CN115107060A - Bionic arm for service robot - Google Patents
Bionic arm for service robot Download PDFInfo
- Publication number
- CN115107060A CN115107060A CN202211038085.3A CN202211038085A CN115107060A CN 115107060 A CN115107060 A CN 115107060A CN 202211038085 A CN202211038085 A CN 202211038085A CN 115107060 A CN115107060 A CN 115107060A
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- China
- Prior art keywords
- air bag
- arm
- service robot
- bionic arm
- control unit
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- 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
- B25J11/008—Manipulators for service tasks
Abstract
The application discloses a bionical arm for service type robot, through the connecting piece, mutually support between outer guard and actuating mechanism, utilize the control unit to each solenoid valve fill gas control, realize bionical arm's gesture adjustment, utilize the tapered air bag of the control unit messenger direction of rotation to exhaust, the tapered air bag of keeping away from the direction of rotation aerifys, it is rotatory to realize, operation more than a plurality of connecting pieces on the bionical arm are repeated, can realize bionical arm imitation snake class and carry out gesture adjustment, can assist flexible tong to reach and treat centre gripping object department, and then the centre gripping operation, it adopts bionical class design, operation consumption and noise are little, and the operation security is high, even take place the limbs touching with the operator, be difficult for the emergence collision danger, be fit for the cooperation of assistant operator closely and serve.
Description
Technical Field
The application relates to the field of service robots, in particular to a bionic arm for a service robot.
Background
With the rapid development of the robot technology, the application field of the robot technology is gradually expanded, and the service type robot is a robot which works semi-autonomously or fully autonomously and is mainly used for business office, household service, personal care and the like. As an execution component of interaction between the robot and the environment, the mechanical arm has very important significance for improving the intelligent level and the operation level of the robot.
The arm of robot has different characteristics in the field of difference, and on industrial robot, it was snatched the mode singleness, lacks the flexibility, needs many robots to assist jointly in the cooperativity, and is with high costs, and the environmental requirement is fixed.
Such service robot's operating efficiency is lower, because it is mostly rigid structure, collides with the user when the operation, easily causes bodily injury, and factor of safety is low, and then current arm when the operation, need keep the distance with the user, can't carry out some actual work, and the part can carry out the mechanical arm race of specific work fixed, and lacks the joint assistance nature.
How to further improve the practicability and the efficiency of the mechanical arm of the service robot is a problem that people in the field are always searching for, and therefore a bionic arm for the service robot is provided to solve the problem.
Disclosure of Invention
The bionic arm comprises a plurality of connecting pieces which are connected end to end, one end of each connecting piece is provided with a ball head, the other end of each connecting piece is provided with a ball groove matched with the ball head, and the ball heads of two adjacent connecting pieces are oppositely involuted and rotatably connected with the ball grooves;
the outer side of the connecting joint of two adjacent connecting pieces is sleeved with an outer protection piece, the outer wall of the ball groove is equally provided with three guide grooves at equal angles, the upper side and the lower side of the outer protection piece are respectively provided with a sliding block which is matched with the guide grooves one by one, the inner wall of the outer protection piece is provided with a plurality of groups of buffer grooves which are distributed at equal intervals, a driving mechanism is embedded in each buffer groove, and the driving mechanisms correspond to the guide grooves one by one;
the driving mechanism comprises a buffering air bag arranged inside the outer protective part and a plurality of conical air bags embedded in the buffering groove, the conical air bags of the same driving mechanism are communicated with the buffering air bags, the input ends of the buffering air bags are provided with electromagnetic valves, and the input ends of the buffering air bags are connected with an external air supply source through the electromagnetic valves;
the connecting piece that is located bionical arm top is fixed with the drive dolly, and the drive dolly still is equipped with the control unit with driving rail phase-match on the drive dolly, and the connecting piece that is located bionical arm bottom is fixed with the flexible tong that is used for the centre gripping object.
Optionally, the control unit is a circuit board with a microchip as a core, the control unit is externally connected with a power supply through a wire, and the control modules for driving the trolley, the electromagnetic valve and the flexible clamping hand are electrically connected with the control unit through wires.
Optionally, the flexible clamping hand comprises two groups of clamping parts which are used for clamping objects and are arranged oppositely, a plurality of clamping air bags which are arranged at equal intervals are arranged on one sides, far away from the two groups of clamping parts, of the clamping air bags, the clamping air bags are driven to bend along directions, close to or far away from each other, through inflation and deflation, the clamping parts, and the control module is a valve for controlling the inflation and deflation of the clamping air bags.
Optionally, the outer side of the connecting piece is of an engineering plastic structure, and the wall of the buffer groove is of a flexible rubber structure which is glued to the inner wall of the connecting piece.
Optionally, the three sliders on the upper side of the connecting member are disposed in a deflection manner with respect to the three sliders on the lower side thereof, and the deflection angle is sixty degrees.
Optionally, an elastic node is arranged between the connecting node of the sliding block and the connecting piece, and the elastic node has elastic force for driving the connecting piece to prevent the connecting piece from rotating.
Optionally, the outer wall of the ball head and the inner wall of the ball groove are both provided with a wear-resistant layer, and the wear-resistant layer is a ceramic wear-resistant layer.
Optionally, the buffering airbag is of an annular airbag structure, and the thickness of the connection side of the conical airbag and the buffering airbag is smaller than that of the other side of the conical airbag.
Optionally, the driving trolley is further provided with a CCD camera, the CCD camera is electrically connected with the control unit through a wire, and the control unit is internally provided with an image processing module for processing images transmitted by the CCD camera.
Optionally, the travelling crane track is U style of calligraphy track, and the travelling wheel of drive dolly is driven by servo motor.
Compare in prior art, the advantage of this application lies in:
(1) the invention uses the mutual cooperation of the connecting piece with the ball groove, the ball head and the guide groove, the outer protective piece with the slide block and the buffer groove, and the driving mechanism with the cone-shaped air bag, the buffer air bag and the electromagnetic valve, when in actual use, the driving track is arranged at one side of the wall, the control unit is used for controlling the driving trolley to move to a designated working position along the driving track, in order to adjust the specific distance between the bionic arm and the object, the control unit can be used for controlling the air charging and discharging of each electromagnetic valve to realize the posture adjustment of the bionic arm, if the ball groove and the ball head between the adjacent connecting pieces rotate in a certain direction, the control unit can be used for exhausting the cone-shaped air bag in the rotating direction and inflating the cone-shaped air bag far away from the rotating direction, the adjacent connecting pieces can realize the rotation by the sliding of the slide block in the rotating direction in the guide groove, when adjacent connecting piece is rotatory to appointed angle, closed by the control unit control solenoid valve, realize the locking of angle, operation more than a plurality of connecting pieces on the bionical arm are repeated, can realize bionical arm imitation snake class and carry out the attitude adjustment, can assist flexible tong to reach and treat centre gripping object department, and then the centre gripping operation, it adopts bionical class design, operation consumption and noise are little, and the operation security is high, even take place the limbs touching with the operator, the difficult danger of bumping, be fit for assisting the operator closely to cooperate and serve, market prospect has, and is suitable for popularization and application.
(2) The bionic arm and the flexible clamping hand are both flexibly designed, the clamping force is small, fragile articles such as cylindrical glass cups can be effectively clamped, and the use safety is high.
(3) Through the sixty-degree deflection setting of the connecting pieces, the turning directions of the two groups of adjacent connecting pieces have deviation on the vertical plane, so that the running freedom degree of the bionic arm is improved, and the multi-angle posture adjustment of the bionic arm can be realized through the combined turning of the connecting pieces.
(4) Design through the ceramic wearing layer, the rotatory smooth and easy nature and the life of rotation between bulb and ball groove have effectively been promoted, design through toper gasbag and buffering gasbag, when making the buffering gasbag aerify, because one side of toper gasbag is great, expand in advance here, make adjacent connecting piece inflation extrusion take place rotatoryly, after the rotation finishes, atmospheric pressure is used to in the buffering gasbag, can extrude the dashpot, make the cell wall of dashpot, the cell wall pressurized storage elastic potential energy of messenger's dashpot, utilize the rotation angle that storage elastic potential energy kept adjacent connecting piece, provide the holding power of maintaining rotation angle in proper order, and then make difficult emergence tenesmic phenomenon behind the flexible tong centre gripping object, the clamping stability has been promoted.
Drawings
FIG. 1 is a schematic front view of the present application;
FIG. 2 is a schematic bottom view of the present application;
FIG. 3 is a schematic cross-sectional structure of the present application;
FIG. 4 is an enlarged view of portion A of FIG. 3;
FIG. 5 is a schematic view of a combination structure of a connector and an outer protector according to the present application;
FIG. 6 is an exploded view of the connector and outer shield of the present application;
FIG. 7 is a schematic structural view of a connector of the present application;
FIG. 8 is a schematic structural view of a drive mechanism of the present application;
fig. 9 is a schematic cross-sectional view of an outer shield according to the present application.
The reference numbers in the figures illustrate:
the bionic robot comprises a travelling crane track 1, a driving trolley 2, a bionic arm 3, a connecting piece 31, a ball groove 311, a ball head 312, a guide groove 313, an outer protective piece 32, a sliding block 321, a buffer groove 322, a driving mechanism 33, a conical air bag 331, a buffer air bag 332, an electromagnetic valve 333, a flexible clamping hand 4, a clamping part 41 and a clamping air bag 42.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without any creative work based on the embodiments in the present application belong to the protection scope of the present application.
The application discloses a bionic arm for a service robot, please refer to fig. 1-9, which comprises a bionic arm 3 and a traveling track 1 for driving the bionic arm 3 to translate in the horizontal direction, wherein the bionic arm 3 comprises a plurality of end-to-end connecting pieces 31, one end of each connecting piece 31 is provided with a ball head 312, the other end of each connecting piece 31 is provided with a ball groove 311 matched with the ball head 312, and the ball heads 312 of two adjacent connecting pieces 31 are oppositely involuted with the ball grooves 311 and rotatably connected;
the outer side of the connecting joint of two adjacent connecting pieces 31 is sleeved with an outer protective piece 32, the outer wall of the ball groove 311 is equally provided with three guide grooves 313 at equal angles, the upper side and the lower side of the outer protective piece 32 are respectively provided with a sliding block 321 which is matched with the guide grooves 313 one by one, the inner wall of the outer protective piece 32 is provided with a plurality of groups of buffer grooves 322 which are arranged at equal intervals, a driving mechanism 33 is embedded in each buffer groove 322, and the driving mechanisms 33 correspond to the guide grooves 313 one by one; the driving mechanism 33 comprises a buffering air bag 332 arranged inside the outer protective part 32 and a plurality of conical air bags 331 embedded in the buffering groove 322, the conical air bags 331 of the same driving mechanism 33 are communicated with the buffering air bag 332, the input end of the buffering air bag 332 is provided with an electromagnetic valve 333, and the input end of the buffering air bag 332 is connected with an external air supply source through the electromagnetic valve 333;
the connecting piece 31 that is located bionical arm 3 top is fixed with drive dolly 2, and drive dolly 2 still is equipped with the control unit with driving track 1 phase-match on the drive dolly 2, is located the flexible tong 4 that is used for the centre gripping object that is fixed with of connecting piece 31 of bionical arm 3 bottom, and driving track 1 is the track of U style of calligraphy, and the driving wheel of drive dolly 2 is driven by servo motor.
In the invention, through the mutual matching of the connecting piece 31 with the ball groove 311, the ball head 312 and the guide groove 313, the outer protective piece 32 with the sliding block 321 and the buffer groove 322, and the driving mechanism 33 with the cone-shaped air bag 331, the buffer air bag 332 and the electromagnetic valve 333, when in actual use, the travelling track 1 is arranged at one side of the wall, the control unit is used for controlling the driving trolley 2 to move to a specified working position along the travelling track 1, in order to adjust the specific distance between the bionic arm 3 and an object, the control unit can be used for controlling the air charging and discharging of each electromagnetic valve 333 to realize the posture adjustment of the bionic arm 3, if the ball groove 311 and the ball head 312 between the adjacent connecting pieces 31 are required to rotate in one direction, the control unit can be used for exhausting the cone-shaped air bag 331 in the rotating direction and inflating the cone-shaped air bag 331 far away from the rotating direction, so that the adjacent connecting pieces 31 can slide in the guide groove 313 by the sliding block 321 in the rotating direction, realize rotatory, when adjacent connecting piece 31 is rotatory to appointed angle, closed by the control unit control solenoid valve 333, realize the locking of angle, operation more than a plurality of connecting pieces 31 on the bionical arm 3 are repeated, can realize that bionical arm 3 imitates the snake class and carry out the attitude adjustment, can assist flexible tong 4 to reach and treat centre gripping object department, and then the centre gripping operation, it adopts bionical class design, operation consumption and noise are little, and the operation security is high, even take place the limbs touching with the operator, difficult emergence collision danger, be fit for the cooperation closely of assistant operator and serve, market prospect has, and is suitable for popularization and application.
Specifically, referring to fig. 1-2, the control unit is a circuit board with a microchip as a core, the control unit is externally connected with a power supply through a wire, the driving cart 2, the electromagnetic valve 333 and the control module of the flexible gripper 4 are electrically connected with the control unit through wires, the flexible gripper 4 includes two sets of clamping portions 41 for clamping objects and arranged oppositely, a plurality of clamping air bags 42 arranged at equal intervals are arranged on one sides of the two sets of clamping portions 41 away from each other, the clamping air bags 42 are driven to bend along the direction of approaching to or away from each other through inflation and deflation, the control module is a valve for controlling the inflation and deflation of the clamping air bags 42, the driving cart 2 is further provided with a CCD camera, the CCD camera is electrically connected with the control unit through wires, and the control unit is internally provided with an image processing module for processing images transmitted by the CCD camera.
The bionic arm 3 and the flexible clamping hand 4 are both flexibly designed, the clamping force is small, fragile products such as cylindrical glass cups can be effectively clamped, and the use safety is high.
Specifically, referring to fig. 5 to 9, the outer side of the connecting member 31 is made of engineering plastic, the wall of the buffer slot 322 is made of flexible rubber and is glued to the inner wall of the connecting member 31, the three sliding blocks 321 on the upper side of the connecting member 31 are offset with respect to the three sliding blocks 321 on the lower side of the connecting member, the offset angle is sixty degrees, an elastic node is arranged between the connecting nodes of the sliding blocks 321 and the connecting member 31, and the elastic node has an elastic force for driving the connecting member 31 to prevent the connecting member 31 from rotating.
Through the sixty-degree deflection setting of connecting piece 31, the upset direction that makes two sets of adjacent connecting pieces 31 has the deviation on the perpendicular, and then has promoted bionical arm 3 operation degrees of freedom, and the gesture adjustment of bionical arm 3 multi-angles can be realized in the combination upset of a plurality of connecting pieces 31.
Specifically, referring to fig. 5 to 8, the outer wall of the ball head 312 and the inner wall of the ball groove 311 are both provided with a wear-resistant layer, the wear-resistant layer is a ceramic wear-resistant layer, the buffer air bag 332 is of an annular air bag structure, and the thickness of the connection side of the conical air bag 331 and the buffer air bag 332 is smaller than the thickness of the other side of the conical air bag 331.
Design through ceramic wearing layer, effectively promoted rotatory smoothness nature and rotatory life-span between bulb 312 and ball groove 311, design through toper gasbag 331 and buffering gasbag 332, when making buffering gasbag 332 aerify, because one side of toper gasbag 331 is great, the place is expanded in advance, make adjacent connecting piece 31 inflation extrusion take place rotatoryly, after the rotation finishes, atmospheric pressure is used to buffering gasbag 332 in, can extrude dashpot 322, make the cell wall of dashpot 322, make the cell wall pressurized storage elastic potential energy of dashpot 322, utilize the rotation angle that stores elastic potential energy and keep adjacent connecting piece 31, provide the holding power of maintaining rotation angle in proper order, and then make difficult emergence tenesmus phenomenon behind the flexible tong 4 centre gripping object, the clamping stability has been promoted.
Claims (10)
1. A bionic arm for a service robot comprises a bionic arm (3) and a traveling track (1) for driving the bionic arm (3) to translate in the horizontal direction, and is characterized in that the bionic arm (3) comprises a plurality of end-to-end connecting pieces (31), a ball head (312) is arranged at one end of each connecting piece (31), a ball groove (311) matched with the ball head (312) is formed in the other end of each connecting piece (31), and the ball heads (312) of two adjacent connecting pieces (31) are oppositely combined and rotatably connected with the ball grooves (311);
outer protective parts (32) are sleeved on the outer sides of the connecting nodes of two adjacent connecting parts (31), three guide grooves (313) are uniformly distributed on the outer wall of the ball groove (311) at equal angles, sliding blocks (321) matched with the guide grooves (313) one by one are arranged on the upper side and the lower side of each outer protective part (32), a plurality of groups of buffer grooves (322) which are distributed at equal intervals are arranged on the inner wall of each outer protective part (32), driving mechanisms (33) are embedded in the buffer grooves (322), and the driving mechanisms (33) correspond to the guide grooves (313) one by one;
the driving mechanism (33) comprises a buffering air bag (332) arranged inside the outer protective piece (32) and a plurality of conical air bags (331) embedded in the buffering groove (322), the conical air bags (331) of the same driving mechanism (33) are communicated with the buffering air bag (332), the input end of the buffering air bag (332) is provided with an electromagnetic valve (333), and the input end of the buffering air bag (332) is connected with an external air supply source through the electromagnetic valve (333);
the connecting piece (31) that is located bionical arm (3) top is fixed with drive dolly (2), drive dolly (2) and driving track (1) phase-match, still be equipped with the control unit on drive dolly (2), be located the flexible tong (4) that are used for the centre gripping object of connecting piece (31) fixed in bionical arm (3) bottom.
2. The bionic arm for the service robot as claimed in claim 1, wherein the control unit is a circuit board with a microchip as a core, the control unit is externally connected with a power supply through a lead, and the control modules of the driving trolley (2), the electromagnetic valve (333) and the flexible gripper (4) are electrically connected with the control unit through leads.
3. The bionic arm for the service robot as claimed in claim 2, wherein the flexible gripper (4) comprises two sets of clamping portions (41) which are used for clamping objects and are arranged oppositely, a plurality of clamping air bags (42) which are arranged at equal intervals are arranged on the two sets of clamping portions (41) at the sides far away from each other, the clamping air bags (42) are driven by inflation and deflation of the clamping portions (41) to bend along the directions close to or far away from each other, and the control module is a valve for controlling inflation and deflation of the clamping air bags (42).
4. The bionic arm for the service robot as claimed in claim 1, wherein the outer side of the connecting member (31) is made of engineering plastic, and the wall of the buffer groove (322) is made of flexible rubber glued to the inner wall of the connecting member (31).
5. The bionic arm for the service robot as claimed in claim 1, wherein the three sliding blocks (321) on the upper side of the connecting member (31) are arranged in a deflection way relative to the three sliding blocks (321) on the lower side of the connecting member, and the deflection angle is sixty degrees.
6. The bionic arm for the service robot as claimed in claim 1, wherein an elastic node is provided between the connection node of the sliding block (321) and the connection member (31), and the elastic node has an elastic force for driving the connection member (31) to prevent the connection member (31) from rotating.
7. The bionic arm for the service robot as claimed in claim 1, wherein the outer wall of the ball head (312) and the inner wall of the ball groove (311) are provided with wear-resistant layers, and the wear-resistant layers are ceramic wear-resistant layers.
8. The bionic arm for the service robot as claimed in claim 1, wherein the buffering air bag (332) is a ring-shaped air bag structure, and the thickness of the side of the conical air bag (331) connected with the buffering air bag (332) is smaller than that of the other side of the conical air bag (331).
9. The bionic arm for the service robot as claimed in claim 1, wherein the driving cart (2) is further provided with a CCD camera, the CCD camera is electrically connected to the control unit through a wire, and the control unit is provided with an image processing module for processing images transmitted by the CCD camera.
10. Bionic arm for a service robot according to claim 1, characterized in that the travelling rail (1) is a U-shaped rail and the wheels of the driving trolley (2) are driven by servo motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211038085.3A CN115107060A (en) | 2022-08-29 | 2022-08-29 | Bionic arm for service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211038085.3A CN115107060A (en) | 2022-08-29 | 2022-08-29 | Bionic arm for service robot |
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| Publication Number | Publication Date |
|---|---|
| CN115107060A true CN115107060A (en) | 2022-09-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211038085.3A Pending CN115107060A (en) | 2022-08-29 | 2022-08-29 | Bionic arm for service robot |
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| CN (1) | CN115107060A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116809419A (en) * | 2023-08-31 | 2023-09-29 | 长春汽车工业高等专科学校 | Sorting device capable of overturning mails |
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| EP3479974A1 (en) * | 2016-07-01 | 2019-05-08 | Suzhou Soft Robot Tech Co., Ltd | Soft finger, soft mechanical claw, and soft robot |
| CN110368619A (en) * | 2019-07-12 | 2019-10-25 | 东南大学 | A kind of intelligent extinguishing device based on Bionic flexible arm |
| CN111482949A (en) * | 2020-04-09 | 2020-08-04 | 杭州电子科技大学 | Novel flexible mechanical arm and driving method thereof |
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2022
- 2022-08-29 CN CN202211038085.3A patent/CN115107060A/en active Pending
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| EP3479974A1 (en) * | 2016-07-01 | 2019-05-08 | Suzhou Soft Robot Tech Co., Ltd | Soft finger, soft mechanical claw, and soft robot |
| CN106313037A (en) * | 2016-11-10 | 2017-01-11 | 燕山大学 | Pneumatic series flexible mechanical arm |
| CN106426146A (en) * | 2016-12-08 | 2017-02-22 | 燕山大学 | Double-acting pneumatic artificial muscle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116809419A (en) * | 2023-08-31 | 2023-09-29 | 长春汽车工业高等专科学校 | Sorting device capable of overturning mails |
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Application publication date: 20220927 |
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