CN113021410B - Fuse continuous type arm of paper folding shape shell and tension structure - Google Patents
Fuse continuous type arm of paper folding shape shell and tension structure Download PDFInfo
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- CN113021410B CN113021410B CN202110235888.7A CN202110235888A CN113021410B CN 113021410 B CN113021410 B CN 113021410B CN 202110235888 A CN202110235888 A CN 202110235888A CN 113021410 B CN113021410 B CN 113021410B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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Abstract
The invention provides a continuous mechanical arm integrating a paper folding shell and a tensioning structure, which comprises a plurality of annular basic units coaxially arranged front and back, wherein a straight rod-shaped basic unit is arranged between every two adjacent annular basic units, and two ends of each straight rod-shaped basic unit are respectively connected with the annular basic units through a plurality of elastic connecting pieces; a paper folding shell is arranged between two adjacent circular basic units, and two ends of the paper folding shell are respectively and fixedly connected with the circular basic units at the two ends of the paper folding shell; a base is fixed on the front side of the most front annular basic unit, and a driving mechanism is fixed on the base; the driving mechanism comprises a plurality of ropes and a driving unit for driving the ropes to move. The mechanical arm disclosed by the invention is flexible in movement, can synchronously realize continuous bending and stretching movement, has the advantages of variable rigidity, high material utilization rate, safer man-machine interaction and the like, and can meet the complex work task requirement of the mechanical arm in an unstructured space.
Description
Technical Field
The invention belongs to the field of multi-degree-of-freedom redundant continuous mechanical arms and paper folding robots, particularly relates to a framework type paper folding mechanism continuous robot for realizing winding and grabbing of a large-size target object, and particularly relates to a continuous mechanical arm integrating a paper folding shell and a tensioning structure.
Background
The research, development, manufacture and application of the robot are important marks for measuring the national technological innovation capability and the high-end manufacturing level. In order to meet the requirements of complex work tasks, various biomimetic mechanical arms simulating elephant noses, fishes, snakes and the like are produced by analyzing the motion mechanism of the physiological structure of the mollusks or organs in the nature. Compared with the traditional rigid robot, the flexible grabbing robot has higher flexibility, safety and environmental adaptability, has unique advantages in narrow space, multi-obstacle environment operation and the like, and can realize the flexible grabbing work task.
The paper folding structure is fused into a tensioning integral structure, so that a novel continuous bionic mechanical arm capable of realizing flexible grabbing work tasks can be formed. The tensioning integral structure is a self-balancing structure consisting of a tension member and a compression member, and has the characteristics of high strength, light weight, flexible movement, low energy consumption and the like; the paper folding structure is the cross field that has combined traditional folk art and many basic disciplines, can not only match the motion of robot body well through realizing the continuous motion between the different states along predetermined crease, can also play the effect of absorbed energy, has good guard action to robot body and waiting to snatch the object.
When the mechanical arm based on the tensioning integral structure is wound and grabs a target object, the target object is contacted with a tensioning member in the tensioning integral or the target object is clamped between the tensioning member and a compression member, so that negative effects are caused on the motion of the mechanical arm, and meanwhile, the rigid contact between the compression member and the target object in the tensioning integral structure can cause a certain amount of indentation and scratch to the target object. In order to solve the problems, the paper folding structure is used as a protective shell of the integral tensioning mechanical arm to be mutually fused, the realizable functions of the integral tensioning mechanical arm are expanded, and the practical significance of research is enhanced. The compression member and the tension member in the integral tensioning structure respectively form skeleton and muscle in a bionic concept, the paper folding structure forms skin in a bionic mechanism, the bionic mechanical arm is formed by combining the skeleton and the muscle, the paper folding structure and the skin have flexible motion capability and soft protective shells, the flexible grabbing task and the complex environment exploration task can be efficiently completed, and the important scientific research value and practical significance are achieved.
Disclosure of Invention
According to the technical problem, a continuous mechanical arm integrating a paper folding shell and a tension structure is provided. The technical means adopted by the invention are as follows:
a continuous mechanical arm integrating a paper folding shell with a tensioning structure comprises a plurality of annular basic units which are coaxially arranged front and back, a straight rod-shaped basic unit which is coaxially arranged with the annular basic units is arranged between every two adjacent annular basic units, and the front end and the back end of each straight rod-shaped basic unit are respectively connected with the inner edges of the annular basic units positioned at the two ends of the straight rod-shaped basic unit through a plurality of elastic connecting pieces which are uniformly distributed around the axis of the straight rod-shaped basic unit; a paper folding shell is arranged between two adjacent circular basic units, and two ends of the paper folding shell are respectively and fixedly connected with the circular basic units at the two ends of the paper folding shell;
a base is fixed on the front side of the most front annular basic unit, and a driving mechanism is fixed on the base;
the driving mechanism comprises a plurality of ropes and a driving unit for driving the ropes to move, the front ends of the ropes are connected with the driving unit, the rear ends of the ropes sequentially penetrate through the base and the circular ring-shaped basic units and then are fixedly connected with the circular ring-shaped basic unit at the rearmost end, and the ropes are uniformly distributed around the axis of the circular ring-shaped basic unit.
Furthermore, the driving unit comprises a driving motor support arranged on the base, a driving motor arranged on the driving motor support, a take-up reel arranged on the output end of the driving motor and a direction-changing pulley arranged on the base, and the front end of the rope is connected with the take-up reel through the direction-changing pulley.
Furthermore, a plurality of elastic connecting units which are uniformly distributed around the circular basic units are arranged on the rear inner edge of the circular basic unit at the frontmost end, the front inner edge of the circular basic unit at the rearmost end and the front inner edge and the rear inner edge of the other circular basic units, mounting holes I are formed in the elastic connecting units, and one end, close to the elastic connecting units, of the elastic connecting piece is fixedly connected with the mounting holes I.
Further, the both ends of straight bar-shaped basic unit are equipped with a plurality of extension pieces respectively, and are a plurality of the extension piece centers on the axis evenly distributed of straight bar-shaped basic unit, just the extending direction of extension piece is perpendicular to the axis direction of straight bar-shaped basic unit, be equipped with mounting hole II on the extension piece, elastic connecting piece is close to the one end of extension piece with II fixed connection of mounting hole.
Further, the rope passes through the base and the circular ring-shaped basic unit in a straight line, and the straight line is parallel to the axis of the circular ring-shaped basic unit.
Further, the elastic connecting piece comprises an elastic piece and buckles arranged at two ends of the elastic piece.
Further, the elastic member is an elastic rope or a spring.
The effective length of the rope can be controlled through the motor presetting or real-time control law, and therefore the corresponding motion control is carried out on the mechanical arm. When the lengths of the three ropes are the same, the axial telescopic motion of the mechanical arm can be realized; when the effective lengths of the three drive ropes are different, the mechanical arm can realize the combination of bending and stretching movement.
The outer wall of the paper folding-shaped shell is corrugated and is combined with the integral tensioning mechanical arm, two ends of the paper folding-shaped shell are respectively fixed with the two adjacent circular basic units, the paper folding-shaped shell can passively deform along with the movement of the mechanical arm, and the paper folding-shaped shell plays a role in protecting the mechanical arm and flexibly contacting an object under the condition that the normal movement of the mechanical arm is not hindered.
Compared with the prior art, the invention has the following advantages:
1. the mechanical arm designed by the invention has flexible motion and can realize bending motion and axial telescopic motion. Two adjacent circular basic units are connected through elastic ropes and can be equivalently provided with a joint with six degrees of freedom, namely, six degrees of freedom are arranged between every two circular basic units, and the mechanical arm formed by mutually connecting and combining the circular basic units in series is a super-redundancy continuous mechanical arm and has flexible motion capability.
2. The mechanical arm designed by the invention has a simple structure, not only improves the accuracy of dynamic modeling, but also has easy replacement of parts and good reconfigurability. Compared with the traditional robot, the robot does not need traditional joints such as a revolute pair, a universal joint, a spherical hinge and the like, reduces errors caused by factors of inaccurate parameters during processing and manufacturing of the joints in the control process to the control precision, and increases the control precision in two aspects of more accurate modeling of dynamics and reduction of the number of required parameter identification.
3. The mechanical arm designed by the invention has the characteristic of light weight and has a larger volume-mass ratio. Because the mechanical arm is supported by only the ring unit and the thin rod unit as the frameworks of the mechanical arm, the rigid body frameworks have higher separation degree, the light elastic ropes are used for connection, and the outer paper folding structure protective shell is also made of light materials, compared with the traditional rigid body robot, the mechanical arm has the advantage of lighter weight under the same volume, and the utilization rate of the materials is greatly improved.
4. The mechanical arm designed by the invention fuses the paper folding structure shell and the inner layer tension integral mechanical arm, on one hand, the protection effect is achieved, the abrasion or damage generated when the elastic rope in the mechanical arm interacts with the compression member and the tension member with the outside is protected, and the service life of the mechanical arm is prolonged; on the other hand, the rigidity of the paper folding structure is relatively low, and the paper folding structure can be in flexible contact with a target object under the condition that the flexible movement of the mechanical arm is not hindered, so that the damage of rigid contact to the target object is reduced, and the function of flexibly grabbing the target object is realized.
5. The mechanical arm designed by the invention has safer human-computer interaction capability. On one hand, the soft shell of the paper folding structure is beneficial to firstly contacting the paper folding structure when in contact, the rigidity of the material is smaller, and the paper folding structure can absorb energy when in contact, so that the injury is not easily caused; on the other hand, the tensegrity structure enables the mechanical arm to have variable rigidity characteristics: depending on the amount of driving force of the driving rope, the stiffness characteristics of the structure can be modified to exhibit compliant characteristics for greater safety.
Based on the reason, the invention can be widely popularized in the fields of mechanical arms and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a continuous mechanical arm with a folded paper-shaped housing and a tension structure integrated therein according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a continuous robot arm with a folded paper-shaped housing and a tension structure integrated (the folded paper-shaped housing is removed) according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a driving mechanism according to an embodiment of the present invention.
Fig. 4 is a schematic structural view (after bending) of a paper-folded housing according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of an elastic connecting member according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a circular basic unit in an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a straight rod-shaped basic unit in the embodiment of the present invention.
Fig. 8 is a schematic view illustrating a simulation of bending deformation of a continuous arm combining a paper-folded outer shell and a tension structure according to an embodiment of the present invention.
Fig. 9 is a schematic view illustrating a simulation of the stretching deformation of a continuous mechanical arm with a folded paper-shaped housing and a tension structure integrated therein according to an embodiment of the present invention.
Fig. 10(a) is a view of a mass block fixed to the end of a continuous robot arm incorporating a paper-folded housing and a tension structure according to an embodiment of the present invention.
Fig. 10(b) is a schematic diagram of the variable stiffness characteristic.
Fig. 11(a) is a schematic view of the working space of the robot arm.
Fig. 11(b) is a top view of the robot arm workspace.
Figure 11(c) is a side view of the robot arm workspace.
In the figure: 1. a drive mechanism; 11. a motor support; 12. a drive motor; 13. a take-up reel; 14. fixing an end cover; 15. a pulley support; 16. a phase-change pulley; 2. a base; 3. a paper-folded housing; 4. an elastic connecting member; 41. buckling; 42. an elastic member; 5. a circular ring-shaped basic unit; 51. an elastic connection unit; 6. a straight bar-shaped base unit; 6. an extension block; 7. a rope.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus that are known by one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … … surface," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1 to 11, a continuous mechanical arm with a folded paper-shaped housing and a tension structure integrated therein comprises a plurality of annular basic units 5 coaxially arranged in a front-back direction, a straight rod-shaped basic unit 6 coaxially arranged with the annular basic units 5 is arranged between two adjacent annular basic units 5, and the front end and the back end of the straight rod-shaped basic unit 6 are respectively connected with the inner edges of the annular basic units 5 at the two ends of the straight rod-shaped basic unit 6 through a plurality of elastic connecting members 4 uniformly distributed around the axis of the straight rod-shaped basic unit 6; a paper folding-shaped shell 3 is arranged between two adjacent circular basic units 5, and two ends of the paper folding-shaped shell 3 are respectively and fixedly connected with the circular basic units 5 positioned at the two ends of the paper folding-shaped shell;
a base 2 is fixed on the front side of the most front annular basic unit 5, and a driving mechanism 1 is fixed on the base 2;
the driving mechanism 1 comprises a plurality of ropes 7 and a driving unit for driving the ropes 7 to move, the front ends of the ropes 7 are connected with the driving unit, the rear ends of the ropes 7 sequentially penetrate through the base 2 and the circular ring-shaped basic units 5 and then are fixedly connected with the circular ring-shaped basic unit 5 at the rearmost end, and the ropes 7 are uniformly distributed around the axis of the circular ring-shaped basic unit 5.
The driving unit 1 comprises a driving motor support 11 installed on the base 2, a driving motor 12 installed on the driving motor support 11, a take-up reel 13 installed on the output end of the driving motor 12, a fixed end cover 14 for fixing the take-up reel 13 and a direction-changing pulley 16 installed on the base 2 through a pulley support 15, and the front end of the rope 7 is connected with the take-up reel 13 through the direction-changing pulley 16.
A plurality of elastic connecting units 51 which are uniformly distributed around the circular basic unit 5 are respectively arranged on the inner edge of the rear side of the circular basic unit 5 at the foremost end, the inner edge of the front side of the circular basic unit 5 at the rearmost end and the inner edge of the front side and the inner edge of the rear side of the other circular basic unit 5, mounting holes I are formed in the elastic connecting units 51, and one end, close to the elastic connecting units 51, of the elastic connecting piece 4 is fixedly connected with the mounting holes I.
The both ends of the straight bar-shaped basic unit 6 are respectively provided with a plurality of extension blocks 61, the extension blocks 61 surround the axis of the straight bar-shaped basic unit 6 and are uniformly distributed, the extension direction of the extension blocks 61 is perpendicular to the axis direction of the straight bar-shaped basic unit 6, the extension blocks 61 are provided with mounting holes II, and the elastic connecting piece 4 is close to one end of the extension blocks and is fixedly connected with the mounting holes II.
The cord 7 passes through the base 2 and the circular ring-shaped base unit 5 in a straight line, and the straight line is parallel to the axis of the circular ring-shaped base unit 5. In this embodiment three ropes are used.
The elastic connection member 4 includes an elastic member 42 and snaps 41 installed at both ends of the elastic member 42.
The elastic member 42 is an elastic cord or spring.
As shown in fig. 8, which is a simulation diagram of the bending motion of the present invention, the driving mechanism 1 can realize the conversion from the original vertical state to the bending motion state by different driving amounts of the rope 7.
As shown in fig. 9, which is a simulation diagram of the axial expansion and contraction motion of the present invention, a motion state in which the length is gradually reduced from the original length is realized when the driving amounts of the three ropes 7 by the driving mechanism 1 are the same.
As shown in fig. 10, which is a schematic diagram of the variable stiffness characteristic of the present invention, as shown in fig. a, a mass block is fixed at the end of the robot arm, and in the case that the mass blocks have different weights, the driving force of the driving rope 7 can be changed to keep the positions of the ends of the robot arm the same, that is, the mass blocks at the ends are at the same height, so as to implement the variable stiffness characteristic of the robot arm. In a work task such as moving a heavy object to a fixed position, it is possible to precisely place a work object at a desired position with a different amount of heavy matter.
Referring to fig. 11, which is a schematic diagram of the end working space of the robot arm of the present invention, it should be noted that the working space is drawn as discrete points for better embodying the working space diagram of the present invention, and the actual robot arm working space is continuous inside the spheroid. The origin of the coordinate system is set as the circle center of the base, the initial posture of the mechanical arm is in a vertical state, and the axis is parallel to the z axis. As shown in fig. c, the end point can move from the lowest point P1(-0.540m) of z to P2(0.067m) at the highest point and then curve down to a position of P3(0.050 m). The shape of the working space of the tail end point is a sphere-like surface with an upper opening and a lower opening, and the mechanical arm has a large working space and can adapt to various working tasks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A continuous mechanical arm integrating a paper folding shell and a tension structure is characterized by comprising a plurality of annular basic units which are coaxially arranged front and back, wherein a straight rod-shaped basic unit which is coaxially arranged with the annular basic units is arranged between two adjacent annular basic units, and the front end and the back end of each straight rod-shaped basic unit are respectively connected with the inner edges of the annular basic units positioned at the two ends of the straight rod-shaped basic unit through a plurality of elastic connecting pieces which are uniformly distributed around the axis of the straight rod-shaped basic unit; a paper folding shell is arranged between every two adjacent circular basic units, and two ends of the paper folding shell are respectively and fixedly connected with the circular basic units positioned at the two ends of the paper folding shell;
a base is fixed on the front side of the most front annular basic unit, and a driving mechanism is fixed on the base;
the driving mechanism comprises a plurality of ropes and a driving unit for driving the ropes to move, the front ends of the ropes are connected with the driving unit, the rear ends of the ropes sequentially penetrate through the base and the circular ring-shaped basic units and then are fixedly connected with the circular ring-shaped basic unit at the rearmost end, and the ropes are uniformly distributed around the axis of the circular ring-shaped basic unit.
2. The continuous mechanical arm integrating the paper folding shell and the tensioning structure as claimed in claim 1, wherein the driving unit comprises a driving motor support installed on the base, a driving motor installed on the driving motor support, a take-up reel installed on an output end of the driving motor, and a direction-changing pulley installed on the base, and a front end of the rope is connected with the take-up reel after passing through the direction-changing pulley.
3. A continuous mechanical arm integrating a paper folding shell and a tensioning structure according to claim 1 or 2, characterized in that a plurality of elastic connecting units uniformly distributed around the circular ring-shaped basic unit are respectively mounted on the rear inner edge of the circular ring-shaped basic unit at the frontmost end, the front inner edge of the circular ring-shaped basic unit at the rearmost end and the front inner edge and the rear inner edge of the other circular ring-shaped basic unit, mounting holes I are formed in the elastic connecting units, and one end of the elastic connecting piece, close to the elastic connecting units, is fixedly connected with the mounting holes I.
4. The continuous mechanical arm integrating the paper folding shell and the tensioning structure as claimed in claim 3, wherein a plurality of extending blocks are respectively disposed at two ends of the straight rod-shaped basic unit, the extending blocks are uniformly distributed around the axis of the straight rod-shaped basic unit, the extending direction of the extending blocks is perpendicular to the axis direction of the straight rod-shaped basic unit, a mounting hole II is disposed on the extending block, and one end of the elastic connecting piece, which is close to the extending block, is fixedly connected with the mounting hole II.
5. A continuous robot arm incorporating a origami-shaped casing and a tension structure according to claim 1, wherein said rope passes through said base and said circular ring-shaped base unit in a straight line, and said straight line is parallel to an axis of the circular ring-shaped base unit.
6. A continuous robot arm with a combined paper folding shell and tension structure as claimed in claim 1, wherein the elastic connecting member comprises an elastic member and a clip installed at both ends of the elastic member.
7. A continuous robot arm incorporating a origami-shaped casing and a tension structure as claimed in claim 6, wherein said elastic member is an elastic rope or a spring.
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