CN113084829A - Bionic software disinfection mechanical arm based on framework capable of being precisely controlled - Google Patents
Bionic software disinfection mechanical arm based on framework capable of being precisely controlled Download PDFInfo
- Publication number
- CN113084829A CN113084829A CN202110361608.7A CN202110361608A CN113084829A CN 113084829 A CN113084829 A CN 113084829A CN 202110361608 A CN202110361608 A CN 202110361608A CN 113084829 A CN113084829 A CN 113084829A
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- shaft joint
- end cover
- air inlet
- disinfection
- internal framework
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- 210000003205 muscle Anatomy 0.000 claims abstract description 32
- 238000006073 displacement reaction Methods 0.000 claims abstract description 24
- 238000004659 sterilization and disinfection Methods 0.000 claims abstract description 23
- 238000007789 sealing Methods 0.000 claims abstract description 21
- 239000007921 spray Substances 0.000 claims abstract description 12
- 238000009434 installation Methods 0.000 claims abstract description 9
- 210000003437 trachea Anatomy 0.000 claims description 6
- 230000003592 biomimetic effect Effects 0.000 claims 9
- 239000011664 nicotinic acid Substances 0.000 abstract description 6
- 230000008878 coupling Effects 0.000 description 17
- 238000010168 coupling process Methods 0.000 description 17
- 238000005859 coupling reaction Methods 0.000 description 17
- 239000000463 material Substances 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 241000238413 Octopus Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a bionic soft disinfection mechanical arm based on a precisely-controllable framework, which comprises an internal framework, a plurality of sections of pneumatic muscles coupled end to end and a spray head installation module, wherein the internal framework penetrates through each pneumatic muscle; the internal framework is formed by movably connecting a plurality of shaft joints end to end, and an angle sensor for measuring the angular displacement information of the internal framework is arranged on the internal framework; the shaft joint comprises a telescopic shaft joint, and a displacement sensor for measuring displacement information of the inner skeleton line is arranged on the telescopic shaft joint; the pneumatic muscle comprises a plurality of air pipes arranged around the internal framework, and a sealing end cover and an air inlet end cover which are respectively arranged at two ends of each air pipe and used for sealing and fixing each air pipe, wherein the air inlet end cover is provided with an air inlet hole used for inflating each air pipe; the spray head installation module is fixed on the end cover on the outermost side. The invention can realize the accurate control of the mechanical arm and can easily acquire the posture of the mechanical arm.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a bionic soft disinfection mechanical arm based on a precisely controllable framework.
Background
In recent years, with the development of material technology and the development of rapid prototyping technology, researchers have increasingly studied soft robots worldwide. The design inspiration for soft robots was originally derived from the simulation of those soft creatures in nature. Among them, the mechanical arm type soft robot designed by simulating the structures such as the trunk and octopus tentacle is the most extensive, because the structure not only can adapt to the complex and narrow environment, but also can carry out the tasks of soft and safe target holding and operation, and is one of the current popular research directions of the soft robot.
The soft mechanical arm has wide application prospect in the fields of industrial production, aerospace operation, old and disabled assisting, medical rehabilitation, minimally invasive surgery, complex environment search and detection and the like, and has attracted wide attention of domestic and foreign scholars and research institutions in recent years. The soft mechanical arm needs bending, twisting, extending, contacting and object operation during operation, has high flexibility and large deformation capacity, and the driving mode generally adopts materials with large deformation capacity as driving sources or driving media, such as: air, wire, and Shape Memory Alloy (SMA).
The pneumatic artificial muscle is an elastic rubber sealing structure of the outer woven net, and the driver unit can be stretched and shortened after air pressure is introduced by changing the winding direction of the woven net. The development of soft robots also faces a number of difficulties and challenges: the new bionic structure and intelligent material provide higher requirements for the processing technology, and how to efficiently and quickly process the body structure meeting specific requirements is a difficult problem to be solved urgently.
The flexibility and high flexibility make the traditional sensors such as an encoder, a potentiometer, a rigid force touch sensor and the like difficult to integrate into the soft robot, so that the problems common to the soft robot are as follows: low control precision, difficult posture acquisition, small tail end load force and other application limitations. The development of the soft mechanical arm relates to the disciplines of bionics, soft material science, robotics and the like, and at present, the development of the soft mechanical arm also faces a plurality of challenges in the directions of flexible materials, robot modeling and simulation, sensing and control, multidisciplinary cross application and the like.
The patent specification with the publication number of CN108943010B discloses a pneumatic control type rigid-flexible coupling modularization software mechanical arm, which comprises an air bag structure used for controlling the movement of the mechanical arm through unidirectional inflation or deflation control of an inner cavity, wherein the air bag structure comprises at least one air bag module, the air bag module is formed by combining a plurality of air bag bodies distributed along the circumferential direction, the air bag module is provided with a fixing structure used for radially pulling the air bag module, and the fixing structures are distributed along the axial direction of the air bag module at intervals and used for improving the load capacity of the mechanical arm and enabling all the air bag bodies of the air bag module to mutually perform coupling movement. The biggest shortcoming of this scheme lies in that the arm main part is the gasbag structure, and the structural strength of whole arm is lower, and control accuracy is low simultaneously, the gesture obtains the difficulty.
Disclosure of Invention
The invention aims to provide a bionic soft disinfection mechanical arm based on a precisely controllable framework, which can realize precise control of the mechanical arm and can easily acquire the posture of the mechanical arm.
A bionic soft disinfection mechanical arm based on a precisely controllable framework comprises an internal framework, a plurality of sections of pneumatic muscles coupled end to end and a spray nozzle installation module, wherein the internal framework penetrates through each pneumatic muscle;
the internal framework is formed by movably connecting a plurality of shaft joints end to end, and an angle sensor for measuring the angular displacement information of the internal framework is arranged on the internal framework; the shaft joint comprises a telescopic shaft joint, and a displacement sensor for measuring displacement information of the inner skeleton line is arranged on the telescopic shaft joint;
the pneumatic muscle comprises a plurality of air pipes arranged around the internal framework, and a sealing end cover and an air inlet end cover which are respectively arranged at two ends of each air pipe and used for sealing and fixing each air pipe, wherein the air inlet end cover is provided with an air inlet hole used for inflating each air pipe; the spray head installation module is fixed on the end cover on the outermost side.
According to the invention, the angle sensor and the displacement sensor are arranged on the inner framework to obtain the axial rotation angle and the elongation of the framework, so that the accurate control and the acquisition of the posture of the mechanical arm are realized; meanwhile, the pneumatic muscles of multiple sections are coupled end to end, each pneumatic muscle can be independently controlled, any section can be controlled to move towards any direction by changing the air pressure input to the pneumatic muscles, and the overall flexibility of the mechanical arm is improved.
Preferably, the spray head mounting module comprises a mounting seat and a fixing block, and the fixing block is provided with a 90-degree through hole for fixing the disinfection spray pipe and an orifice respectively positioned on the side surface and the top surface of the fixing block. The 90 ° through hole is designed to provide axial and normal fixation of the disinfection nozzle.
Preferably, the telescopic shaft joint comprises an outer shaft joint and an inner shaft joint which is sleeved in the outer shaft joint and can axially move, the inner shaft joint of the telescopic shaft joint is movably connected with the outer shaft joint of the adjacent telescopic shaft joint, and the displacement sensor is arranged in the inner shaft joint; the inner shaft joint and the outer shaft joint can move relatively, and the scalability of the mechanical arm is improved.
The internal framework also comprises end shaft joints, wherein one end shaft joint is movably connected with an outer shaft joint of an adjacent telescopic shaft joint, and the other end shaft joint is movably connected with an inner shaft joint of the adjacent telescopic shaft joint; two end shaft joints are fixed on the corresponding end covers.
Preferably, universal joint forks are arranged on the end parts of the end shaft joint, the outer shaft joint and the inner shaft joint, which are used for being connected with each other, the mutually matched universal joint forks are movably connected through a universal joint pin, and the angle sensor is installed on the universal joint pin.
Preferably, the inner shaft joint comprises a telescopic rod, a boss is arranged at the end part of the telescopic rod extending into the outer shaft joint, and a step for preventing the boss from sliding out is arranged on the inner wall of the outer shaft joint. The design can prevent the inner shaft section from sliding out.
Preferably, the sealing end cover of the pneumatic muscle is connected with the air inlet end cover of the adjacent pneumatic muscle, and a gap for the inflation tube to extend into is reserved between the connected sealing end cover and the air inlet end cover.
Further preferably, the connected sealing end cover is connected with the air inlet end cover through a buckle or a ribbon.
Preferably, the disinfection mechanical arm comprises three pneumatic muscles coupled together, and each pneumatic muscle comprises six air pipes distributed in a regular hexagon.
Further preferably, the adjacent trachea is secured by suture.
Preferably, the sealing end cover and the air inlet end cover are both provided with lock columns which extend into the corresponding air pipes to fix the air pipes, and the air inlet holes penetrate through the lock columns on the air inlet end cover.
The invention has the beneficial effects that:
(1) the framework axial rotation angle and the elongation are obtained by arranging the angle sensor and the displacement sensor on the inner framework, so that the accurate control and the acquisition of the posture of the mechanical arm are realized.
(2) The invention adopts the coupling of the pneumatic muscles of a plurality of sections end to end, each pneumatic muscle can be independently controlled, any section can be controlled to move towards any direction by changing the air pressure input to the pneumatic muscle, and the integral flexibility of the mechanical arm is improved.
(3) The inner skeleton is arranged inside the pneumatic muscle in a penetrating mode, rigidity in the movement operation process can be kept, and the integral structural strength of the mechanical arm is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the present invention (with one side of the trachea hidden);
FIG. 3 is a schematic view of a rigid skeletal connection;
FIG. 4 is an exploded view of the telescopic coupling;
FIG. 5 is a schematic structural view of an end coupling;
FIG. 6 is a schematic structural view of a gimbal pin;
FIG. 7 is a schematic structural view of a showerhead mounting module;
FIG. 8 is a schematic structural view of an intake end cover;
FIG. 9 is a schematic structural view of a hermetic end cap;
FIG. 10 is a schematic structural view of an angle sensor;
fig. 11 is a schematic structural view of the displacement sensor.
Detailed Description
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 of the embodiments. 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.
As shown in fig. 1-11, a bionic soft disinfection mechanical arm based on a precisely controllable framework comprises an internal framework 1, a plurality of sections of pneumatic muscles 2 coupled end to end and a nozzle installation module 3, wherein the internal framework 1 penetrates through the pneumatic muscles 2.
The internal framework 1 is composed of a plurality of shaft joints which are movably connected end to end, and an angle sensor 13 and a displacement sensor 14 which are used for measuring the angle displacement information and the linear displacement information of the internal framework 1 are arranged on the internal framework 1.
The internal framework 1 specifically comprises an end shaft coupling 11 and a telescopic shaft coupling 12, wherein the telescopic shaft coupling 12 comprises an outer shaft coupling 121 and an inner shaft coupling 122 which is sleeved in the outer shaft coupling 121 and can axially move; specifically, the inner shaft joint 122 includes a telescopic rod, a boss 1221 is disposed on an end portion of the telescopic rod extending into the outer shaft joint 121, and a step 1211 for preventing the boss 1221 from slipping out is disposed on an inner wall of the outer shaft joint 121.
The displacement sensor 14 is specifically installed in the inner shaft joint 122, and specifically, a position-limiting ring sleeve 141 is arranged on the displacement sensor 14 to ensure stable connection with the inner shaft joint 122; when the internal framework 1 is in an initial state, the initial value of the displacement sensor 14 is set to be 0, when the internal framework 1 extends, the displacement amount in each telescopic shaft joint 12 is calculated, the integral extension amount of the internal framework 1 is obtained through accumulation, and therefore the axial extension or shortening displacement of the mechanical arm is obtained. The displacement sensor 14 is a laser displacement sensor.
In this embodiment, the inner shaft joint 122 of the telescopic shaft joint 12 is movably connected with the outer shaft joint 121 of the adjacent telescopic shaft joint 12, one end shaft joint 11 is movably connected with the outer shaft joint 121 of the adjacent telescopic shaft joint 12, and the other end shaft joint 11 is movably connected with the inner shaft joint 122 of the adjacent telescopic shaft joint 12.
Specifically, universal joint swing joint is adopted between end shaft coupling 11 and telescopic shaft coupling 12 and between telescopic shaft coupling 12, specifically, all be provided with universal joint fork 15 on the end that end shaft coupling 11, telescopic shaft coupling 12 and outer spindle 121 are used for connecting, and the universal joint fork 15 of mutually supporting the connection passes through universal joint pin 151 swing joint. Other types of universal joints may of course be used for the connection.
The angle sensor 13 is specifically installed on the universal joint pin 151, and specifically, the angle sensor 13 is provided with a pin shaft hole 131 for being sleeved on a pin shaft of the universal joint pin 151 to realize fixation; the angle sensor 13 is embodied as a potentiometer angle sensor, which can detect the angle of the axial rotation.
The pneumatic muscle 2 comprises a plurality of air pipes 21 arranged around the internal framework 1, and a sealing end cover 22 and an air inlet end cover 23 which are respectively arranged at two ends of the air pipes 21 and used for sealing and fixing each air pipe 21, wherein the air inlet end cover 23 is provided with an air inlet 231 used for inflating each air pipe 21.
In this embodiment, the disinfection arm includes that pneumatic muscle 2 coupling of three section forms, and every pneumatic muscle 2 includes six silica gel material trachea 21 that are regular hexagon and distribute, and silica gel material trachea 21 has scalability, and adjacent trachea 21 is sewed up fixedly through the stylolite.
In this embodiment, the end cap 22 of the pneumatic muscle 2 is connected to the end cap 23 of the adjacent pneumatic muscle 2, specifically, the end cap 22 and the end cap 23 are both provided with retaining rings 221 distributed annularly and used for fixing, the end cap 22 and the end cap 23 are fixed by a buckle or a tie, and when the end cap 22 and the end cap 23 are connected, a gap for the inflation tube to extend into is left between the two. Wherein, two end shaft joints 11 are respectively fixed on the sealing end cover 22 and the air inlet end cover 23, so as to realize the integral fixation of the internal framework 1.
The sealing end cover 22 and the air inlet end cover 23 are both provided with a lock column 232 extending into the corresponding air pipe 21 and used for fixing the air pipe 21, and the air inlet 231 penetrates through the lock column 232 on the air inlet end cover 23; the end cap 22 and the end cap 23 are also provided with a central hole 222 for the inner frame 1 to pass through.
Wherein, the air inlet end cover 23 at the outermost end of the disinfection mechanical arm is the tail end, the sealing end cover 22 at the outermost end is the front end, and the spray head installation module 3 is specifically fixed on the front end.
The spray head mounting module 3 comprises a mounting seat 31 and a fixing block 32, the mounting seat 31 is fixed on the sealing end cover 22, and the fixing block 32 is provided with a through hole 321 for fixing the disinfection spray pipe; through-hole 321 is a 90 ° through-hole with openings on the side and top surfaces of mounting block 32, respectively, to provide axial and normal mounting for the sterilization nozzle.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a bionical software disinfection arm based on can accurate control skeleton which characterized in that: the device comprises an internal framework, a plurality of sections of pneumatic muscles coupled end to end and a nozzle mounting module, wherein the internal framework penetrates through each pneumatic muscle;
the internal framework is formed by movably connecting a plurality of shaft joints end to end, and an angle sensor for measuring the angular displacement information of the internal framework is arranged on the internal framework; the shaft joint comprises a telescopic shaft joint, and a displacement sensor for measuring displacement information of the inner skeleton line is arranged on the telescopic shaft joint;
the pneumatic muscle comprises a plurality of air pipes arranged around the internal framework, and a sealing end cover and an air inlet end cover which are respectively arranged at two ends of each air pipe and used for sealing and fixing each air pipe, wherein the air inlet end cover is provided with an air inlet hole used for inflating each air pipe; the spray head installation module is fixed on the end cover on the outermost side.
2. The biomimetic soft disinfection robotic arm of claim 1, wherein: the spray head installation module comprises an installation seat and a fixed block, and the fixed block is provided with a 90-degree through hole for fixing the disinfection spray pipe and the orifice which are respectively positioned on the side surface and the top surface of the fixed block.
3. The biomimetic soft disinfection robotic arm of claim 1, wherein: the telescopic shaft joint comprises an outer shaft joint and an inner shaft joint which is sleeved in the outer shaft joint and can axially move, the inner shaft joint of the telescopic shaft joint is movably connected with the outer shaft joint of the adjacent telescopic shaft joint, and the displacement sensor is arranged in the inner shaft joint;
the internal framework also comprises end shaft joints, wherein one end shaft joint is movably connected with an outer shaft joint of an adjacent telescopic shaft joint, and the other end shaft joint is movably connected with an inner shaft joint of the adjacent telescopic shaft joint; two end shaft joints are fixed on the corresponding end covers.
4. The biomimetic soft disinfection robotic arm of claim 2, wherein: the end shaft joint, the outer shaft joint and the inner shaft joint are all provided with universal joint forks at the ends for connecting with each other, the mutually matched universal joint forks are movably connected through a universal joint pin, and the angle sensor is arranged on the universal joint pin.
5. The biomimetic soft disinfection robotic arm of claim 2, wherein: the inner shaft joint comprises a telescopic rod, a boss is arranged at the end part of the telescopic rod extending into the outer shaft joint, and a step for preventing the boss from sliding out is arranged on the inner wall of the outer shaft joint.
6. The biomimetic soft disinfection robotic arm of claim 1, wherein: the sealing end cover of the pneumatic muscle is connected with the air inlet end cover of the adjacent pneumatic muscle, and a gap for the inflation tube to extend into is reserved between the connected sealing end cover and the air inlet end cover.
7. The biomimetic soft disinfection robotic arm of claim 6, wherein: the connected sealing end cover is connected with the air inlet end cover through a buckle or a ribbon.
8. The biomimetic soft disinfection robotic arm of any one of claims 1-7, wherein: the disinfection mechanical arm comprises three pneumatic muscles which are coupled, and each pneumatic muscle comprises six air pipes which are distributed in a regular hexagon.
9. The biomimetic soft disinfection robotic arm of claim 8, wherein: the adjacent trachea is fixed by suture.
10. The biomimetic soft disinfection robotic arm of claim 8, wherein: the sealing end cover and the air inlet end cover are both provided with lock columns which stretch into the corresponding air pipes to fix the air pipes, and the air inlet holes penetrate through the lock columns on the air inlet end cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110361608.7A CN113084829A (en) | 2021-04-02 | 2021-04-02 | Bionic software disinfection mechanical arm based on framework capable of being precisely controlled |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110361608.7A CN113084829A (en) | 2021-04-02 | 2021-04-02 | Bionic software disinfection mechanical arm based on framework capable of being precisely controlled |
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| CN113084829A true CN113084829A (en) | 2021-07-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114905491A (en) * | 2022-05-17 | 2022-08-16 | 大连海事大学 | Water pressure artificial muscle driven modularized flexible bionic robot module and robot |
| CN115446814A (en) * | 2022-09-13 | 2022-12-09 | 鼎先智能装备科技(宿迁)有限公司 | Industrial manipulator capable of rotating and clamping by single arm |
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| CN111761606A (en) * | 2020-07-08 | 2020-10-13 | 北京卫星环境工程研究所 | Pneumatic soft tentacle robot based on novel pneumatic muscles |
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2021
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| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20210709 |
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