background technology
Tradition machinery arm mainly uses rigid structure to design, and joint is controlled using single-degree-of-freedom motor, is set by multi-joint
Meter, realizes the multifreedom motion of mechanical arm.Though however, Rigid Robot Manipulator is ensured in terms of terminal position precision controlling,
But it is faced with the problems such as quality weight, volume are big, man-machine friendly interactive difficult.For example, 1.5m manipulates the small of range currently on the market
Type mechanical arm, this weight about 300Kg；And the 10m mechanical arms applied on space station at present, quality are even more to have reached 1.5t
Left and right.Rigid Robot Manipulator does not have length extending function, is formed by connecting by multiple single-DOF-joints, and quality weight, volume
Greatly, in terms of light structure and flexibility, still there is larger room for improvement.
Invention content
It is insufficient in order to overcome present in prior art application field, the present invention propose a kind of flexibly control turn to and from
By stretching, reducing architecture quality and volume, the modularization gas control type software telescopic mechanical arm for meeting larger motion range.
The present invention is achieved by the following technical solutions：
A kind of modular gas control type software telescopic mechanical arm, the mechanical arm include more than two gas by pressure control
Control type software single module, the gas control type software single module are connected in a manner of end to end, the gas control type software single module
Include the gas control type rotary joint for steering and the gas control type straight arm section for stretching, extension, the gas control type rotary joint and gas control
Type straight arm section is connected.
Further, the gas control type software single module further includes being connected to gas control type rotary joint far from gas control type straight-arm
The bottom mounting surfaces plate of Duan Yiduan installs panel with top of the gas control type straight arm section far from gas control type rotary joint one end is connected to,
The bottom mounting surfaces plate and top installation panel are for the connection between different gas control type software single modules.
Further, the gas control type rotary joint includes bellows chamber, bottom connecting plate, top connecting plate, the gas control
Type rotary joint includes three or more the bellows chambers for stretching with internal pressure size, and the bellows chamber is with annular array
Mode arrange, the bellows chamber includes multilayer along the ripple section of the direction that bellows chamber is shunk superposition and internal conducting, the wave
It is connected by flexible material between ripple section on line chamber same layer, the lower part of the bellows chamber is connected with the bottom connection
The lower part of plate, the bottom connecting plate is connected on the bottom mounting surfaces plate, the top of the bellows chamber and top connecting plate
Connection, the top connecting plate are connected with one end of the gas control type straight arm section.
Further, the quantity of the bellows chamber is three, and three bellows chambers are with the center line of bottom connecting plate
Axis annular array, the bellows chamber are equipped with the gas supply for being supplied to bellows chamber close to the center of bottom mounting surfaces plate side
Hole, the lower section of the bellows chamber are equipped with the sealing-plug for sealing bellows chamber.
Further, the inside of the sealing-plug offers the air admission hole of " L " shape, one end of the air admission hole and gas supply
Hole is connected, and the other end of the air admission hole is connected with the first supply air line, first supply air line and external air pump
One output end is connected, and the sealing-plug is equipped with sealing card slot close to the side of bellows chamber, is equipped in the sealing card slot close
Compression is bolted in seal between the sealing-plug and bellows chamber.
Further, the ripple section side wall of the bellows chamber is equipped with engaging lug, and lacing hole is offered on the engaging lug,
It is saved across each ripple of bellows chamber to limit bellows chamber steering angle by connecting rope.
Further, the gas control type straight arm section includes connecting cover plate one, sawtooth corrugation pipe, fabric limit layer, connection cover
The side of plate two, the connecting cover plate one is connected with one end of gas control type rotary joint, the other side of the connecting cover plate one
It is connected with one end of sawtooth corrugation pipe, it is jagged wave that the sawtooth corrugation pipe pours integrated molding by liquid silica gel
Line pipe, the outside of the sawtooth corrugation pipe are equipped with fabric and limit layer, the other end and the connecting cover plate two-phase of the sawtooth corrugation pipe
Connection, the connecting cover plate two are connect with top installation panel.
Further, the sawtooth corrugation pipe is internally provided with air storing cavity, and air inlet is offered in the connecting cover plate one,
Connection is connected with air storing cavity for one end of the air inlet, and the flexible material center for connecting the bellows chamber offers central through hole,
The first supply air line, an output end phase of one end of first supply air line and external air pump are equipped in the central through hole
Connection, the other end of first supply air line are connected with the air inlet of gas control type straight arm section.
Further, the fabric limit layer is straight-tube shape configuration, and the lateral wall of the fabric limit layer is equipped with binding yarn
Hole, elastic string is connected in the binding yarn hole, and the elastic string is pasted for about beam fabrics limit layer and the outer wall of sawtooth corrugation pipe
It closes.
Further, the mechanical arm is connected according to the angle of steering with the length of stretching, extension selection gas control type software single module
Quantity.
Compared with prior art, beneficial effects of the present invention have：
A kind of modular gas control type software telescopic mechanical arm, by more piece gas control type software single module with end to end side
Formula is formed by connecting, the gas control type rotary joint angle that it is turned to by air pressure adjustment of each solar term control type software single module, often
The gas control type straight arm section of one solar term control type software single module ensures the rigidity of stretching, extension by air pressure；The present invention compensates for conventional rigid
It is soft to devise a kind of modularization for turning to and stretching by the flexible control machinery arm of air pressure for mechanical arm weight, bulky defect
Body mechanical arm is composed of more piece gas control type software single module, meets the larger actual requirement of motion range, each solar term
The steering angle of control type software single module will not be excessive, can be according to the needs of application scenarios, and an appropriate number of gas control type of connecting is soft
Body single module.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of gas control type software single module of the present invention；
Fig. 3 is the cross-sectional view of gas control type software single module of the present invention；
Fig. 4 is the structural schematic diagram of gas control type rotary joint of the present invention；
Fig. 5 is the schematic cross-section of gas control type rotary joint of the present invention；
Fig. 6 is the amplification schematic cross-section of gas control type rotary joint of the present invention；
Fig. 7 is the schematic diagram of the mechanical arm reset condition of the present invention；
Fig. 8 is the schematic diagram of the mechanical arm air pressure driving condition of the present invention.
Marginal data：1：Gas control type software single module, 2：Bottom mounting surfaces plate, 3：Gas control type rotary joint, 301：Ripple
Chamber, 302：Bottom connecting plate, 303：Top connecting plate, 304：Sealing-plug, 305：Engaging lug, 306：Air vent, 307：Sealing ring,
308：Air admission hole, 309：Central through hole, 4：Gas control type straight arm section, 401：Connecting cover plate one, 402：Sawtooth corrugation pipe, 403：Fabric
Limit layer, 404：Connecting cover plate two, 5：Top is installed by panel.
Specific implementation mode
Below in conjunction with the attached drawing of the present invention, technical scheme of the present invention is clearly and completely described, it is clear that institute
Description is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field
The every other embodiment that those of ordinary skill is obtained without making creative work, belongs to protection of the present invention
Range.
Embodiment 1
As shown in the picture, one end of a kind of modular gas control type software telescopic mechanical arm, mechanical arm is mounted on fixed station
On, mechanical arm one end can be fixedly mounted by fixed station, mechanical arm is made of three gas control type software single modules 1, gas control type
Software single module 1 is connected in a manner of end to end, and gas control type software single module 1 includes bottom mounting surfaces plate 2, the rotation of gas control type
Panel 5, the one end on the top and gas control type rotary joint 3 of bottom mounting surfaces plate 2 are installed in joint 3, gas control type straight arm section 4, top
It is connected, the other end of gas control type rotary joint 3 is connected with 4 one end of gas control type straight arm section, the other end of gas control type straight arm section 4
The lower part that panel 5 is installed with top is connected.
Gas control type rotary joint 3 includes bellows chamber 301, bottom connecting plate 302, top connecting plate 303, and the rotation of gas control type is closed
Section 3 includes three bellows chambers 301, and the bottom of each bellows chamber 301 is connected by bolt with bottom connecting plate 302, and bottom connects
Fishplate bar 302 is detachably arranged on bottom mounting surfaces plate 2, and bellows chamber 301 is using the center of bottom connecting plate 302 as axis circular array
Row arrangement, each bellows chamber 301 include that 10 layers of internal ripple section be connected are constituted, the same layer ripple section of each bellows chamber 301
Between connected by flexible material, the top of each bellows chamber 301 is fixed on top connection bolt or by way of pasting
On plate 303, top connecting plate 303 is connected by bolt or other dismountable modes with one end of gas control type straight arm section 4.
The bottom centre of each bellows chamber 301 offers the air vent 306 be connected with bellows chamber 301, each bellows chamber 301
Lower part be equipped with sealing-plug 304, sealing-plug 304 close to the side of bellows chamber 301 be equipped with sealing card slot, sealing card slot in be equipped with it is close
Sealing-plug 304 is compressed the lower part for being connected to bellows chamber 301 by bolt, and plays sealing by sealing ring 307 by seal 307
Effect, sealing-plug 304 is internally provided with the air admission hole 308 docked with air vent 306, air admission hole 308 and the first supply air line
One end is connected, and the other end of the first supply air line is connected with an output end of external air pump, is controlled by external air pump
Air pressure in three bellows chambers 301 changes in the range of 1-100MPa, so that gas control type rotary joint 3 is straight with gas control type
Angle between arm section 4 turns in the range of 0-60 °.
It is additionally provided with engaging lug 305 on the lateral wall of bellows chamber 301, lacing hole is offered on engaging lug 305, in wire rope handling
Connecting rope of the connection for limiting 301 steering angle of bellows chamber in hole, by the way that the connecting rope in three 301 side walls of bellows chamber is arranged
Length adjustment, further limit the steering angle of gas control type rotary joint 3；When needing to adjust gas control type rotary joint 3 upwards
When turning to 15 °, it would be desirable to which the angle of steering assigns to three gas control type software single modules 1 and turns upwards towards 5 °, then outer by controlling
It is 10MPa that portion's air pump, which adjusts pressure in a bellows chamber 301 on single 1 top of gas control type software single module, and is adjusted single
1 lower part of gas control type software single module two bellows chambers 301 in pressure be 30MPa so that three gas control type software single modules 1
5 ° can be turned upwards towards, to realize that gas control type rotary joint 3 turns upwards towards 15 °, and gas control type software single module 1 on to
Under lacing hole in fasten a connecting rope, the constraint of lacing hole is acted on by connecting rope, ensures gas control type software single module 1
Steering angle stability.The present invention is by controlling the air pressure size in each bellows chamber 301, and the rope that is connected is to ripple
The restriction effect of chamber 301 does not need complicated structure, can flexibly realize the steering of mechanical arm.
Gas control type straight arm section 4 includes connecting cover plate 1, sawtooth corrugation pipe 402, fabric limit layer 403, connecting cover plate two
404, connecting cover plate 1 and the top connecting plate 303 of gas control type rotary joint 3 pass through bolt or other dismountable modes
Be connected, the both ends of sawtooth corrugation pipe 402 clamping or other be fixedly connected by way of respectively with connecting cover plate 1 and
Connecting cover plate 2 404 is connected, and it is 402 shape of sawtooth corrugation pipe that sawtooth corrugation pipe 402 pours integrated molding by liquid silica gel,
The outside of sawtooth corrugation pipe 402 be equipped with straight-tube shape fabric limit layer 403, fabric limit layer 403 both ends by clamping or
Other modes being fixedly connected are connected with connecting cover plate 1 and connecting cover plate 2 404 respectively, connecting cover plate 2 404 and top
End installation panel 5 is connected by bolt or other dismountable modes.
Sawtooth corrugation pipe 402 is internally provided with air storing cavity, offers air inlet in connecting cover plate 1, and the one of air inlet
End is connect with the air storing cavity inside sawtooth corrugation pipe 402, and the center of bottom connecting plate 302 offers circular central through hole
309, through being connected with the second supply air line, one end phase of the other end of air inlet and the second supply air line in central through hole 309
Connection, the second supply air line are connected with an output end of external air pump, are controlled the inflation of air storing cavity by external air pump and are put
Gas, to control the flexible of gas control type straight arm section 4, and when gas control type straight arm section 4 stretches, by external air pump to gas control type straight-arm
Section 4 provides enough air pressures, ensures rigidity of the gas control type straight arm section 4 in stretching, extension.
The air pressure in air storing cavity is controlled by external air pump in the range of 1-100MPa to change so that gas control type straight arm section
4 stretch enough length and can guarantee enough rigidity, the steering angle of the air pressure size in air storing cavity and gas control type rotary joint 3
Degree is associated；It is also provided with binding yarn hole on the lateral wall of fabric limit layer 403, elastic string is connected in binding yarn hole, passes through bullet
Property rope about beam fabrics limit layer 403 be bonded with the outer wall of sawtooth corrugation pipe 402, when gas control type straight arm section 4 needs not extend from, bullet
Property rope make fabric limit layer 403 and sawtooth corrugation pipe 402 collect as corrugated；The present invention is by controlling gas control type straight arm section 4
Air pressure size, and coordinate the effect that collects of elastic string, the spread length of control gas control type straight arm section 4, and in gas control type straight-arm
In the case of 4 stretching, extension of section, ensure the rigidity of the gas control type straight arm section 4 of stretching, extension, to replace conventional weight, bulky rigid machine
Tool arm.
In addition, the mechanical arm of the present invention connects according to the angle of steering and the length selection gas control type software single module 1 of stretching, extension
The quantity connect, so that gas control type rotary joint 3 and gas control type straight arm section 4 coordinate well, to realize the larger of mechanical arm
The steering and stretching, extension of range.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of modular gas control type software telescopic mechanical arm, which is characterized in that the mechanical arm includes two or more by gas
The gas control type software single module of voltage-controlled system, the gas control type software single module are connected in a manner of end to end, the gas control type
Software single module includes the gas control type rotary joint for steering and the gas control type straight arm section for stretching, extension, the gas control type rotation
Joint is connected with gas control type straight arm section.
2. a kind of modular gas control type software telescopic mechanical arm according to claim 1, it is characterised in that：The gas control
Type software single module further includes being connected to bottom mounting surfaces plate and company of the gas control type rotary joint far from gas control type straight arm section one end
It is connected on top installation panel of the gas control type straight arm section far from gas control type rotary joint one end, the bottom mounting surfaces plate and top peace
Panel is filled for the connection between different gas control type software single modules.
3. a kind of modular gas control type software telescopic mechanical arm according to claim 2, it is characterised in that：The gas control
Type rotary joint includes bellows chamber, bottom connecting plate, top connecting plate, and the gas control type rotary joint is used for including three or more
With the bellows chamber that internal pressure size is stretched, the bellows chamber is arranged in a manner of annular array, and the bellows chamber includes
Multilayer is superimposed along the direction that bellows chamber is shunk and the ripple section of internal conducting, leads between the ripple section on the bellows chamber same layer
Flexible material connection is crossed, the lower part of the bellows chamber is connected with the bottom connecting plate, the lower part connection of the bottom connecting plate
On the bottom mounting surfaces plate, the top of the bellows chamber is connect with top connecting plate, the top connecting plate and the gas
One end of control type straight arm section is connected.
4. a kind of modular gas control type software telescopic mechanical arm according to claim 3, it is characterised in that：The ripple
The quantity of chamber is three, and three bellows chambers are using the center line of bottom connecting plate as axis annular array, the bellows chamber
It is equipped with the air vent for being supplied to bellows chamber close to the center of bottom mounting surfaces plate side, the lower section of the bellows chamber, which is equipped with, to be used
In the sealing-plug of sealing bellows chamber.
5. a kind of modular gas control type software telescopic mechanical arm according to claim 4, it is characterised in that：The sealing
The inside of plug offers the air admission hole of " L " shape, and one end of the air admission hole is connected with air vent, the air admission hole it is another
End is connected with the first supply air line, and first supply air line is connected with an output end of external air pump, the sealing
Plug is equipped with sealing card slot close to the side of bellows chamber, is equipped with sealing ring in the sealing card slot, the sealing-plug and bellows chamber it
Between compression is bolted.
6. according to a kind of modular gas control type software telescopic mechanical arm of 3,4,5 any one of them of claim, feature exists
In：The ripple section side wall of the bellows chamber is equipped with engaging lug, offers lacing hole on the engaging lug, is passed through by connecting rope
Each ripple of bellows chamber is saved to limit bellows chamber steering angle.
7. a kind of flexible mechanical wall of modular gas control type software according to claim 6, it is characterised in that：The gas control
Type straight arm section includes connecting cover plate one, sawtooth corrugation pipe, fabric limit layer, connecting cover plate two, the side of the connecting cover plate one
It is connected with one end of gas control type rotary joint, the other side of the connecting cover plate one is connected with one end of sawtooth corrugation pipe,
It is jagged bellows, the outside of the sawtooth corrugation pipe that the sawtooth corrugation pipe pours integrated molding by liquid silica gel
Layer is limited equipped with fabric, the other end of the sawtooth corrugation pipe is connected with connecting cover plate two, the connecting cover plate two and top
Panel connection is installed.
8. a kind of flexible mechanical wall of modular gas control type software according to claim 7, it is characterised in that：The sawtooth
Bellows is internally provided with air storing cavity, and air inlet, one end of the air inlet and air storing cavity are offered in the connecting cover plate one
Conducting connection, the flexible material center for connecting the bellows chamber offer central through hole, and being equipped with second in the central through hole supplies
Air pipe, one end of second supply air line are connected with an output end of external air pump, first supply air line
The other end is connected with the air inlet of gas control type straight arm section.
9. a kind of flexible mechanical wall of modular gas control type software according to claim 8, it is characterised in that：The fabric
Limit layer is straight-tube shape configuration, and the lateral wall of the fabric limit layer is equipped with binding yarn hole, and connection is flexible in the binding yarn hole
Rope, the elastic string are bonded for about beam fabrics limit layer with the outer wall of sawtooth corrugation pipe.
10. a kind of modular gas control type software telescopic mechanical arm according to claim 9, it is characterised in that：The machine
The quantity that tool arm is connected according to the angle of steering with the length of stretching, extension selection gas control type software single module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810424655.XA CN108621148A (en) | 2018-05-07 | 2018-05-07 | Modularized pneumatic control type flexible mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810424655.XA CN108621148A (en) | 2018-05-07 | 2018-05-07 | Modularized pneumatic control type flexible mechanical arm |
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| CN108621148A true CN108621148A (en) | 2018-10-09 |
Family
ID=63695561
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| CN201810424655.XA Pending CN108621148A (en) | 2018-05-07 | 2018-05-07 | Modularized pneumatic control type flexible mechanical arm |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116404A (en) * | 2019-05-06 | 2019-08-13 | 天津大学 | Plane modular Pneumatic artificial muscle |
| CN110193824A (en) * | 2019-04-19 | 2019-09-03 | 华中科技大学 | A kind of motion control method of software actuator |
| CN111113397A (en) * | 2020-01-17 | 2020-05-08 | 浙江大学 | Underwater pressure self-adaptive electromechanical hybrid drive control software intelligent mechanical arm |
| CN111300442A (en) * | 2020-02-25 | 2020-06-19 | 中国科学院自动化研究所 | Flexible spine, manufacturing method and calculation method thereof and mechanical mouse |
| CN111452066A (en) * | 2020-04-07 | 2020-07-28 | 安徽大学 | Full-flexible bionic pneumatic manipulator |
| CN112405589A (en) * | 2020-10-28 | 2021-02-26 | 武汉科技大学 | Flexible driver based on corrugated pipe |
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| CN110193824A (en) * | 2019-04-19 | 2019-09-03 | 华中科技大学 | A kind of motion control method of software actuator |
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| CN111113397A (en) * | 2020-01-17 | 2020-05-08 | 浙江大学 | Underwater pressure self-adaptive electromechanical hybrid drive control software intelligent mechanical arm |
| CN111113397B (en) * | 2020-01-17 | 2021-02-02 | 浙江大学 | Underwater pressure self-adaptive electromechanical hybrid drive control software intelligent mechanical arm |
| CN111300442B (en) * | 2020-02-25 | 2021-08-10 | 中国科学院自动化研究所 | Flexible spine, manufacturing method and calculation method thereof and mechanical mouse |
| CN111300442A (en) * | 2020-02-25 | 2020-06-19 | 中国科学院自动化研究所 | Flexible spine, manufacturing method and calculation method thereof and mechanical mouse |
| CN111452066A (en) * | 2020-04-07 | 2020-07-28 | 安徽大学 | Full-flexible bionic pneumatic manipulator |
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| CN112405589A (en) * | 2020-10-28 | 2021-02-26 | 武汉科技大学 | Flexible driver based on corrugated pipe |
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| CN113635694A (en) * | 2021-07-23 | 2021-11-12 | 广州大学 | Drawing device for controlling writing radius track |
| CN113907876A (en) * | 2021-09-22 | 2022-01-11 | 中南大学湘雅医院 | Spine-imitated high-rigidity linear driving mechanical arm and surgical robot |
| WO2023091091A3 (en) * | 2021-11-18 | 2023-08-03 | National University Of Singapore | Modular and reconfigurable hybrid robotic manipulators |
| CN114406984A (en) * | 2021-12-16 | 2022-04-29 | 中国人民解放军军事科学院国防科技创新研究院 | Hybrid drive type foldable space soft mechanical arm |
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Application publication date: 20181009 |