CN109202878A - A kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms - Google Patents
A kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms Download PDFInfo
- Publication number
- CN109202878A CN109202878A CN201811078502.0A CN201811078502A CN109202878A CN 109202878 A CN109202878 A CN 109202878A CN 201811078502 A CN201811078502 A CN 201811078502A CN 109202878 A CN109202878 A CN 109202878A
- Authority
- CN
- China
- Prior art keywords
- merogenesis
- rope
- swing rod
- flexible arm
- freedom
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1625—Truss-manipulator for snake-like motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1635—Programme controls characterised by the control loop flexible-arm control
Abstract
The invention discloses a kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms, it is related to bio-robot technical field, including several compliant mechanisms for being connected with the driving mechanism of rope and being connect by merogenesis mechanism with driving mechanism, rope is fixedly connected with fixation kit after passing through merogenesis mechanism, merogenesis mechanism includes the lock laying mechanism of merogenesis shell and its inside, is provided on merogenesis shell for driving lock laying mechanism locked and the steering engine of release rope.Lock laying mechanism includes pushing the output axis connection of wheel with steering engine for locking the swing rod for putting rope and the promotion wheel for adjusting swing rod position.Swing rod is L-shaped and around pushing the central axis of wheel to be circumferentially uniformly distributed, and the fixing end of swing rod is mounted on merogenesis shell by installation axle, and the free end of swing rod and promotion wheel are tangent.Laying mechanism is locked by control, effective number of components, the freedom degree of the flexible arm can be changed, the flexible and bending of flexible arm portion compliant mechanism is realized by lock laying mechanism and driving mechanism cooperation.
Description
Technical field
The invention belongs to bio-robot technical fields, and in particular to a kind of space multiple degrees of freedom based on metamorphic mechanisms point
Save control biomimetics flexible arm.
Background technique
With the fast development of robot technology, the technologies such as Design of Mechanical Structure, motion control of robot also compare into
It is ripe, to the increase of the machine Man's Demands of task increasingly can be executed under complex environment.But tradition machinery arm mostly uses greatly just
Property joint is formed by connecting, this means necessarily has strict requirements to the space environment of its respective operation.Height it is unstructured,
Under narrow random, multi-obstacle avoidance complex environment, tradition machinery arm leads to its avoidance energy due to the limitation of itself rigid structure
Power compares that limitation, flexibility ratio are poor, space scope is limited, cannot efficiently complete job space task.By trunk, octopus
The software mechanical arm that tentacle is inspired and designed is a kind of novel Bionic flexible arm, and structure is similar to octopus tentacle, big trunk
The biologic-organs such as sub and molluscan body are made of elastomer continuous and flexible, are in light by elastomer bending deformation
It slides full curve and generates movement.Since Bionic flexible arm not only can freely change the form of itself in three dimensions,
And it can be moved with smooth curved, it is thus possible to the job task completed in non-structured unforeseen environment, such as
The impossible special duty of tradition machinery arm is completed in the complex environment of small space or multi-obstacle avoidance, and there is flexibility ratio
It is high, up to infinite multiple freedom degrees the characteristics of.
For this purpose, application No. is the patents of CN201620172375.0 to disclose a kind of pneumatic rope control load type flexible mechanical
Arm, the mechanical arm are connected in series by more piece parallel institution；And every section parallel institution by four rubber pneumatic bags, four wirerope, on
Lower two connecting plates and candan universal joint composition, four rubber pneumatic bags and four wirerope annular arrays are successively interspersed, each
The centre in joint is connected by candan universal joint, which has multiple freedom degrees, can be bent to multiple directions.But the machine
Tool arm is connected by universal joint, can only realize the bending of mechanical arm, can not achieve the integral telescopic of mechanical arm.In addition to this, due to
Rubber capsule needs external air pump, so the mechanical arm is difficult to minimize.
Application No. is the patents of CN201510988963.1 to disclose a kind of driving Rescaling continuity humanoid robot of tendon,
The robot mainly by the flange form mounting plate that is fixed in base and around base central axis in circumferential equally distributed 4
Driving motor drives roll, and roll is equipped on the output shaft of every driving motor, and driving rope is wrapped in roll, drives
Running rope rope sequentially passes through the threading hole in mounting plate plate strip slot and each terminal pad, until be connected with end terminal pad,
Driving motor drives roll, carries out the folding and unfolding of driving rope, realizes each to bending of flexible mechanical arm.But the mechanical arm
The mechanical length of every rope can only be controlled respectively to control the bending of mechanical arm, can not change mechanical arm effective number of components and
Freedom degree can not achieve integral telescopic and the merogenesis control of mechanical arm.
Summary of the invention
It is an object of the invention to: the freedom degree of flexible arm must not be changed for solution and realize partially flexible in flexible arm
Mechanism stretches, and provides a kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms.The present invention passes through
Merogenesis mechanism separates multiple compliant mechanisms, then rotates the promotion in merogenesis mechanism by the steering engine in driving merogenesis mechanism
It is dynamic, push swing rod to lock rope, the compliant mechanism rope lengths connecting with merogenesis mechanism can not change, that is, become a rigid machine
Structure, to realize the effective number of components and freedom degree for changing flexible arm.Driving motor and steering engine are mixed by single-chip microcontroller
The change of flexible arm size is realized in driving, is achieved the purpose that compliant mechanisms single or multiple in flexible arm are flexible.
The technical solution adopted by the invention is as follows:
A kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms, the driving including being connected with rope
Mechanism and several compliant mechanisms are connected by merogenesis mechanism between the compliant mechanism, and the rope is after merogenesis mechanism
It is fixedly connected with fixation kit, the merogenesis mechanism includes the lock laying mechanism of merogenesis shell and its inside, on the merogenesis shell
It is provided with for driving lock laying mechanism locked and the steering engine of release rope.
Further, the lock laying mechanism includes for locking the swing rod for putting rope and the promotion for adjusting swing rod position
Wheel, the promotion wheel are fixedly connected with the output shaft of steering engine.
Further, promotion wheel includes rounded portions, the first lug boss and the second lug boss, first lug boss and
Second lug boss is symmetrical about the center of circle of rounded portions, and the first lug boss width is greater than the second lug boss.
Further, the swing rod is L-shaped and is circumferentially uniformly distributed around the central axis of promotion wheel, the fixing end of the swing rod
It is mounted on merogenesis shell by installation axle, the free end of the swing rod and promotion wheel are tangent.
Further, the outer diameter R of the merogenesis mechanism3For the diameter R for pushing wheel rounded portions13.6 times, the rounded portions
Distance R of the center to the first lug boss end and the second lug boss end2For R11.2 times；The length of the long side of the L-type swing rod
Degree R4 is diameter R10.8-2 times, the length R of short side5For diameter R10.5-0.8 times；Lacing hole in merogenesis mechanism to
The distance R of the installation axle of its adjacent swing rod6For diameter R10.42 times.
Further, the driving mechanism includes cabinet and several are fixed on the driving electricity on cabinet by fixed frame
Machine, the driving motor are circumferentially uniformly distributed around the central axis of cabinet, and the output shaft of the driving motor is connected by winder
There is rope, the other end of the rope passes through merogenesis mechanism and is fixedly connected with fixation kit.
Further, the compliant mechanism includes spring, and one end of the spring is fixedly connected on the installation of merogenesis mechanism
In slot, the other end of the spring is fixedly connected in merogenesis mechanism or driving mechanism.
Further, the driving motor and steering engine pass through single-chip microcontroller control.
Further, the fixation kit is fixed block or merogenesis mechanism.
Further, the rope is at least provided with four.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
1, in the present invention, one end of rope is connect with cabinet, and the other end passes through merogenesis mechanism and connect with fixation kit, merogenesis
In-house lock laying mechanism is lockable or discharges rope.The in-house lock laying mechanism of merogenesis is that a kind of reinforcement of bias compresses
Device pushes away wheel rotation by multistage drive, pushes swing rod to realize locked or release rope by pushing to take turns.The mechanism is not only tied
Structure is simple, and can provide huge pressure and realize that the independent locked and joint of rope is locked, and be mounted in merogenesis mechanism
Portion can reduce the size of flexible arm.
2, it in the present invention, based on the merogenesis mechanism for becoming born of the same parents' principle, is completed by the steering engine in MCU driving merogenesis mechanism
The merogenesis of flexible arm compliant mechanism controls, and when the rope of merogenesis mechanism is locked, the compliant mechanism of merogenesis mechanism connection becomes
One rigid mechanism enhances the flexibility of flexible arm to change the effective number of components and freedom degree of flexible arm.
3, in the present invention, combination drive is carried out to driving motor and steering engine by single-chip microcontroller, is driven and is restricted by driving motor
Rope is flexible and bending compliant mechanism, when cooperation merogenesis mechanism rope lock laying mechanism can change flexible arm effective number of components and from
By spending, reach single in flexible arm or multiple compliant mechanisms are flexible and curved purpose, realize the effective number of components of flexible arm,
The case where change of freedom degree, size realizes independent telescope and the bending of flexible arm compliant mechanism, ensure that the rigidity of flexible arm
The flexibility ratio and adaptability of flexible arm are greatly enhanced down.
4, in the present invention, the bionical scheme based on metamorphic mechanisms principle drives rope by the cooperation of driving motor and steering engine
Rope forces arms flex, while using spring as the compliant mechanism of flexible arm, simulating the transversus in octopus tentacle, storage
Energy makes flexible arm variation in smooth full curve.Using the longitudinal muscle in driving mechanism driving rope analogy octopus tentacle, realize
It improves the flexibility ratio of flexible arm and reduces flexible arm size, there is compact-sized, flexibility ratio height, the spy of up to infinite a freedom degree
Point.
5, in the present invention, the outer diameter of merogenesis mechanism is 3.6 times for pushing the diameter for taking turns rounded portions, rounded portions center to first
The distance of lug boss end and the second lug boss end is 1.2 times for pushing the diameter for taking turns rounded portions, the length of the long side of L-type swing rod
Degree is 0.8-2 times that pushes the diameter of wheel rounded portions, and the length of short side is 0.5-0.8 times of the diameter of promotion wheel rounded portions,
The distance of installation axle of lacing hole in merogenesis mechanism to swing rod adjacent thereto is 0.42 times of diameter for pushing wheel rounded portions.
It is arranged by this, 5 ° of maximum angle that swing rod rotates can be made, so that swing rod increases the pressure of rope compared to push wheel thrust
Add 2-4 times, convenient for locked rope, to change the effective number of components and freedom degree of flexible arm.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the schematic diagram of merogenesis mechanism of the invention；
Fig. 3 is the status diagram of lock laying mechanism of the invention；
Fig. 4 is arms flex's status diagram of the invention.
Marked in the figure: 1- rear cover of box, 2- mounting hole d, 3- driving motor a, 4- fixed frame, 5- driving motor b, 6- rope
B, 7- rope a, 8- steering engine a, 9- upper end cover, 10- lower cover, 11- fixed block, 12- spring c, 13- merogenesis mechanism b lower cover 2b,
Before 14- merogenesis mechanism b upper end cover 1b, 15- steering engine b, 16- spring b, 17- rope c, 18- spring a, 19- rope d, 20- cabinet
Lid, 21 driving motor c, 22- winders, 23- driving motor d, 24- lacing hole 2b, 25- mounting hole 2b, 26- lacing hole 2c, 27-
Mounting hole 2c, 28- axis hole b, 29- axis hole c, 30- mounting hole 1b, 31- installation axle b, 32- mounting hole 1c, 33- installation axle c, 34-
Mounting hole a, 35- mounting hole b, 36- groove, 37- mounting hole 1d, 38- installation axle d, 39- fixation hole a, 40- mounting hole 1a, 41-
Installation axle a, 42- axis hole d, 43- mounting hole c, 44- axis hole a, 45- mounting hole 2d, 46- lacing hole 2d, 47- lacing hole 2a, 48-
Mounting hole 2a, 49- fixation hole b, 50- push wheel, 51- lacing hole 1b, 52- swing rod b, 53- lacing hole 1c, 54- swing rod c, 55- to wear
Cord hole 1d, 56- swing rod d, 57- lacing hole 1a, 58- swing rod a, 59- mounting groove.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention, i.e., described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is logical
The component for the embodiment of the present invention being often described and illustrated herein in the accompanying drawings can be arranged and be designed with a variety of different configurations.
Therefore, claimed invention is not intended to limit to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but be merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
It should be noted that the relational terms of term " first " and " second " or the like be used merely to an entity or
Operation is distinguished with another entity or operation, and without necessarily requiring or implying between these entities or operation, there are any
This actual relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-exclusive
Property include so that include a series of elements process, method, article or equipment not only include those elements, but also
Further include other elements that are not explicitly listed, or further include for this process, method, article or equipment it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence " including one ... ", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
Feature and performance of the invention are described in further detail with reference to embodiments.
Embodiment 1
A kind of space multiple degrees of freedom merogenesis control biomimetics based on metamorphic mechanisms that present pre-ferred embodiments provide are flexible
Arm passes through merogenesis machine between compliant mechanism as shown in Figure 1, including the driving mechanism and several compliant mechanisms for being connected with rope
Structure connection, rope are fixedly connected with fixation kit after passing through merogenesis mechanism, and merogenesis mechanism includes the lock of merogenesis shell and its inside
Laying mechanism is provided on merogenesis shell for driving lock laying mechanism locked and the steering engine of release rope.Wherein, fixation kit uses
Fixed block 11, driving motor a3, the driving motor b5, drive that driving mechanism includes cabinet and is fixed on cabinet by fixed frame 4
Dynamic motor c21, driving motor d23, cabinet include cabinet front cover 20, rear cover of box 1 and pass through bolt for cabinet front cover 20, cabinet
4 fixed frames, 4,4 driving motors that rear cover 1 is fixedly connected circumferentially are uniformly distributed around the central axis of cabinet, cabinet front cover 20, case
The rack mounting apertures d2 for mounting and fixing support 4 is provided on body rear cover 1.Driving motor a3, driving motor b5, driving motor
C21, driving motor d23 output shaft rope a7, rope b6, rope c17, rope d19 have been correspondingly connected with by winder 22, restrict
Rope a7, rope b6, rope c17, rope d19 the other end pass through the lacing hole in cabinet front cover 20 and merogenesis mechanism after, and it is solid
Determine block 11 to be fixedly connected.Merogenesis mechanism includes structure identical merogenesis mechanism a and merogenesis mechanism b, and merogenesis shell includes upper end cover 9
With lower cover 10, mounting hole 1a40, mounting hole 1b30, mounting hole 1c32, mounting hole 1d37 on upper end cover 9 respectively with lower cover
Mounting hole 2a48, mounting hole 2b25, mounting hole 2c27 on 10, after mounting hole 2d45 alignment, by bolt by upper end cover 9 and under
End cap 10 is fixedly connected, and the lacing hole 1a57, lacing hole 1b51, lacing hole 1c53, lacing hole 1d55 on upper end cover 9 are respectively under
Lacing hole 2a47, lacing hole 2b24, lacing hole 2c26, lacing hole 2d46 on end cap 10 are provided with for installing on upper end cover 9
The groove 36 of steering engine, steering engine a8 are fixed on upper end cover 9 by mounting hole a34, and steering engine b15 is fixed on by mounting hole b35
On end cap 9, it is provided with the mounting groove and fixation hole a39 for fixing elastic mechanism on upper end cover 9, is arranged on lower cover 10 useful
It is provided on the mounting groove 59 and fixation hole b49 of fixed elastic mechanism, cabinet front cover 20 and fixed block 11 for fixing elasticity
The mounting groove of mechanism, two steering engines and four driving motors pass through single-chip microcontroller stm32f103c8t6 and control.Locking laying mechanism includes
Be respectively used to lock put rope a7, rope b6, rope c17, the swing rod a58 of rope d19, swing rod b52, swing rod c54, swing rod d56 and
It is respectively used to the promotion wheel 50 of 4 swing rod positions of adjustment, pushes 50 center positions of wheel to be provided with mounting hole c43, swing rod is L-shaped
And around pushing the central axis of wheel 50 to be circumferentially uniformly distributed, the fixing end of swing rod is mounted on merogenesis shell by installation axle, swing rod
Free end and push wheel 50 tangent.Installation axle a41, the installation axle b31, installation for installing swing rod are provided on upper end cover 9
Axis c33, installation axle d38, swing rod a58 are mounted on the installation axle a41 of upper end cover 9 by axis hole a44, and can be around installation axle a41
It swings；Swing rod b52 is mounted on the installation axle b31 of upper end cover 9 by axis hole b28, and can be swung around installation axle b31；Swing rod c54
It is mounted on the installation axle c33 of upper end cover 9, and can be swung around installation axle c33 by axis hole c29；Swing rod d56 passes through axis hole d42
It is mounted on the installation axle d38 of upper end cover 9, and can be swung around installation axle d38.Wheel 50 is pushed to be fixedly connected with the output shaft of steering engine
And can be rotated around the output shaft of steering engine, push wheel 50 include rounded portions, the first lug boss and the second lug boss, the first lug boss and
Second lug boss is symmetrical about the center of circle of rounded portions, and the first lug boss width is greater than the second lug boss.Compliant mechanism is equipped with three groups,
Including spring a18, spring b16, spring c12, the both ends of spring a18 are separately mounted to cabinet front cover 20 and the upper end merogenesis mechanism a
It covers in the mounting groove of 91a, the both ends of spring b16 are separately mounted to merogenesis mechanism b upper end cover 1b14 and merogenesis mechanism a lower cover
In the mounting groove of 102a, the both ends of spring c12 are separately mounted to the mounting groove of fixed block 11 and merogenesis mechanism b lower cover 2b13
It is interior.
Working principle is as follows: when single-chip microcontroller controls certain one or more driving motor and rotates clockwise, connecting with the driving motor
The rope connect is pulled and is wound on winder 22, and continuous compliant mechanism is forced towards one party under the pulling force effect of rope
To bending deformation, when certain one or more driving motor rotates counterclockwise, the rope connecting with the driving motor is released, in spring
Restoring force under the action of, stretch in the rope.Such as: driving motor c21 drives winder 22c to rotate clockwise, rope c17
It will shrink, force flexible arm to be bent towards the direction driving motor c21 to generate a pulling force；When the driving motor c21 inverse time
When needle rotates, rope c17 is stretched under the restoring force of spring, restores Fig. 1 state.When single-chip microcontroller controls certain one or more steering engine
It when rotating clockwise, is rotated clockwise with the promotion wheel 50 of the output axis connection of the steering engine, pushes wheel 50 to push tangent with it
The free end of four swing rods, as shown in fig. 2-c.When pushing 50 rotation of wheel to different position, four swing rods may occur in which that 6 kinds lock
State and a kind of free state, comprising: (1) swing rod b52 and push wheel 50 the first lug boss it is tangent, pass through lacing hole 1b51 and
The rope b6 of lacing hole 2b24 is locked by the free end of swing rod b52, as shown in Fig. 3-b；(2) swing rodc54 with push the of wheel 50
One lug boss is tangent, and the rope c17 across lacing hole 1c53 and lacing hole 2c26 is locked by the free end of swing rod c54, such as Fig. 3-f
It is shown；(3) swing rod d56 and the second lug boss of promotion wheel 50 are tangent, across the rope d19 of lacing hole 1d55 and lacing hole 2d46
It is locked by the free end of swing rod d56, as shown in Fig. 3-c；(4) swing rod a58 and push the first lug boss of wheel 50 tangent, across wearing
The rope a7 of cord hole 1a57 and lacing hole 2a47 is locked by the free end of swing rod a58, as shown in Fig. 3-d；(5) swing rod a58 and pendulum
Bar c54 and the first lug boss and the second lug boss that push wheel 50 are tangent, and rope a7 and rope c17 are respectively by swing rod a58 and pendulum
The free end of bar c54 is locked, as shown in Fig. 3-e；(6) the first lug boss and second of swing rod b52 and swing rod d56 and promotion wheel 50
Lug boss is tangent, and rope b6 and rope draw 9 and locked respectively by the free end of swing rod b52 and swing rod d56, as shown in Fig. 3-a；(7)
The free end of four swing rods is not tangent with the first lug boss of promotion wheel 50 or the second lug boss, is in release conditions, such as Fig. 2-c
It is shown.When swing rod is in release conditions, under the action of rope, it will be pushed back initial position, i.e., take turns 50 tangent shapes with promotion
State.In the present embodiment, spring outer diameter is having a size of 38mm, length 100mm；The outer diameter of merogenesis shell is 72mm, pushes wheel
The diameter R of 50 rounded portions1For 20mm, distance R of the rounded portions center to the first lug boss end and the second lug boss end2It is
12mm pushes wheel 50 that swing rod can be made to rotate 5 ° of maximum angle.Multiple compliant mechanisms are separated by merogenesis mechanism, then pass through list
Piece machine drives the steering engine running in merogenesis mechanism, rotates the promotion wheel 50 in merogenesis mechanism, makes merogenesis machine by locked rope
The compliant mechanism of structure connection becomes a rigid mechanism, to realize the effective number of components and freedom degree for changing flexible arm, enhances
The flexibility of flexible arm.Combination drive is carried out to driving motor and steering engine by single-chip microcontroller, realize the effective number of components of flexible arm, from
By degree, the change of size, as shown in Fig. 4-a, 4-b, realizes independent telescope and the bending of flexible arm compliant mechanism, ensure that flexibility
In the case that arm has rigidity, the flexibility ratio and adaptability of flexible arm are significantly enhanced.
Embodiment 2
On the basis of example 1, fixation kit using structure merogenesis identical with merogenesis mechanism a mechanism c, rope a7,
After rope b6, rope c17, rope d19 sequentially pass through merogenesis mechanism a, merogenesis mechanism b, merogenesis mechanism c, under merogenesis mechanism c
End cap 10 is fixedly connected.By using merogenesis mechanism as fixation kit, convenient for directly controlling apart from farthest soft of driving mechanism
Property mechanism, improves the flexibility of flexible arm.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms, it is characterised in that: including being connected with
The driving mechanism of rope and several compliant mechanisms are connected by merogenesis mechanism between the compliant mechanism, and the rope passes through
Fixation kit is fixedly connected with after merogenesis mechanism, the merogenesis mechanism includes the lock laying mechanism of merogenesis shell and its inside, described
It is provided on merogenesis shell for driving lock laying mechanism locked and the steering engine of release rope.
2. a kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms according to claim 1,
Be characterized in that: the lock laying mechanism includes for locking the swing rod for putting rope and the promotion wheel (50) for adjusting swing rod position, institute
Promotion wheel (50) is stated to be fixedly connected with the output shaft of steering engine.
3. a kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms according to claim 2,
Be characterized in that: the promotion wheel (50) includes rounded portions, the first lug boss and the second lug boss, first lug boss and second
Lug boss is symmetrical about the center of circle of rounded portions, and the first lug boss width is greater than the second lug boss.
4. a kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms according to claim 2,
Be characterized in that: the swing rod is L-shaped and around pushing the central axis of wheel (50) to be circumferentially uniformly distributed, and the fixing end of the swing rod passes through
Installation axle is mounted on merogenesis shell, and the free end of the swing rod and promotion wheel (50) are tangent.
5. a kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms according to claim 3 or 4,
It is characterized by: the outer diameter R of the merogenesis mechanism3For the diameter R for pushing wheel (50) rounded portions13.6 times, in the rounded portions
Distance R of the heart to the first lug boss end and the second lug boss end2For R11.2 times；The length of the long side of the L-type swing rod
R4For diameter R10.8-2 times, the length R of short side5For diameter R10.5-0.8 times；Lacing hole in merogenesis mechanism arrives and it
The distance R of the installation axle of adjacent swing rod6For diameter R10.42 times.
6. a kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms according to claim 1,
Be characterized in that: the driving mechanism includes cabinet and several are fixed on the driving motor on cabinet by fixed frame (4), described
Driving motor is circumferentially uniformly distributed around the central axis of cabinet, and the output shaft of the driving motor is connected with rope by winder (22)
Rope, the other end of the rope pass through merogenesis mechanism and are fixedly connected with fixation kit.
7. a kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms according to claim 1,
Be characterized in that: the compliant mechanism includes spring, and one end of the spring is fixedly connected in the mounting groove (59) of merogenesis mechanism,
The other end of the spring is fixedly connected in merogenesis mechanism or driving mechanism.
8. a kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms according to claim 6,
Be characterized in that: the driving motor and steering engine pass through single-chip microcontroller control.
9. a kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms according to claim 1,
Be characterized in that: the fixation kit is fixed block or merogenesis mechanism.
10. a kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms according to claim 1,
Be characterized in that: the rope is at least provided with four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811078502.0A CN109202878B (en) | 2018-09-14 | 2018-09-14 | Space multi-degree-of-freedom segmented control bionic flexible arm based on metamorphic mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811078502.0A CN109202878B (en) | 2018-09-14 | 2018-09-14 | Space multi-degree-of-freedom segmented control bionic flexible arm based on metamorphic mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109202878A true CN109202878A (en) | 2019-01-15 |
| CN109202878B CN109202878B (en) | 2020-11-20 |
Family
ID=64983715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811078502.0A Active CN109202878B (en) | 2018-09-14 | 2018-09-14 | Space multi-degree-of-freedom segmented control bionic flexible arm based on metamorphic mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109202878B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110465965A (en) * | 2019-08-06 | 2019-11-19 | 李泽铭 | Fluid force balances elastic component array adaptive robot arm device |
| CN111136647A (en) * | 2019-12-26 | 2020-05-12 | 上海航天控制技术研究所 | Cable-driven flexible robot |
| CN112692822A (en) * | 2021-01-05 | 2021-04-23 | 威海星空软体机器人科技有限公司 | Wire-driven soft mechanical arm capable of realizing winding motion |
| CN112692810A (en) * | 2020-12-09 | 2021-04-23 | 杭州电子科技大学 | Soft mechanical arm and driving method thereof |
| CN112873194A (en) * | 2021-01-19 | 2021-06-01 | 上海工程技术大学 | Line-driven continuous flexible mechanical arm and flexible robot comprising same |
| CN112936248A (en) * | 2021-03-09 | 2021-06-11 | 辽宁工程技术大学 | Rigid-flexible coupling mechanical arm for cleaning ground coal bunker and use method thereof |
| CN112986268A (en) * | 2021-05-20 | 2021-06-18 | 中南大学 | Detection robot and detection method for apparent diseases of high-speed railway bridge |
| CN113071640A (en) * | 2021-04-30 | 2021-07-06 | 白城师范学院 | Underwater detection bionic robot fish and system control method thereof |
| CN113386118A (en) * | 2021-06-23 | 2021-09-14 | 哈尔滨工业大学（深圳） | Driving module for rope-driven mechanical arm to realize sine mapping from motor corner to rope length |
| CN113580124A (en) * | 2021-08-17 | 2021-11-02 | 江西理工大学 | Telescopic quick-reaction mechanical arm and control method thereof |
| CN114406994A (en) * | 2022-01-26 | 2022-04-29 | 华南理工大学 | Rope-driven multi-degree-of-freedom self-adaptive manipulator |
| CN114505867A (en) * | 2022-01-28 | 2022-05-17 | 哈尔滨工业大学（威海） | Air bag type soft robot capable of passing through special-shaped reducing inner cavity |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2868440A1 (en) * | 2013-11-05 | 2015-05-06 | Samsung Electronics Co., Ltd. | Manipulator comprising a wire driving actuator |
| CN107598910A (en) * | 2017-10-17 | 2018-01-19 | 燕山大学 | The driving Rescaling continuity humanoid robot of tendon |
| CN206913146U (en) * | 2017-05-26 | 2018-01-23 | 天津大学 | A kind of silk traction variation rigidity mechanism based on mechanical caging |
| CN107891419A (en) * | 2017-12-18 | 2018-04-10 | 燕山大学 | Phagocytosis type crawl transmission integrated flexible robot |
-
2018
- 2018-09-14 CN CN201811078502.0A patent/CN109202878B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2868440A1 (en) * | 2013-11-05 | 2015-05-06 | Samsung Electronics Co., Ltd. | Manipulator comprising a wire driving actuator |
| CN206913146U (en) * | 2017-05-26 | 2018-01-23 | 天津大学 | A kind of silk traction variation rigidity mechanism based on mechanical caging |
| CN107598910A (en) * | 2017-10-17 | 2018-01-19 | 燕山大学 | The driving Rescaling continuity humanoid robot of tendon |
| CN107891419A (en) * | 2017-12-18 | 2018-04-10 | 燕山大学 | Phagocytosis type crawl transmission integrated flexible robot |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110465965A (en) * | 2019-08-06 | 2019-11-19 | 李泽铭 | Fluid force balances elastic component array adaptive robot arm device |
| CN111136647A (en) * | 2019-12-26 | 2020-05-12 | 上海航天控制技术研究所 | Cable-driven flexible robot |
| CN112692810A (en) * | 2020-12-09 | 2021-04-23 | 杭州电子科技大学 | Soft mechanical arm and driving method thereof |
| CN112692822A (en) * | 2021-01-05 | 2021-04-23 | 威海星空软体机器人科技有限公司 | Wire-driven soft mechanical arm capable of realizing winding motion |
| CN112692822B (en) * | 2021-01-05 | 2022-08-02 | 威海星空软体机器人科技有限公司 | Wire-driven soft mechanical arm capable of realizing winding motion |
| CN112873194A (en) * | 2021-01-19 | 2021-06-01 | 上海工程技术大学 | Line-driven continuous flexible mechanical arm and flexible robot comprising same |
| CN112936248A (en) * | 2021-03-09 | 2021-06-11 | 辽宁工程技术大学 | Rigid-flexible coupling mechanical arm for cleaning ground coal bunker and use method thereof |
| CN113071640B (en) * | 2021-04-30 | 2022-04-15 | 白城师范学院 | Underwater detection bionic robot fish and system control method thereof |
| CN113071640A (en) * | 2021-04-30 | 2021-07-06 | 白城师范学院 | Underwater detection bionic robot fish and system control method thereof |
| CN112986268A (en) * | 2021-05-20 | 2021-06-18 | 中南大学 | Detection robot and detection method for apparent diseases of high-speed railway bridge |
| CN113386118A (en) * | 2021-06-23 | 2021-09-14 | 哈尔滨工业大学（深圳） | Driving module for rope-driven mechanical arm to realize sine mapping from motor corner to rope length |
| CN113386118B (en) * | 2021-06-23 | 2023-05-23 | 哈尔滨工业大学（深圳） | Driving module for rope-driven mechanical arm to achieve sine mapping from motor corner to rope length |
| CN113580124A (en) * | 2021-08-17 | 2021-11-02 | 江西理工大学 | Telescopic quick-reaction mechanical arm and control method thereof |
| CN114406994A (en) * | 2022-01-26 | 2022-04-29 | 华南理工大学 | Rope-driven multi-degree-of-freedom self-adaptive manipulator |
| CN114406994B (en) * | 2022-01-26 | 2024-01-30 | 华南理工大学 | Rope-driven multi-degree-of-freedom self-adaptive manipulator |
| CN114505867A (en) * | 2022-01-28 | 2022-05-17 | 哈尔滨工业大学（威海） | Air bag type soft robot capable of passing through special-shaped reducing inner cavity |
| CN114505867B (en) * | 2022-01-28 | 2023-04-25 | 哈尔滨工业大学（威海） | Air bag type soft robot capable of penetrating through inner cavity with different diameters |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109202878B (en) | 2020-11-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109202878A (en) | A kind of space multiple degrees of freedom merogenesis control biomimetics flexible arm based on metamorphic mechanisms | |
| EP3955555A1 (en) | Rotating shaft mechanism and foldable mobile terminal | |
| RU2582158C2 (en) | Loudspeaker | |
| CN112682668B (en) | Electronic device | |
| US11283911B2 (en) | Hinge, folding mechanism, and terminal device | |
| KR102154391B1 (en) | Apparatus gripper | |
| CN103982533A (en) | Synchronous movement device with double rotating shafts | |
| CN106346450A (en) | Three-branch-chain three-freedom-degree parallel connection mechanism | |
| CN101915292A (en) | Single-power rolling spherical four-rod mechanism | |
| CN109921596A (en) | Structure formula power generator altogether | |
| CN106559530A (en) | The opening-closing structure and mobile terminal of flexible screen | |
| CN111785160B (en) | Folding electronic device | |
| CN106037934A (en) | Surgical robot and mechanical arm thereof | |
| CN103817705A (en) | Two-dimensional rotation-freedom-degree concentric rotational joint | |
| CN105710873A (en) | Segmental-appendage-free robot | |
| CN208529125U (en) | Mechanical thumb and manipulator | |
| CN110389623A (en) | Electronic device with loudspeaking module | |
| CN208788635U (en) | A kind of multi-degree-of-freemechanical mechanical arm of Telescopic rotary | |
| CN210007439U (en) | charging base for holding charging wire | |
| CN217682778U (en) | Rotating mechanism and foldable electronic equipment | |
| CN108058415B (en) | A kind of flexible three-layer type tire assembly drum of axial-radial | |
| CN110202610A (en) | A kind of bionical cam-type active elastic spinal joint and its working method | |
| CN203240721U (en) | Wind deflector driving device and air conditioner with wind deflector driving device | |
| CN212637730U (en) | Mechanical leg assembly and robot | |
| US10186941B2 (en) | Torque amplifying magnetic drive |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |