CN109202878B - Space multi-degree-of-freedom segmented control bionic flexible arm based on metamorphic mechanism - Google Patents

Space multi-degree-of-freedom segmented control bionic flexible arm based on metamorphic mechanism Download PDF

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CN109202878B
CN109202878B CN201811078502.0A CN201811078502A CN109202878B CN 109202878 B CN109202878 B CN 109202878B CN 201811078502 A CN201811078502 A CN 201811078502A CN 109202878 B CN109202878 B CN 109202878B
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rope
flexible arm
freedom
swing rod
degree
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CN109202878A (en
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魏敦文
马虹蛟
彭倍
高涛
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University of Electronic Science and Technology of China
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University of Electronic Science and Technology of China
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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
    • B25J9/104—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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Mechanical Control Devices (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a space multi-degree-of-freedom section control bionic flexible arm based on a metamorphic mechanism, and relates to the technical field of bionic robots. The locking and releasing mechanism comprises a swing rod used for locking and releasing a rope and a pushing wheel used for adjusting the position of the swing rod, and the pushing wheel is connected with an output shaft of the steering engine. The swing rods are L-shaped and evenly distributed in the circumferential direction around the central shaft of the pushing wheel, the fixed ends of the swing rods are installed on the segmented shell through installation shafts, and the free ends of the swing rods are tangent to the pushing wheel. The number of effective components and the degree of freedom of the flexible arm can be changed by controlling the locking and unlocking mechanism, and the flexible mechanism of the flexible arm part can stretch and bend by matching the locking and unlocking mechanism with the driving mechanism.

Description

Space multi-degree-of-freedom segmented control bionic flexible arm based on metamorphic mechanism
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a space multi-degree-of-freedom segmented control bionic flexible arm based on a metamorphic mechanism.
Background
With the rapid development of robot technology, the mechanical structure design and motion control of the robot are mature, and the demand for robots capable of performing tasks in complex environments is increasing day by day. However, most of the traditional mechanical arms are formed by rigid joints, and the means inevitably has strict requirements on the space environment of respective operation. Under the complex environment of high unstructured, narrow and irregular and multiple obstacles, the traditional mechanical arm is limited in obstacle avoidance capability, poor in flexibility and limited in movement space range due to the limitation of a rigid structure of the traditional mechanical arm, and cannot efficiently complete space operation tasks. The soft mechanical arm designed based on the inspired elephant nose and octopus tentacle is one new bionic flexible arm, similar to octopus tentacle, elephant nose, body of mollusk and other biological organs, comprising continuous and flexible elastomer, and is bent to form smooth continuous curve to produce motion. The bionic flexible arm can freely change the form of the bionic flexible arm in a three-dimensional space and can smoothly bend to move, so that the bionic flexible arm can complete operation tasks in an unstructured unpredictable environment, for example, special tasks which cannot be completed by a traditional mechanical arm can be completed in a narrow space or a complex environment with multiple obstacles, and the bionic flexible arm has the characteristics of high flexibility and infinite degrees of freedom.
To this end, the patent with application number CN201620172375.0 discloses a pneumatic rope-controlled load type flexible mechanical arm, which is formed by connecting a plurality of sections of parallel mechanisms in series; each section of parallel mechanism consists of four rubber air bags, four steel wire ropes, an upper connecting plate, a lower connecting plate and a cross universal joint, the four rubber air bags and the four steel wire ropes are distributed in an annular array in a staggered mode in sequence, the middle of each joint is connected through the cross universal joint, and the mechanical arm has multiple degrees of freedom and can be bent towards multiple directions. However, the robot arm is connected by a universal joint, and only bending of the robot arm is possible, and the entire robot arm cannot be extended and contracted. In addition, the rubber capsule needs to be externally connected with an air pump, so that the mechanical arm is difficult to miniaturize.
The application number is CN 201510988963.1's patent discloses a tendon drive type becomes yardstick continuous type robot, this robot is mainly through fixing on the flange mounting panel in the frame around the frame center pin be 4 driving motor drive spools of circumference evenly distributed, all be equipped with the spool on every driving motor's the output shaft, the winding of drive rope is at the spool, the through wires hole on installation plate bar slotted hole and each connection pad is passed in proper order to the drive rope, link firmly until with terminal connection pad, driving motor drive spool, receive and release of drive rope, realize the all-round bending of flexible arm. However, the mechanical arm can only control the mechanical length of each rope to control the bending of the mechanical arm, and the number of effective components and the degree of freedom of the mechanical arm cannot be changed, and the overall extension and section control of the mechanical arm cannot be realized.
Disclosure of Invention
The invention aims to: in order to solve the problem that the degree of freedom of the flexible arm cannot be changed and the extension and retraction of a part of the flexible mechanism in the flexible arm can be realized, the space multi-degree-of-freedom segmented control bionic flexible arm based on the metamorphic mechanism is provided. According to the invention, the plurality of flexible mechanisms are separated by the section mechanism, and then the driving wheel in the section mechanism is rotated by driving the steering engine in the section mechanism to push the swing rod to lock the rope, so that the length of the flexible mechanism rope connected with the section mechanism cannot be changed, namely the flexible mechanism rope becomes a rigid mechanism, thereby realizing the change of the number of effective members and the degree of freedom of the flexible arm. The driving motor and the steering engine are driven in a mixed mode through the single chip microcomputer, the size of the flexible arm is changed, and the purpose that one or more flexible mechanisms in the flexible arm stretch is achieved.
The technical scheme adopted by the invention is as follows:
the space multi-degree-of-freedom subsection control bionic flexible arm based on the metamorphic mechanism comprises a driving mechanism and a plurality of flexible mechanisms, wherein the driving mechanism is connected with a rope, the flexible mechanisms are connected through a subsection mechanism, the rope penetrates through a fixing assembly fixedly connected with the rear portion of the subsection mechanism, the subsection mechanism comprises a subsection shell and a locking and releasing mechanism inside the subsection shell, and a steering engine used for driving the locking and releasing mechanism to lock and release the rope is arranged on the subsection shell.
Furthermore, the locking and releasing mechanism comprises a swing rod for locking and releasing the rope and a pushing wheel for adjusting the position of the swing rod, and the pushing wheel is fixedly connected with an output shaft of the steering engine.
Further, the pushing wheel comprises a circular part, a first protruding part and a second protruding part, the first protruding part and the second protruding part are symmetrical relative to the circle center of the circular part, and the width of the first protruding part is larger than that of the second protruding part.
Furthermore, the swing rod is L-shaped and is evenly distributed in the circumferential direction around the central shaft of the pushing wheel, the fixed end of the swing rod is installed on the segmented shell through an installation shaft, and the free end of the swing rod is tangent to the pushing wheel.
Further, the outer diameter R of the section mechanism3To push the diameter R of the circular part of the wheel13.6 times of the distance R from the center of the circular portion to the end of the first boss portion and the end of the second boss portion2Is R11.2 times of; the length R4 of the long edge of the L-shaped swing rod is the diameter R10.8-2 times of the length R of the short side5Is a diameter R10.5-0.8 times of; rope threading hole on segmenting mechanismDistance R from the mounting shaft of the adjacent swing rod6Is a diameter R10.42 times of.
Further, actuating mechanism includes that box and a plurality of are fixed in the driving motor on the box through the mount, driving motor is evenly distributed around the center pin circumference of box, driving motor's output shaft is connected with the rope through the spooler, the other end of rope passes merogenesis mechanism and fixed subassembly fixed connection.
Furthermore, the flexible mechanism comprises a spring, one end of the spring is fixedly connected in the mounting groove of the section mechanism, and the other end of the spring is fixedly connected to the section mechanism or the driving mechanism.
Furthermore, the driving motor and the steering engine are controlled by a single chip microcomputer.
Further, the fixing component is a fixing block or a section mechanism.
Further, the rope is provided with at least four.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. in the invention, one end of the rope is connected with the box body, the other end of the rope penetrates through the section mechanism to be connected with the fixed component, and the rope can be locked or released by a locking and releasing mechanism in the section mechanism. The locking and releasing mechanism in the section mechanism is an eccentric boosting pressing device, the pushing wheels are driven to rotate through multiple stages, and the swinging rods are pushed by the pushing wheels to realize locking or releasing of the ropes. The mechanism is simple in structure, can provide huge pressure to realize independent locking and combined locking of the rope, and can reduce the size of the flexible arm when being installed in the segmented mechanism.
2. According to the flexible arm mechanism, the section control of the flexible arm flexible mechanism is completed by driving the steering engine in the section mechanism through the singlechip based on the metamorphic principle, and when a rope of the section mechanism is locked, the flexible mechanism connected with the section mechanism becomes a rigid mechanism, so that the number of effective members and the degree of freedom of the flexible arm are changed, and the flexibility of the flexible arm is enhanced.
3. According to the invention, the driving motor and the steering engine are driven by the single chip microcomputer in a mixed mode, the rope stretching and bending flexible mechanisms are driven by the driving motor, the number and the degree of freedom of effective components of the flexible arm can be changed by matching with the rope locking and releasing mechanism of the segmental mechanism, the purpose of stretching and bending one or more flexible mechanisms in the flexible arm is achieved, the number, the degree of freedom and the size of the effective components of the flexible arm are changed, the independent stretching and bending of the flexible mechanism of the flexible arm are realized, and the flexibility and the adaptability of the flexible arm are greatly enhanced under the condition of ensuring the rigidity of the flexible arm.
4. According to the bionic scheme based on the metamorphic mechanism principle, the rope is driven through the matching of the driving motor and the steering engine to force the flexible arm to bend, meanwhile, the spring is used as the flexible mechanism of the flexible arm to simulate the transverse muscle in the tentacle of octopus to store energy, and the flexible arm is changed to be a smooth continuous curve. The rope is driven by the driving mechanism to simulate longitudinal muscles in the octopus tentacle, so that the flexibility of the flexible arm is improved, the size of the flexible arm is reduced, and the device has the characteristics of compact structure, high flexibility and infinite freedom.
5. In the invention, the outer diameter of the sectioning mechanism is 3.6 times of the diameter of the circular part of the push wheel, the distance from the center of the circular part to the end part of the first convex part and the end part of the second convex part is 1.2 times of the diameter of the circular part of the push wheel, the length of the long edge of the L-shaped swing rod is 0.8-2 times of the diameter of the circular part of the push wheel, the length of the short edge of the L-shaped swing rod is 0.5-0.8 times of the diameter of the circular part of the push wheel, and the distance from the rope threading hole on the sectioning mechanism to the installation shaft of the swing rod adjacent to the rope threading hole is 0.42 times of the diameter of the. Through the arrangement, the maximum rotating angle of the swing rod can be 5 degrees, so that the pressure of the swing rod on the rope is increased by 2-4 times compared with the thrust of the push wheel, the rope is convenient to lock, and the number of effective components and the degree of freedom of the flexible arm are changed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the sectioning mechanism of the invention;
FIG. 3 is a schematic view of the locking and unlocking mechanism of the present invention;
FIG. 4 is a schematic view of a flexible arm of the present invention in a flexed state.
The labels in the figure are: 1-box body rear cover, 2-mounting hole d, 3-driving motor a, 4-fixing frame, 5-driving motor b, 6-rope b, 7-rope a, 8-steering engine a, 9-upper end cover, 10-lower end cover, 11-fixing block, 12-spring c, 13-lower end cover of section mechanism b, 2b of 14-upper end cover of section mechanism b, 15-steering engine b, 16-spring b, 17-rope c, 18-spring a, 19-rope d, 20-box body front cover, 21-driving motor c, 22-winder, 23-driving motor d, 24-rope passing hole 2b, 25-mounting hole 2b, 26-rope passing hole 2c, 27-mounting hole 2c, 28-shaft hole b, 29-shaft hole c, 30-mounting hole 1b, 31-mounting shaft b, 32-mounting hole 1c, 33-mounting shaft c, 34-mounting hole a, 35-mounting hole b, 36-groove, 37-mounting hole 1d, 38-mounting shaft d, 39-fixing hole a, 40-mounting hole 1a, 41-mounting shaft a, 42-shaft hole d, 43-mounting hole c, 44-shaft hole a, 45-mounting hole 2d, 46-threading hole 2d, 47-threading hole 2a, 48-mounting hole 2a, 49-fixing hole b, 50-pushing wheel, 51-threading hole 1b, 52-swing rod b, 53-threading hole 1c, 54-swing rod c, 55-threading hole 1d, 56-swing rod d, 57-threading hole 1a, 58-swing rod a, 59-mounting groove.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.
The features and properties of the present invention are described in further detail below with reference to examples.
Example 1
The space multi-degree-of-freedom section control bionic flexible arm based on the metamorphic mechanism comprises a driving mechanism connected with a rope and a plurality of flexible mechanisms, wherein the flexible mechanisms are connected through the section mechanisms, the rope penetrates through the section mechanisms and then is fixedly connected with a fixing assembly, each section mechanism comprises a section shell and a locking and releasing mechanism inside the section shell, and a steering engine used for driving the locking and releasing mechanism to lock and release the rope is arranged on the section shell, as shown in figure 1. Wherein, fixed subassembly adopts fixed block 11, actuating mechanism includes the box and is fixed in driving motor a3 on the box through mount 4, driving motor b5, driving motor c21, driving motor d23, the box includes box protecgulum 20, lid 1 and through the bolt with the box protecgulum 20 behind the box, 4 mount 4 of lid 1 fixed connection behind the box, 4 driving motor are around the central axis circumference evenly distributed of box, box protecgulum 20, be provided with the support mounting hole d2 that is used for installing mount 4 behind the box on lid 1. The output shafts of the driving motor a3, the driving motor b5, the driving motor c21 and the driving motor d23 are correspondingly connected with a rope a7, a rope b6, a rope c17 and a rope d19 through the winder 22, and the other ends of the rope a7, the rope b6, the rope c17 and the rope d19 penetrate through rope penetrating holes in the front cover 20 of the box body and the sectioning mechanism and then are fixedly connected with the fixed block 11. The section mechanism comprises a section mechanism a and a section mechanism b which are identical in structure, a section shell comprises an upper end cover 9 and a lower end cover 10, after a mounting hole 1a40, a mounting hole 1b30, a mounting hole 1c32 and a mounting hole 1d37 on the upper end cover 9 are aligned with a mounting hole 2a48, a mounting hole 2b25, a mounting hole 2c27 and a mounting hole 2d45 on the lower end cover 10 respectively, the upper end cover 9 and the lower end cover 10 are fixedly connected through bolts, a rope penetrating hole 1a57, a rope penetrating hole 1b51, a rope penetrating hole 1c53 and a rope penetrating hole 1d55 on the upper end cover 9 are respectively fixed on the upper end cover 9 through the mounting hole 34 a, the rope penetrating hole 2b24, the rope penetrating hole 2c26 and the rope penetrating hole 2d46 on the lower end cover 10, a groove 36 for mounting is arranged on the upper end cover 9, a8 is fixed on the upper end cover 9 through the mounting hole 3984 a, a fixing hole 39 and an elastic steering engine 469 fixing hole is arranged on the steering engine, the lower end cover 10 is provided with a mounting groove 59 and a fixing hole b49 for fixing the elastic mechanism, the box body front cover 20 and the fixing block 11 are provided with mounting grooves for fixing the elastic mechanism, and the two steering engines and the four driving motors are controlled by a single chip microcomputer stm32f103c8t 6. The locking and releasing mechanism comprises a swinging rod a58, a swinging rod b52, a swinging rod c54 and a swinging rod d56 which are respectively used for locking and releasing a rope a7, a rope b6, a rope c17 and a rope d19, and a pushing wheel 50 which is respectively used for adjusting the positions of the 4 swinging rods, wherein a mounting hole c43 is formed in the center of the pushing wheel 50, the swinging rods are L-shaped and are circumferentially and uniformly distributed around the central shaft of the pushing wheel 50, the fixed ends of the swinging rods are mounted on the sectional shell through mounting shafts, and the free ends of the swinging rods are tangent to the pushing wheel 50. The upper end cover 9 is provided with a mounting shaft a41, a mounting shaft b31, a mounting shaft c33 and a mounting shaft d38 for mounting the swing rod, and the swing rod a58 is mounted on the mounting shaft a41 of the upper end cover 9 through a shaft hole a44 and can swing around the mounting shaft a 41; the swing rod b52 is mounted on the mounting shaft b31 of the upper end cover 9 through the shaft hole b28 and can swing around the mounting shaft b 31; the swing rod c54 is mounted on the mounting shaft c33 of the upper end cover 9 through the shaft hole c29 and can swing around the mounting shaft c 33; the swing rod d56 is mounted on the mounting shaft d38 of the upper end cover 9 through the shaft hole d42 and can swing around the mounting shaft d 38. The pushing wheel 50 is fixedly connected with an output shaft of the steering engine and can rotate around the output shaft of the steering engine, the pushing wheel 50 comprises a circular part, a first protruding part and a second protruding part, the first protruding part and the second protruding part are symmetrical about the circle center of the circular part, and the width of the first protruding part is larger than that of the second protruding part. The flexible mechanism is provided with three groups, including a spring a18, a spring b16 and a spring c12, two ends of the spring a18 are respectively installed in the installation grooves of the front cover 20 of the box body and the upper end cover 91a of the sectioning mechanism a, two ends of the spring b16 are respectively installed in the installation grooves of the upper end cover 1b14 of the sectioning mechanism b and the lower end cover 102a of the sectioning mechanism a, and two ends of the spring c12 are respectively installed in the installation grooves of the fixed block 11 and the lower end cover 2b13 of the sectioning mechanism b.
The working principle is as follows: when the single chip microcomputer controls one or more driving motors to rotate clockwise, the rope connected with the driving motors is pulled and wound on the winder 22, the continuous flexible mechanism is forced to bend and deform towards a certain direction under the tension of the rope, when one or more driving motors rotate anticlockwise, the rope connected with the driving motors is released, and the rope stretches inwards under the restoring force of the springs. For example: as drive motor c21 rotates winder 22c clockwise, cable c17 will contract, thereby creating a tension force that urges the flexible arm to bend toward drive motor c 21; when the driving motor c21 rotates counterclockwise, the rope c17 is stretched by the restoring force of the spring, restoring the state of fig. 1. When the single chip microcomputer controls one or more steering engines to rotate clockwise, the pushing wheel 50 connected with the output shaft of the steering engine rotates clockwise, and the pushing wheel 50 pushes the free ends of the four swing rods tangent to the pushing wheel 50, as shown in fig. 2-c. When the pushing wheel 50 rotates to different positions, 6 locking states and 1 free state can appear on the four swing rods, including: (1) the swing rod b52 is tangent to the first convex part of the pushing wheel 50, and the rope b6 passing through the rope threading hole 1b51 and the rope threading hole 2b24 is locked by the free end of the swing rod b52, as shown in figure 3-b; (2) swing linkc54 is tangent to the first convex part of the pushing wheel 50 and passes through the rope threading hole 1c53 and the rope threading hole2c26, the rope c17 is locked by the free end of the rocker c54, as shown in fig. 3-f; (3) the swing rod d56 is tangent to the second convex part of the pushing wheel 50, and the rope d19 passing through the rope threading hole 1d55 and the rope threading hole 2d46 is locked by the free end of the swing rod d56, as shown in figure 3-c; (4) the swing rod a58 is tangent to the first convex part of the pushing wheel 50, and the rope a7 passing through the rope threading hole 1a57 and the rope threading hole 2a47 is locked by the free end of the swing rod a58, as shown in figure 3-d; (5) the swing rod a58 and the swing rod c54 are tangent to the first boss and the second boss of the pushing wheel 50, and the rope a7 and the rope c17 are locked by the free ends of the swing rod a58 and the swing rod c54 respectively, as shown in fig. 3-e; (6) the swing rod b52 and the swing rod d56 are tangent to the first convex part and the second convex part of the pushing wheel 50, and the rope b6 and the rope guide 9 are locked by the free ends of the swing rod b52 and the swing rod d56 respectively, as shown in fig. 3-a; (7) the free ends of the four swing links are not tangent to the first or second convex part of the pushing wheel 50 and are in a release state, as shown in fig. 2-c. When the swing link is in the release state, the swing link is pushed back to the initial position, namely, the state of being tangent to the pushing wheel 50 under the action of the rope. In the embodiment, the outer diameter of the spring is 38mm, and the length of the spring is 100 mm; the outer diameter of the segmented housing is 72mm, the diameter R of the circular part of the push wheel 501A distance R from the center of the circular part to the end of the first and second convex parts of 20mm2Are all 12mm, and the push wheel 50 can ensure that the swing rod rotates by a maximum angle of 5 degrees. A plurality of flexible mechanisms are separated through the section dividing mechanism, the steering engine in the section dividing mechanism is driven to operate through the single chip microcomputer, the pushing wheel 50 in the section dividing mechanism is made to rotate, the flexible mechanism connected with the section dividing mechanism is made to be a rigid mechanism through a locking rope, the number of effective components and the degree of freedom of the flexible arm are changed, and the flexibility of the flexible arm is enhanced. The driving motor and the steering engine are driven in a mixed mode through the single chip microcomputer, the number of effective components, the degree of freedom and the size of the flexible arm are changed, as shown in figures 4-a and 4-b, independent stretching and bending of the flexible mechanism of the flexible arm are achieved, and the flexibility and the adaptability of the flexible arm are greatly enhanced under the condition that the flexible arm has rigidity.
Example 2
On the basis of the first embodiment, the fixing component adopts a section mechanism c with the same structure as the section mechanism a, and the rope a7, the rope b6, the rope c17 and the rope d19 sequentially pass through the section mechanism a, the section mechanism b and the section mechanism c and then are fixedly connected with the lower end cover 10 of the section mechanism c. By adopting the section mechanism as the fixing component, the flexible mechanism which is farthest from the driving mechanism can be directly controlled conveniently, and the flexibility of the flexible arm is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (8)

1. The utility model provides a bionic flexible arm of space multi freedom segmentation control based on metamorphic mechanism which characterized in that: the rope locking and releasing device comprises a driving mechanism connected with a rope and a plurality of flexible mechanisms, wherein the flexible mechanisms are connected through a section mechanism, the rope is fixedly connected with a fixed assembly after passing through the section mechanism, the section mechanism comprises a section shell and a locking and releasing mechanism inside the section shell, and a steering engine for driving the locking and releasing mechanism to lock and release the rope is arranged on the section shell;
the locking and releasing mechanism comprises a swing rod for locking and releasing a rope and a pushing wheel (50) for adjusting the position of the swing rod, and the pushing wheel (50) is fixedly connected with an output shaft of the steering engine;
the swing rod is L-shaped and is evenly distributed in the circumferential direction around the central shaft of the pushing wheel (50), the fixed end of the swing rod is installed on the segmented shell through an installation shaft, and the free end of the swing rod is tangent to the pushing wheel (50).
2. The space multi-degree-of-freedom segmented control bionic flexible arm based on the metamorphic mechanism as claimed in claim 1 is characterized in that: the pushing wheel (50) comprises a circular part, a first protruding part and a second protruding part, the first protruding part and the second protruding part are symmetrical relative to the circle center of the circular part, and the width of the first protruding part is larger than that of the second protruding part.
3. The space of claim 2 based on metamorphic mechanismMulti freedom segmentation control bionic flexible arm, its characterized in that: outer diameter R of the sectioning mechanism3To push the diameter R of the circular part of the wheel (50)13.6 times of the distance R from the center of the circular portion to the end of the first boss portion and the end of the second boss portion2Is R11.2 times of; the length R of the long edge of the swing rod4Is a diameter R10.8-2 times of the length R of the short side5Is a diameter R10.5-0.8 times of; distance R from rope threading hole on segmental mechanism to mounting shaft of swing rod adjacent to rope threading hole6Is a diameter R10.42 times of.
4. The space multi-degree-of-freedom segmented control bionic flexible arm based on the metamorphic mechanism as claimed in claim 1 is characterized in that: the driving mechanism comprises a box body and a plurality of driving motors fixed on the box body through a fixing frame (4), the driving motors are evenly distributed in the circumferential direction of a central shaft of the box body, an output shaft of each driving motor is connected with a rope through a winder (22), and the other end of each rope penetrates through a sectioning mechanism and is fixedly connected with a fixing assembly.
5. The space multi-degree-of-freedom segmented control bionic flexible arm based on the metamorphic mechanism as claimed in claim 1 is characterized in that: the flexible mechanism comprises a spring, one end of the spring is fixedly connected in a mounting groove (59) of the sectioning mechanism, and the other end of the spring is fixedly connected on the sectioning mechanism or the driving mechanism.
6. The space multi-degree-of-freedom segmented control bionic flexible arm based on the metamorphic mechanism as claimed in claim 4 is characterized in that: the driving motor and the steering engine are controlled by a single chip microcomputer.
7. The space multi-degree-of-freedom segmented control bionic flexible arm based on the metamorphic mechanism as claimed in claim 1 is characterized in that: the fixing component is a fixing block or a sectional mechanism.
8. The space multi-degree-of-freedom segmented control bionic flexible arm based on the metamorphic mechanism as claimed in claim 1 is characterized in that: at least four ropes are arranged.
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