CN111702745B - Bionic trunk mechanical arm - Google Patents
Bionic trunk mechanical arm Download PDFInfo
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- CN111702745B CN111702745B CN202010549102.4A CN202010549102A CN111702745B CN 111702745 B CN111702745 B CN 111702745B CN 202010549102 A CN202010549102 A CN 202010549102A CN 111702745 B CN111702745 B CN 111702745B
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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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
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- Robotics (AREA)
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- Health & Medical Sciences (AREA)
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- Orthopedic Medicine & Surgery (AREA)
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Abstract
The invention discloses a bionic trunk mechanical arm which comprises a base and a tail end flange, wherein a plurality of basic motion groups are connected between the base and the tail end flange through universal couplings, a servo motor on the base is connected with the bottom of a first basic motion group through the universal couplings, and the top of the basic motion group arranged at the tail end is connected with the tail end flange through the universal couplings; the basic motion group includes unit connection board, linear motion unit and driven flexible unit, has seted up the mounting hole on the unit connection board, and driven flexible unit is installed in the mounting hole that central point put, and a plurality of linear motion unit encircles driven flexible unit evenly distributed in the mounting hole on border. The invention realizes the bending function of the trunk through the length difference, realizes the integral length change through linkage, increases the twisting function of the simulation trunk, realizes the simulation of the functional structure of the trunk, and is a bionic trunk mechanical arm with high control precision and large operation space.
Description
Technical Field
The invention relates to a mechanical arm, in particular to a bionic trunk mechanical arm.
Background
In the process of grabbing an object by the elephant trunk, the length difference is generated by the contraction of muscles at different parts of the elephant trunk, so that the elephant trunk is bent and deformed, the length of the elephant trunk is changed by the expansion and contraction of sphincters of the elephant trunk, the elongation rate of the elephant trunk is about 20% -30%, and the elephant trunk is twisted by the contraction of spiral muscles, so that a bionic elephant trunk mechanical structure replacing a mechanical arm is designed by many companies according to the principle of the elephant trunk. The working space of the existing parallel robot is smaller than that of the existing serial robot, the precision loss of the existing serial robot caused by a multi-section open-loop chain structure is larger, and the problem of precision loss can be well solved by applying a bionic trunk mechanical structure. Patent CN205734911U discloses a bionical trunk robot, and it utilizes gasbag lamella and flange constitution trunk structure, fills the atmospheric pressure of different pressures into to the gasbag lamella through the cylinder, utilizes mutual extrusion of gasbag lamella to realize the free bending of a plurality of angles of trunk arm, flexible and side sway. However, the bionic trunk disclosed in the patent has great limitation, and for industrial operation needing accurate positioning, the inflating operation of the bionic trunk is obviously poor in control precision, synchronous precision control of each node cannot be realized, and large positioning and grabbing errors are easy to exist in actual operation.
Disclosure of Invention
The invention provides a bionic trunk mechanical arm which realizes the bending function of a trunk through length difference, realizes the integral length change through linkage, increases the twisting function of a simulated trunk, realizes the simulation of the functional structure of the trunk and has high control precision and large operation space.
The technical scheme of the invention is as follows:
a bionic trunk mechanical arm comprises a base and a tail end flange, wherein a plurality of basic motion groups are arranged between the base and the tail end flange, the basic motion groups are connected through universal couplings, a servo motor is arranged on the base, an output shaft of the servo motor is connected with the bottom of the first basic motion group through the universal couplings, and the top of the basic motion group arranged at the tail end is connected with the tail end flange through the universal couplings;
the basic motion group comprises a unit connecting plate, linear motion units and driven telescopic units, a plurality of mounting holes are formed in the unit connecting plate, the driven telescopic units are sleeved in the mounting holes in the center of the unit connecting plate, and the linear motion units are uniformly distributed in the mounting holes in the edge of the unit connecting plate around the driven telescopic units;
the linear motion units between two adjacent basic motion groups are connected through a universal coupling; and the driven telescopic units between two adjacent basic motion groups are connected through a universal coupling.
The linear motion units between each adjacent basic motion group are connected through a universal coupling to form a bionic muscle chain, the driven telescopic units between each adjacent basic motion group are connected through the universal coupling to form a central limiting motion chain, a plurality of bionic muscle chains are distributed and arranged between the base and the end flange around the central limiting motion chain, the universal couplings at the bottoms of the bionic muscle chains and the central limiting motion chain are correspondingly connected with the servo motor on the base and driven by the servo motor, and meanwhile, each basic motion group is connected through the universal coupling, so that the bionic trunk manipulator has the bendable characteristic of muscles. The bionic trunk mechanical arm comprises a base, a plurality of bionic muscle chains, a central limiting motion chain, a servo motor, a top flange, a middle flange, a bottom flange, a middle flange.
Further, the linear motion unit includes a first mounting socket, a left-handed screw, and a right-handed screw; a left thread cavity and a right thread cavity are respectively arranged at two ends of the first mounting pipe sleeve, the left thread piece is in threaded connection with the left thread cavity, and the right thread piece is in threaded connection with the right thread cavity; one end of the left-handed thread piece, which is far away from the first mounting pipe sleeve, is connected with a universal coupling, the other end of the left-handed thread piece is arranged in the left-handed thread cavity and is provided with a connecting column with a connecting groove, a cavity is arranged in the left-handed thread piece, and the cavity is communicated with the connecting groove; one end of the right-handed thread piece, which is far away from the first mounting pipe sleeve, is connected with the universal coupling, the other end of the right-handed thread piece is arranged in the right thread cavity and is provided with an inserting cavity, and an inserting column is arranged in the inserting cavity; when in connection, the insertion column of the right-handed thread piece is inserted into the connection groove of the left-handed thread piece in a sliding manner and is communicated with the cavity, and the connection column of the left-handed thread piece is inserted into the insertion cavity of the right-handed thread piece in a sliding manner; the first mounting pipe sleeve is locked in the mounting hole of the unit connecting plate through a screw.
The bionic muscle chain is formed by connecting a plurality of linear motion units end to end through a universal coupling, when the bionic muscle chain is installed, a left-handed thread piece of the linear motion unit arranged at the head end of the bionic muscle chain is connected with a servo motor on the base through the universal coupling, and a right-handed thread piece of the linear motion unit arranged at the tail end of the central limiting motion chain is connected with the bottom of the tail end flange through the universal coupling. When the bionic muscle chain changes the length difference to bend, firstly, a servo motor on a base is driven, the servo motor drives a left-handed thread piece of a first linear motion unit to rotate in a left-handed thread cavity through a universal coupling, the left-handed thread piece synchronously drives an insertion column through a connecting column, so that the insertion column drives a right-handed thread piece to synchronously rotate in a right-handed thread cavity, the left-handed thread piece and the right-handed thread piece synchronously rotate, namely, the left-handed thread piece and the right-handed thread piece keep relatively static, so that the left-handed thread piece and the right-handed thread piece linearly move relative to a first mounting pipe sleeve, namely, the insertion column of the right-handed thread piece telescopically moves in a connecting groove of the left-handed thread piece and a cavity communicated with the connecting groove, then the right-handed thread piece drives a next linear motion unit to continuously rotate through the universal coupling, and so on until the telescopic, so that the lengths of different bionic muscle chains are changed, and the trunk mechanical arm is bent. In the moving process, the first mounting pipe sleeve is locked with the unit connecting plate, and the unit connecting plate is connected with the central limiting moving chain, so that the first mounting pipe sleeve cannot rotate uncontrollably along with the rotation of the left-handed screw and the right-handed screw.
Further, the driven telescopic unit comprises a second mounting pipe sleeve, a left telescopic piece and a right telescopic piece; the second mounting pipe sleeve comprises a left connecting piece and a right connecting piece, one end of the left connecting piece is provided with a mounting raised head and is internally provided with a first telescopic cavity, the other end of the left connecting piece of the first telescopic cavity is provided with a first through hole, one end of the right connecting piece is provided with a mounting interface and is internally provided with a second telescopic cavity, and the other end of the right connecting piece of the second telescopic cavity is provided with a second through hole; one end of the left telescopic piece is provided with a left telescopic head, the other end of the left telescopic piece is provided with a left connecting column, one end of the right telescopic piece is provided with a right telescopic head, and the other end of the right telescopic piece is provided with a right connecting column; the left telescopic head of the left telescopic piece is arranged in the first telescopic cavity of the left connecting piece, and the left connecting column of the left telescopic piece extends out of the first through hole and is connected with the universal coupling; the right telescopic head of the right telescopic piece is arranged in a second telescopic cavity of the right connecting piece, and a right connecting column of the right telescopic piece extends out of the second through hole and is connected with a universal coupling; the mounting raised head of the left connecting piece is inserted into the mounting interface of the right connecting piece and is locked by a screw; the second mounting pipe sleeve is locked and matched in the mounting hole of the unit connecting plate through a screw.
Further, the diameter ratio in first flexible chamber first diameter of wearing out the through-hole is big, left side extensible member with left connecting piece adaptation, promptly the left side extensible head of left side extensible member is than the diameter of left side spliced pole is big.
Further, the diameter ratio in the flexible chamber of second the diameter that the through-hole was worn out to the second is big, right side extensible member with right connecting piece adaptation, promptly the right side extensible head of right side extensible member is than the diameter of right side spliced pole is big.
The diameter ratio in flexible chamber is worn out the through-hole diameter and is used for carrying on spacingly to the extensible member, makes left extensible member and the right extensible member at driven flexible unit both ends freely stretch out and draw back but can not deviate from in flexible chamber.
The central limit kinematic chain is formed by connecting a plurality of driven telescopic units end to end through a universal coupling, when the central limit kinematic chain is installed, a left telescopic piece of the driven telescopic unit at the head end of the central limit kinematic chain is connected with a servo motor on the base through the universal coupling, and a right telescopic piece of the driven telescopic unit at the tail end of the central limit kinematic chain is connected with the bottom of the tail end flange through the universal coupling. When the bionic muscle chain changes the length difference to bend, the central limit motion chain follows the bending change of the trunk to perform driven extension and retraction through the driven extension and retraction unit; assuming that the trunk bends towards the left side, namely the tail end flange also moves towards the left side, the tail end flange drives a universal coupling arranged at the tail end of the central limit motion chain, the universal coupling drives a right connecting column of a right telescopic part of a driven telescopic unit at the tail end to extend out from a second through hole until a right telescopic head of the right telescopic part is limited at the end of a second telescopic cavity, the whole second mounting pipe sleeve is driven to move, so that the left telescopic head of the left telescopic part moves in the opposite direction in the first telescopic cavity, when the left telescopic head of the left telescopic part is limited at the end of the first telescopic cavity, the left connecting column of the left telescopic part drives the next driven telescopic unit to continue to be telescopic through the universal coupling, by parity of reasoning, the stretching of the last driven telescopic unit is completed, and therefore driven stretching of the central limiting movement chain along with bending change of the trunk is achieved through the driven telescopic unit. Simultaneously, when needs rotate the trunk, make the servo motor at base central authorities rotate, servo motor drives the terminal flange at top through central spacing kinematic chain and rotates, and at this moment, driven flexible unit is as the transmission connecting piece, and the central spacing kinematic chain that a plurality of driven flexible units are constituteed is equivalent to the transmission shaft for drive terminal flange rotates, realizes the imitation of the trunk knob. In the rotating process, the second mounting pipe sleeve of the driven telescopic unit is locked with the unit connecting plate, and the unit connecting plate is connected with the bionic muscle chain, so that the central limit kinematic chain can drive the whole bionic trunk mechanical arm to realize the knob.
Furthermore, the top of terminal flange is equipped with the fast-assembling interface, and the fast-assembling interface can be used to the installation equipment mechanism such as snatch.
Further, the basic motion group is provided with three linear motion units which are uniformly distributed around the driven telescopic unit. Every basic motion group has three linear motion unit to encircle a driven flexible unit, and whole bionical trunk arm comprises three bionical muscle chain links around a central spacing kinematical chain promptly, realizes the holistic length change of arm body through three bionical muscle chains of linkage drive, drives the rotatory knob that realizes arm body self of end flange through central spacing kinematical chain simultaneously, and is convenient nimble.
Furthermore, the bottom of the base is provided with an installation flange, and the bionic trunk mechanical arm is installed on fixed equipment or mobile equipment through the installation flange.
Further, be equipped with the safety cover on the base, servo motor's output shaft wears out the top of safety cover pass through universal joint with basic motion group connects, the incoming line has been seted up to one side of safety cover, and external control ware's wire passes through the incoming line and gets into be connected with servo motor in the safety cover. The safety cover possesses the guard action, and the inlet wire that sets up simultaneously is convenient for external control ware's control wire to get into the safety cover in and control the drive to servo motor.
Furthermore, corrugated pipes are sleeved at the gaps where the linear motion units are connected through universal couplings. The corrugated pipe is sleeved on the outer side of the bionic muscle chain consisting of the plurality of linear motion units to play a role in dust prevention and protection, and meanwhile, the stretching of the bionic muscle chain cannot be influenced, so that the bionic trunk mechanical arm disclosed by the invention is more similar to a trunk in shape and has aesthetic feeling.
The invention has the beneficial effects that:
1. the bionic trunk arm comprises a bionic trunk arm body formed by a plurality of basic motion groups, wherein the basic motion group of each section is formed by connecting three linear motion units in parallel to drive the arm body to realize the length change, and the precision loss of a serial robot caused by a multi-section open-loop chain structure is relieved to a great extent.
2. The trunk arm body driving principle of the robot is similar to that of a parallel robot, but the robot is different from the traditional parallel robot in the motion mode, and when the robot moves, the relative angle between the plane of the end flange and the plane of the base can be adjusted according to the number of basic motion groups, so that the robot is flexible and convenient; under the condition of the same length, the mechanical arm adopting the bionic trunk arm body structure has larger working space than that of the traditional parallel robot.
3. The servo motor at base center accessible a plurality of driven flexible unit constitution central authorities spacing kinematic chain drive the terminal flange at top and rotate, can realize the turn-knob of elephant nose when changing length, more accords with the agile characteristic of elephant nose, makes the operation more nimble.
Drawings
FIG. 1 is a schematic structural view of a biomimetic trunk robotic arm of the present invention;
FIG. 2 is a schematic diagram of the structure of a basic motion group;
FIG. 3 is a schematic view of a structure of a linear motion unit;
FIG. 4 is a schematic cross-sectional view of FIG. 3;
FIG. 5 is a schematic view of both ends of a linear motion unit performing rotational extension and retraction;
FIG. 6 is a schematic, broken away view of a linear motion unit;
FIG. 7 is another angular schematic of FIG. 6;
FIG. 8 is a cross-sectional schematic view of FIG. 7;
FIG. 9 is a schematic structural view of a driven telescopic unit;
FIG. 10 is a cross-sectional schematic view of FIG. 9;
FIG. 11 is a schematic view of driven telescoping at both ends of a driven telescoping unit;
FIG. 12 is a schematic exploded view of the driven telescoping unit;
FIG. 13 is a cross-sectional schematic view of FIG. 12;
FIG. 14 is a schematic view of a biomimetic trunk robotic arm sleeved with a bellows;
FIG. 15 is a schematic view of a model in which a linear motion unit is bent by a length difference;
FIG. 16 is an exemplary illustration of distance identification before flexion-extension of two adjacent base motion groups;
FIG. 17 is a schematic view of a model in which two adjacent base motions are bent by a length difference;
in the figure: the universal joint comprises a base 1, a tail end flange 2, a base motion group 3, a universal coupling 4, a servo motor 5, a unit connecting plate 6, a linear motion unit 7, a first mounting pipe sleeve 71, a left threaded cavity 711, a right threaded cavity 712, a left threaded part 72, a cavity 721, a right threaded part 73, a plug cavity 731, a connecting column 74, a connecting groove 741, a plug column 75, a driven telescopic unit 8, a second mounting pipe sleeve 81, a left telescopic part 82, a left telescopic head 821, a left connecting column 822, a right telescopic part 83, a right telescopic head 831, a right connecting column 832, a left connecting piece 84, a mounting boss 841, a first telescopic cavity 842, a right connecting piece 85, a mounting interface 851, a second telescopic cavity 852, a quick mounting interface 9, a mounting flange 10, a protective cover 11, a wire inlet 12 and a corrugated pipe 13.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
Example 1:
as shown in fig. 1-13, a bionic trunk manipulator comprises a base 1 and a terminal flange 2, wherein a plurality of basic motion groups 3 are arranged between the base 1 and the terminal flange 2, the plurality of basic motion groups 3 are connected through a universal coupling 4, a servo motor 5 is arranged on the base 1, an output shaft of the servo motor 5 is connected with the bottom of the first basic motion group 3 through the universal coupling 4, and the top of the basic motion group 3 arranged at the terminal is connected with the terminal flange 2 through the universal coupling 4;
the basic motion group 3 comprises a unit connecting plate 6, linear motion units 7 and driven telescopic units 8, wherein a plurality of mounting holes are formed in the unit connecting plate 6, the driven telescopic units 8 are sleeved in the mounting holes in the center of the unit connecting plate 6, and the linear motion units 7 are uniformly distributed in the mounting holes in the edge of the unit connecting plate 6 around the driven telescopic units 8; the linear motion units 7 between two adjacent basic motion groups 3 are connected through universal couplings 4; the driven telescopic units 8 between two adjacent basic movement groups 3 are connected through a universal joint 4.
Referring to fig. 3 to 8, the linear moving unit 7 includes a first mounting socket 71, a left-hand screw 72, and a right-hand screw 73; the two ends of the first mounting pipe sleeve 71 are respectively provided with a left threaded cavity 711 and a right threaded cavity 712, the left threaded member 72 is in threaded connection with the left threaded cavity 711, and the right threaded member 73 is in threaded connection with the right threaded cavity 712; one end of the left-hand thread piece 72, which is far away from the first mounting pipe sleeve 71, is connected with the universal coupling 4, the other end of the left-hand thread piece is arranged in the left-hand thread cavity 711 and is provided with a connecting column 74 with a connecting groove 741, a cavity 721 is arranged in the left-hand thread piece 72, and the cavity 721 is communicated with the connecting groove 741; one end of the right-handed screw 73, which is far away from the first mounting pipe sleeve 71, is connected with the universal coupling 4, the other end of the right-handed screw is arranged in the right screw cavity 712 and is provided with an inserting cavity 731, and an inserting column 75 is arranged in the inserting cavity; when in connection, the insertion column 75 of the right-handed thread piece 73 is inserted into the connection groove 741 of the left-handed thread piece 72 in a sliding manner and is directly communicated with the cavity 721, and meanwhile, the connection column 74 of the left-handed thread piece 72 is inserted into the insertion cavity 731 of the right-handed thread piece 73 in a sliding manner; the first mounting pipe sleeves 71 are screwed into the mounting holes of the unit connection plates 6.
Referring to fig. 9 to 13, the driven telescopic unit 8 includes a second mounting pipe housing 81, a left telescopic member 82 and a right telescopic member 83; the second mounting pipe sleeve 81 comprises a left connecting piece 84 and a right connecting piece 85, one end of the left connecting piece 84 is provided with a mounting raised head 841, a first telescopic cavity 842 is arranged in the left connecting piece 84, the other end of the first telescopic cavity 842 is provided with a first through hole, one end of the right connecting piece 85 is provided with a mounting interface 851, a second telescopic cavity 852 is arranged in the right connecting piece 85, and the other end of the right connecting piece 85 is provided with a second through hole; one end of the left telescopic part 82 is provided with a left telescopic head 821, the other end is provided with a left connecting column 822, one end of the right telescopic part 83 is provided with a right telescopic head 831, and the other end is provided with a right connecting column 832; the left telescopic head 821 of the left telescopic part 82 is arranged in the first telescopic cavity 842 of the left connecting piece 84, and the left connecting column 822 of the left telescopic part 82 extends out of the first through hole and is connected with the universal coupling 4; the right telescopic head 831 of the right telescopic member 83 is arranged in the second telescopic cavity 852 of the right connecting member 85, and the right connecting column 832 of the right telescopic member 83 extends out of the second through hole and is connected with the universal coupling 4; the mounting projection 841 of the left connecting piece 84 is inserted into the mounting interface 851 of the right connecting piece 85 and is locked by screws; the second mounting pipe housing 81 is screwed into the mounting hole of the unit connecting plate 6.
The diameter of the first telescopic cavity 842 is larger than the diameter of the first through hole, and the left telescopic member 82 is adapted to the left connecting member 84, that is, the left telescopic head 821 of the left telescopic member 82 is larger than the diameter of the left connecting column 822. The diameter of the second telescopic cavity 852 is larger than the diameter of the second through hole, and the right telescopic member 83 is adapted to the right connecting member 85, i.e. the right telescopic head 831 of the right telescopic member 83 is larger than the diameter of the right connecting column 832. The diameter of the telescopic cavity is larger than the diameter of the through hole for limiting the telescopic part, so that the left telescopic part 82 and the right telescopic part 83 at the two ends of the driven telescopic unit 8 can freely extend and retract in the telescopic cavity but cannot be separated.
In this embodiment, the top of the end flange 2 is provided with a quick-mounting interface 9, and the quick-mounting interface 9 can be used for installing equipment mechanisms such as grabbing mechanisms.
In this embodiment, the basic movement group 3 is provided with three linear movement units 7, the three linear movement units 7 being evenly distributed around the driven telescopic unit 8. Every basic motion group 3 has three linear motion unit 7 to encircle a driven telescopic unit 8, and whole bionical trunk arm comprises three bionical muscle chain links around a central spacing motion chain promptly, realizes the holistic length change of arm body through three bionical muscle chains of linkage drive, drives terminal flange 2 rotation through central spacing motion chain simultaneously and realizes the turn-knob of arm body self, and is convenient nimble.
In this embodiment, the bottom of the base 1 is provided with an installation flange 10, and the bionic trunk mechanical arm of the present invention is installed on a fixed device or a mobile device through the installation flange 10.
Referring to fig. 14, a protective cover 11 is arranged on the base 1, an output shaft of the servo motor 5 penetrates out of the top of the protective cover 11 and is connected with the basic motion set 3 through a universal coupling 4, a wire inlet 12 is formed in one side of the protective cover 11, and a wire of an external controller enters the protective cover 11 through the wire inlet 12 and is connected with the servo motor 5. The protective cover 11 has a protective function, and the wire inlet 12 is convenient for a control wire of an external controller to enter the protective cover 11 to control and drive the servo motor 5.
Referring to fig. 14, corrugated pipes 13 are respectively sleeved at gaps where the linear motion units 7 are connected through the universal couplings 4. The corrugated pipe 13 is sleeved on the outer side of the bionic muscle chain consisting of the plurality of linear motion units 7 to play a role in dust prevention and protection, and meanwhile, the stretching of the bionic muscle chain is not influenced, so that the bionic trunk mechanical arm disclosed by the invention is more similar to a trunk in shape and has aesthetic feeling.
The working principle of the invention is as follows:
according to the bionic elephant nose mechanical arm, linear motion units 7 between every two adjacent basic motion groups 3 are connected through universal couplings 4 to form bionic muscle chains, driven telescopic units 8 between every two adjacent basic motion groups 3 are connected through the universal couplings 4 to form central limiting motion chains, the bionic muscle chains are distributed around the central limiting motion chains between the base 1 and the tail end flange 2, the universal couplings 4 at the bottoms of the bionic muscle chains and the central limiting motion chains are correspondingly connected with servo motors 5 on the base 1 and driven by the servo motors 5, and meanwhile, the basic motion groups 3 are connected through the universal couplings 4, so that the bionic elephant nose mechanical arm has the bending characteristic of muscles. The bionic trunk mechanical arm comprises a base, a plurality of bionic muscle chains, a central limit motion chain, a servo motor 5, a tail end flange 2, a tail end flange and a tail end flange, wherein the bionic muscle chains are connected with the base through a connecting rod, the tail end flange is connected with the tail end flange 2, the tail end flange is connected with the tail end flange through the connecting rod, and the tail end flange is connected with the tail end flange.
The bionic muscle chain is formed by connecting a plurality of linear motion units 7 end to end through universal couplings 4, when the bionic muscle chain is installed, a left-handed thread piece 72 of the linear motion unit 7 arranged at the head end of the bionic muscle chain is connected with the servo motor 5 on the base 1 through the universal couplings 4, and a right-handed thread piece 73 of the linear motion unit 7 arranged at the tail end of the central limit motion chain is connected with the bottom of the tail end flange 2 through the universal couplings 4. When the bionic muscle chain changes the length difference to bend, the servo motor 5 on the base 1 is driven, the servo motor 5 drives the left-handed thread piece 72 of the first linear motion unit 7 to rotate in the left-handed thread cavity through the universal coupling 4, the left-handed thread piece 72 synchronously drives the splicing column 75 through the connecting column 74, so that the splicing column 75 drives the right-handed thread piece 73 to synchronously rotate in the right-handed thread cavity, as the left-handed thread piece 72 and the right-handed thread piece 73 synchronously rotate, namely, the left-handed thread piece 72 and the right-handed thread piece 73 keep relatively static, the left-handed thread piece 72 and the right-handed thread piece 73 linearly move relative to the first mounting pipe sleeve 71, namely, the splicing column 75 of the right-handed thread piece 73 telescopically moves in the connecting groove of the left-handed thread piece 72 and the cavity communicated with the connecting groove, and then the right-handed thread piece 73 drives the next linear motion unit, and so on, until the last linear motion unit 7 is stretched, the lengths of different bionic muscle chains are changed, and the trunk mechanical arm is bent. During the movement, the first mounting pipe sleeve 71 is locked with the unit connecting plate 6, and the unit connecting plate 6 is connected with the central spacing kinematic chain, so that the first mounting pipe sleeve 71 cannot generate uncontrollable rotation along with the rotation of the left-handed screw 72 and the right-handed screw 73.
Wherein, the spacing kinematic chain of central authorities comprises a plurality of driven telescoping units 8 through 4 end to end of universal joint, and when the installation, the left extensible member 82 of the driven telescoping unit 8 of arranging the spacing kinematic chain head end of central authorities is connected with servo motor 5 on the base 1 through universal joint 4, arranges the right extensible member 83 of the terminal driven telescoping unit 8 of the spacing kinematic chain of central authorities and passes through universal joint 4 and be connected with the bottom of terminal flange 2. When the bionic muscle chain changes the length difference to bend, the central limit motion chain follows the bending change of the trunk to perform driven extension and retraction through the driven extension and retraction unit 8; assuming that the trunk bends towards the left side, namely the tail end flange 2 also moves towards the left side, the tail end flange 2 drives the universal coupling 4 arranged at the tail end of the central limit motion chain, the universal coupling 4 drives the right connecting column of the right telescopic part 83 of the driven telescopic unit 8 at the tail end to penetrate out of the through hole from the second part and extend out until the right telescopic head of the right telescopic part 83 is limited at the end of the second telescopic cavity, the whole second mounting pipe sleeve 81 is driven to move, and then the left telescopic head of the left telescopic part 82 moves in the opposite direction in the first telescopic cavity, when the left telescopic head of the left telescopic part 82 is limited at the end of the first telescopic cavity, the left connecting column of the left telescopic part drives the next driven telescopic unit 8 to continue to extend and retract through the universal coupling 4, by analogy, the stretching of the last driven stretching unit 8 is completed, so that the driven stretching of the central limiting movement chain along with the bending change of the trunk body through the driven stretching unit 8 is realized. Simultaneously, when needs rotate the object nose, make the servo motor 5 of base 1 central authorities rotate, servo motor 5 rotates through the terminal flange 2 at central spacing kinematic chain drive top, and at this moment, driven flexible unit 8 is as the transmission connecting piece, and the central spacing kinematic chain that a plurality of driven flexible units 8 are constituteed is equivalent to the transmission shaft for drive terminal flange 2 rotates, realizes the imitation of object nose knob. In the rotating process, the second mounting pipe sleeve 81 of the driven telescopic unit 8 is locked with the unit connecting plate 6, and the unit connecting plate 6 is connected with the bionic muscle chain, so that the central limit kinematic chain can drive the whole bionic trunk mechanical arm to realize the knob.
Referring to fig. 15, a simplified model is used to show that the linear motion unit 7 is bent by a length difference: when the rightmost bionic muscle chain is elongated and the elongation of the other two bionic muscle chains is less than that of the rightmost bionic muscle chain, the whole bionic trunk bends towards the leftmost side, and the other bending directions are the same.
Referring to fig. 16, the bending of a single basic motion set by length change is taken as an example, and the same plane where the linear motion units of two adjacent basic motion sets are located is used for demonstration. Assuming that the central distance between the linear motion unit on the upper left side and the linear motion unit on the upper right side is AB, wherein point A is the stretching starting point of the left-handed thread piece and the right-handed thread piece of the linear motion unit on the upper left side, and point B is the stretching starting point of the left-handed thread piece and the right-handed thread piece of the linear motion unit on the upper right side; similarly, the central distance between the linear motion unit on the lower left side and the linear motion unit on the lower right side is set as EF, wherein the point E is the stretching starting point of the left-handed thread piece and the right-handed thread piece of the linear motion unit on the lower left side, and the point F is the stretching starting point of the left-handed thread piece and the right-handed thread piece of the linear motion unit on the lower right side; the two universal couplings are respectively marked as C point and D point, namely AC, BD, CE and DF are distances between the universal couplings and the expansion starting point; and AB ═ EF, AC ═ CE, BD ═ DF;
referring to fig. 17, when performing the stretching movement, the two linear movement units on the right side are stretched, the two units on the left side are kept still, that is, BD and DF are lengthened to be bent, at this time, a point t is made on the segment DF, an auxiliary line is made to make Ct perpendicular to tD, tD is the stretching distance, and then:
angle tDC is arcCOS (tD/CD) because tD is DF-CE and Ct is EF;
then there are:
because Ct is perpendicular to tD, the sum of the internal angles of the triangles is 180 °;
so that the angle tCD is 180-90 DEG-angle tDC;
assuming data acquisition of the bionic trunk mechanical arm: CE 57.5, DF 57.5+15 72.5, EF 60;
to obtain the angle tCD which is 14.03765 degree
Similarly, making point n on segment BD, making Cn perpendicular nD as an auxiliary line, has:
∠nCD＝∠tCD＝14.03765°
because AB | Cn and EF | Ct are included, namely the included angle between the plane where AB is located and the plane where EF is located is nCt;
angle nCt is the angle of the two linear motion units on the right side after elongation
So that < nCt ═ tCD + < nCD ═ 28.0753 °
Because the linear motion units of each basic motion group in the arm body have the same rotation number of turns, the elongation amounts of the linear motion units are the same, and when the manipulator of the image arm is formed by connecting N basic motion groups in series, the included angle between the tail end flange of the tail section and the plane of the base is equal to nCt N
Therefore, the relative bending angle of the tail end flange plane and the base plane of the invention is more than 90 degrees, the angle nCt N is more than or equal to 90 degrees, and the angle nCt is substituted into 28.0753 degrees, and the relative bending angle can be realized because N is a positive integer, namely N is more than or equal to 4.
The relative bending angles of the tail end flange plane and the base plane can be adjusted according to the number of the basic motion groups, and the specific number can be set by a user according to the actual situation.
In the configuration of the bionic trunk mechanical arm of the invention, the bionic muscle chain can be formed by other forms: artificial muscle replacement in forms such as pneumatic, hydraulic, electromagnetic, etc., whatever the driving principle, a robotic arm that takes the configuration of the present biomimetic trunk robotic arm, should be within the scope of the claims of this patent.
In the bionic trunk mechanical arm structure, parts with axial rotation limiting, passive extension and bending characteristics can be replaced by other materials or mechanisms, and the bionic trunk mechanical arm structure is realized by any principle, and if the bionic trunk mechanical arm structure is applied to the bionic trunk mechanical arm structure to realize the same function, the bionic trunk mechanical arm structure is within the scope of the patent right.
In certain specific cases, the rotation function of the tip of the present invention can be omitted or replaced by other technical means, such as modifying the rotation function of the tip or omitting the rotation function only on the basis of the arm body mentioned in the patent, but other parts used in the bionic trunk mechanical arm configuration of the patent should also be within the scope of the claims of the patent.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. A bionic trunk mechanical arm is characterized by comprising a base and a tail end flange, wherein a plurality of basic motion groups are arranged between the base and the tail end flange, the basic motion groups are connected through universal couplings, a servo motor is arranged on the base, an output shaft of the servo motor is connected with the bottom of the first basic motion group through the universal couplings, and the top of the basic motion group arranged at the tail end is connected with the tail end flange through the universal couplings;
the basic motion group comprises a unit connecting plate, linear motion units and driven telescopic units, a plurality of mounting holes are formed in the unit connecting plate, the driven telescopic units are sleeved in the mounting holes in the center of the unit connecting plate, and the linear motion units are uniformly distributed in the mounting holes in the edge of the unit connecting plate around the driven telescopic units;
the linear motion units between two adjacent basic motion groups are connected through a universal coupling; the driven telescopic units between two adjacent basic motion groups are connected through a universal coupling;
the linear motion unit comprises a first mounting pipe sleeve, a left-handed screw and a right-handed screw; a left thread cavity and a right thread cavity are respectively arranged at two ends of the first mounting pipe sleeve, the left thread piece is in threaded connection with the left thread cavity, and the right thread piece is in threaded connection with the right thread cavity; one end of the left-handed thread piece, which is far away from the first mounting pipe sleeve, is connected with a universal coupling, the other end of the left-handed thread piece is arranged in the left-handed thread cavity and is provided with a connecting column with a connecting groove, a cavity is arranged in the left-handed thread piece, and the cavity is communicated with the connecting groove; one end of the right-handed thread piece, which is far away from the first mounting pipe sleeve, is connected with the universal coupling, the other end of the right-handed thread piece is arranged in the right thread cavity and is provided with an inserting cavity, and an inserting column is arranged in the inserting cavity; when in connection, the insertion column of the right-handed thread piece is inserted into the connection groove of the left-handed thread piece in a sliding manner and is communicated with the cavity, and the connection column of the left-handed thread piece is inserted into the insertion cavity of the right-handed thread piece in a sliding manner; the first mounting pipe sleeve is locked in the mounting hole of the unit connecting plate through a screw.
2. The biomimetic trunk robotic arm of claim 1, wherein the driven telescoping unit comprises a second mounting tube sleeve, a left telescoping member, and a right telescoping member; the second mounting pipe sleeve comprises a left connecting piece and a right connecting piece, one end of the left connecting piece is provided with a mounting raised head and is internally provided with a first telescopic cavity, the other end of the left connecting piece of the first telescopic cavity is provided with a first through hole, one end of the right connecting piece is provided with a mounting interface and is internally provided with a second telescopic cavity, and the other end of the right connecting piece of the second telescopic cavity is provided with a second through hole; one end of the left telescopic piece is provided with a left telescopic head, the other end of the left telescopic piece is provided with a left connecting column, one end of the right telescopic piece is provided with a right telescopic head, and the other end of the right telescopic piece is provided with a right connecting column; the left telescopic head of the left telescopic piece is arranged in the first telescopic cavity of the left connecting piece, and the left connecting column of the left telescopic piece extends out of the first through hole and is connected with the universal coupling; the right telescopic head of the right telescopic piece is arranged in a second telescopic cavity of the right connecting piece, and a right connecting column of the right telescopic piece extends out of the second through hole and is connected with a universal coupling; the mounting raised head of the left connecting piece is inserted into the mounting interface of the right connecting piece and is locked by a screw; the second mounting pipe sleeve is locked and matched in the mounting hole of the unit connecting plate through a screw.
3. The biomimetic trunk manipulator according to claim 2, wherein the diameter of the first telescopic cavity is larger than the diameter of the first through hole, the left telescopic member is adapted to the left connecting member, and the left telescopic head of the left telescopic member is larger than the diameter of the left connecting column.
4. The biomimetic trunk manipulator according to claim 2, wherein the diameter of the second telescopic cavity is larger than the diameter of the second through hole, the right telescopic member is adapted to the right connecting member, and the right telescopic head of the right telescopic member is larger than the diameter of the right connecting column.
5. The biomimetic trunk robotic arm of claim 1, wherein a quick-fit interface is provided on a top portion of the end flange.
6. The biomimetic trunk robotic arm of claim 1, wherein the base kinematic group is provided with three of the linear kinematic units, the three linear kinematic units being evenly distributed around the driven telescoping unit.
7. The biomimetic trunk manipulator according to claim 1, wherein a mounting flange is arranged at the bottom of the base.
8. The bionic trunk manipulator according to claim 1, wherein a protective cover is arranged on the base, an output shaft of the servo motor penetrates out of the top of the protective cover and is connected with the basic motion group through a universal coupling, a wire inlet is formed in one side of the protective cover, and a wire of an external controller enters the protective cover through the wire inlet and is connected with the servo motor.
9. The biomimetic trunk manipulator according to claim 1, wherein a corrugated pipe is sleeved at a gap where a plurality of the linear motion units are connected through a universal coupling.
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| US4900218A (en) * | 1983-04-07 | 1990-02-13 | Sutherland Ivan E | Robot arm structure |
| CN103895012A (en) * | 2014-04-25 | 2014-07-02 | 清华大学 | Trunk-simulating mechanical arm unit device |
| CN108214474A (en) * | 2018-03-08 | 2018-06-29 | 南京航空航天大学 | A kind of Bionic flexible mechanical arm towards narrow operating in limited space |
| CN108908318A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of small-sized super redundancy flexible mechanical arm |
| CN109262603A (en) * | 2018-10-29 | 2019-01-25 | 燕山大学 | Rope driving manipulator refers to and its manipulator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10315309B2 (en) * | 2016-03-15 | 2019-06-11 | Lon Radin | Modular snake arm with articulated drive shaft |
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| US4900218A (en) * | 1983-04-07 | 1990-02-13 | Sutherland Ivan E | Robot arm structure |
| CN103895012A (en) * | 2014-04-25 | 2014-07-02 | 清华大学 | Trunk-simulating mechanical arm unit device |
| CN108214474A (en) * | 2018-03-08 | 2018-06-29 | 南京航空航天大学 | A kind of Bionic flexible mechanical arm towards narrow operating in limited space |
| CN108908318A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of small-sized super redundancy flexible mechanical arm |
| CN109262603A (en) * | 2018-10-29 | 2019-01-25 | 燕山大学 | Rope driving manipulator refers to and its manipulator |
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