CN115464685A - Flexible arm based on cross type variable-rigidity pneumatic telescopic/bending driving unit - Google Patents
Flexible arm based on cross type variable-rigidity pneumatic telescopic/bending driving unit Download PDFInfo
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- CN115464685A CN115464685A CN202211272804.8A CN202211272804A CN115464685A CN 115464685 A CN115464685 A CN 115464685A CN 202211272804 A CN202211272804 A CN 202211272804A CN 115464685 A CN115464685 A CN 115464685A
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- 238000005452 bending Methods 0.000 title claims abstract description 67
- 230000003042 antagnostic effect Effects 0.000 claims abstract description 31
- 210000004712 air sac Anatomy 0.000 claims 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 3
- 230000008602 contraction Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008485 antagonism Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 230000007123 defense Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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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
Abstract
The invention discloses a flexible arm based on crossed variable-stiffness pneumatic telescopic/bending driving units, which comprises a plurality of flexible joints which are sequentially connected in series, wherein each flexible joint comprises a plurality of crossed variable-stiffness pneumatic telescopic/bending driving units, the plurality of crossed variable-stiffness pneumatic telescopic/bending driving units surround to form a hollow prism, two adjacent crossed variable-stiffness pneumatic telescopic/bending driving units are movably connected through a unit connecting piece, each crossed variable-stiffness pneumatic telescopic/bending driving unit comprises a telescopic and bent crossed variable-axis lever frame, a prime air bag and an antagonistic air bag, and the prime air bag and the antagonistic air bags are respectively arranged on the left side and the right side of the crossed variable-axis lever frame. The flexible mechanical arm has the advantages of flexible structure, good load performance, flexible response and the like, and overcomes the defects of poor load performance, low driving efficiency, complex motion control and the like of the flexible mechanical arm in the prior art.
Description
Technical Field
The invention relates to the technical field of flexible robots, in particular to a flexible arm based on a cross type variable-rigidity pneumatic telescopic/bending driving unit.
Background
Robots play an increasingly important role in human society, and have been gradually expanded from the conventional industrial application fields to the fields of national defense, services, medical care, agriculture, and the like. However, the complexity and high frequency of robot-to-human interaction also place higher demands on the flexibility, compliance, and safety of the robot structure.
The flexible operation robot has high inherent flexibility, good flexibility, excellent environmental adaptability and natural safety interchangeability, so that the flexible operation robot has great development potential in the fields of aerospace operation, medical rehabilitation, industrial operation, man-machine interaction, post-disaster rescue, extreme environment detection and the like. However, the existing flexible operating device, particularly the flexible mechanical arm, has the defects of poor load performance, low driving efficiency, complex motion control and the like.
Therefore, how to provide a flexible arm based on a cross type variable stiffness pneumatic telescopic/bending driving unit with smart structure, good loading performance and flexible response is one of the technical problems to be solved in the field.
Disclosure of Invention
In view of the above, the present invention provides a flexible arm based on a cross type variable stiffness pneumatic telescopic/bending driving unit, and aims to solve the problems in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
a flexible arm based cross type variable stiffness pneumatic telescoping/bending drive unit comprising: a plurality of flexible joints connected in series in sequence; each flexible joint comprises a plurality of crossed variable-stiffness pneumatic telescopic/bending driving units; the plurality of crossed variable-stiffness pneumatic telescopic/bending driving units surround to form a hollow prism, and two adjacent crossed variable-stiffness pneumatic telescopic/bending driving units are movably connected through a unit connecting piece; each cross type variable-rigidity pneumatic telescopic/bending driving unit comprises a telescopic and bending cross type variable-axis lever frame, a driving air bag and an antagonistic air bag; the driving air bag and the antagonistic air bag are respectively arranged on the left side and the right side of the crossed variable-axis lever frame; and two adjacent flexible joints are connected through the crossed variable-axis lever frame.
Preferably, each crossed variable-axis lever frame comprises a first hollow lever, a second hollow lever and two chute frames which are arranged in parallel up and down; two ends of the driving air bag are respectively connected to the left sides of the two chute frames; two ends of the antagonistic air bag are respectively connected to the right sides of the two chute frames; the middle part of the first hollow lever and the middle part of the second hollow lever are both provided with a first through groove; the first hollow lever and the second hollow lever are arranged in a crossed mode, and a first positioning pin is arranged at the crossed position of the first hollow lever and the second hollow lever; the first hollow lever and the second hollow lever are matched with each other through the first positioning pin and the first through groove to generate relative sliding and rotation; the left end of the first hollow lever and the left end of the second hollow lever are respectively and rotatably connected to the corresponding chute frames; the right end of the first hollow lever and the right end of the second hollow lever are respectively connected to the corresponding chute frames in a sliding manner; two adjacent chute frames on the same plane of each flexible joint are connected through the unit connecting piece; two adjacent flexible joints share the chute frame between the two flexible joints.
Preferably, a second through groove is formed in the first hollow lever; the second hollow lever penetrates through the second through groove.
Preferably, two ends of the driving air bag are movably connected to the corresponding chute frames through first air bag connecting pieces; and two ends of the antagonistic air bag are movably connected to the corresponding chute frame through second air bag connecting pieces.
Preferably, a first channel for air inlet and air outlet of the motive air bag is arranged in one of the two first air bag connecting pieces; and a second channel for air inlet and air outlet of the antagonistic air bag is arranged in one of the two second air bag connecting pieces.
Preferably, the unit connection, the first airbag connection and the second airbag connection are all cross-universal joints.
Compared with the prior art, the invention has the following technical effects:
1) The flexible arm has the advantages that the air bag air pressure of each driving unit in the flexible arm is controlled, so that the expansion, the bending and the rigidity in a plane generated by each driving unit can be controlled, the expansion, the bending and the deformation in a space are further generated by driving the flexible joints, and the rigidity of the joints can be controlled at the same time, so that the flexible arm formed by connecting a plurality of flexible joints in series can realize any rigidity-variable deformation in the space, the good flexibility of the traditional flexible arm is kept, and the load performance of the flexible arm is also improved;
2) The flexible arm adopts the air bag as a drive, and has good flexibility and environmental adaptability due to strong compressibility of gas in the air bag; the pneumatic drive has larger energy density, and the telescopic deformation rate and the bending deformation rate of the crossed lever structure are large, so that the flexible arm has quick response capability and large working space; the driving unit has the variable stiffness characteristic, so that the flexible arm has excellent load performance;
3) The flexible mechanical arm has the advantages of flexible structure, good load performance, flexible response and the like, and overcomes the defects of poor load performance, low driving efficiency, complex motion control and the like of the flexible mechanical arm in the prior art.
Drawings
FIG. 1 is a schematic structural diagram of a flexible arm based on a cross type variable stiffness pneumatic telescoping/bending drive unit according to the present invention;
FIG. 2 is a schematic structural view of a flexible joint;
FIG. 3 is a schematic structural diagram of a cross type variable stiffness pneumatic telescoping/bending drive unit;
FIG. 4 is a schematic view of the connection portion of the first and second bladder connectors;
FIG. 5 is a schematic diagram of the cross type variable stiffness pneumatic telescoping/bending driving unit in the states of shortening, extending and right bending deformation, respectively;
FIG. 6 is a schematic view of the cross type variable stiffness pneumatic telescoping/bending drive unit in another right bending deformation state;
in the figure: 1. a flexible joint; 11. a cross type variable stiffness pneumatic telescoping/bending drive unit; 111. a cross type variable axis lever frame; 1111. a first hollow lever; 1112. a second hollow lever; 1113. a chute frame; 1114. a first through groove; 1115. a first positioning pin; 1116. a second positioning pin; 1117. a third positioning pin; 1118. a chute; 112. a prime air bag; 113. an antagonistic air cell; 114. a first bladder connector; 115. a second bladder connector; 12. a unit connecting member.
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.
Examples
Referring to fig. 1 to 6, the present invention discloses a flexible arm based on a cross type variable stiffness pneumatic telescopic/bending driving unit, comprising: 7 flexible joints 1 which are connected in series in sequence; each flexible joint 1 comprises 4 crossed variable-stiffness pneumatic telescopic/bending driving units 11; the 4 crossed variable-stiffness pneumatic telescopic/bending driving units 11 are arranged in parallel and surround to form a hollow prism, and the adjacent 2 crossed variable-stiffness pneumatic telescopic/bending driving units 11 are movably connected together through 2 unit connecting pieces 12; each cross type variable stiffness pneumatic telescoping/bending driving unit 11 comprises a telescopic and bending cross type variable axis lever frame 111, a motive air bag 112 and an antagonistic air bag 113; the prime air bag 112 and the antagonistic air bag 113 are respectively arranged at the left side and the right side of the cross variable-axis lever frame 111, wherein the prime air bag 112 bears the prime power required by the deformation of the cross variable-stiffness pneumatic telescopic/bending driving unit 11, the antagonistic air bag 113 generates the antagonistic force required by the variable-stiffness characteristic, the cross variable-stiffness pneumatic telescopic/bending driving unit 11 can generate the in-plane telescopic deformation and bending deformation by respectively changing the air pressure values in the prime air bag 112 and the antagonistic air bag 113, and the stiffness of the cross variable-stiffness pneumatic telescopic/bending driving unit 11 can be adjusted; the adjacent 2 flexible joints 1 are connected through a crossed variable-axis lever frame 111; when the device is used, the air pressure of the prime air bag 112 and the air pressure of the antagonistic air bag 113 in each cross type variable-stiffness pneumatic telescopic/bending driving unit 11 are controlled, so that each cross type variable-stiffness pneumatic telescopic/bending driving unit 11 can be controlled to generate telescopic and bending deformation in different planes, the flexible joints 1 are driven to generate telescopic and bending deformation in space, and the flexible arm formed by connecting a plurality of flexible joints in series can realize random deformation in space; the whole flexible arm can change the stretching and bending deformation degree of the driving unit by controlling the air pressure in the driving air bag and the antagonistic air bag, so that the space deformation posture of the flexible arm is adjusted, the rigidity of the driving unit can be changed, and the rigidity of the flexible arm is controlled, so that the whole flexible arm has flexibility and good load performance.
In this embodiment, each cross type variable-axis lever frame 111 includes a first hollow lever 1111, a second hollow lever 1112, and 2 sliding chute frames 1113 arranged in parallel up and down; both ends of the driving air bag 112 are respectively connected to the left sides of the 2 chute frames 1113; both ends of the antagonistic air bag 113 are respectively connected to the right sides of the 2 chute frames 1113; a first through groove 1114 is formed in the middle of the first hollow lever 1111 and the middle of the second hollow lever 1112; the first hollow lever 1111 and the second hollow lever 1112 are arranged in a crossed manner, and a first positioning pin 1115 is arranged at the crossed position of the first hollow lever 1111 and the second hollow lever 1112; the first positioning pin 1115 simultaneously passes through the first through groove 1114 on the first hollow lever 1111 and the second hollow lever 1112; the first hollow lever 1111 and the second hollow lever 1112 can generate relative sliding and rotation through the cooperation of the first positioning pin 1115 and the first through groove 1114, wherein the first positioning pin 1115 is a shaft center of the mutual movement of the first hollow lever 1111 and the second hollow lever 1112, and is used for restraining the first hollow lever 1111 and the second hollow lever 1112 together in a form of a revolute pair so as to ensure that the first hollow lever 1111 and the second hollow lever 1112 are not separated in the restraining process, and the first through groove 1114 is used for providing a sliding space for the shaft center (the first positioning pin 1115) so that the position of the shaft center on the first hollow lever 1111 and the second hollow lever 1112 can be changed within a certain range; the left end of the first hollow lever 1111 and the left end of the second hollow lever 1112 are respectively and rotatably connected to the corresponding chute frame 1113; the right end of the first hollow lever 1111 and the right end of the second hollow lever 1112 are respectively connected to the corresponding chute frame 1113 in a sliding manner; 2 adjacent sliding chute frames 1113 on the same plane of each flexible joint 1 are connected through a unit connecting piece 12; the adjacent 2 flexible joints 1 share 4 chute frames 1113 between the 2 flexible joints 1; the motive air bag 112 bears the motive power (i.e. the force for expanding the two levers outwards along the axis of the strip-shaped air bag) required by the deformation of the cross-type variable-stiffness pneumatic telescopic/bending driving unit 11, and the antagonistic air bag 113 generates the antagonistic force (i.e. the force for drawing the two levers inwards along the axis of the strip-shaped air bag) required by the variable-stiffness characteristic; through changing the inside atmospheric pressure value of driving gasbag 112 and antagonism gasbag 113 respectively, change the size of the external force that the gasbag applyed to two levers then, according to the balanced principle of lever atress, under different driving power and antagonism, cross type variable stiffness pneumatic telescoping/crooked drive unit 11 can demonstrate extension, shorten, left side bending and right side bending four kinds of operating condition, specific: when the motive power is larger than the antagonistic force, the left bending is carried out; (b) when the motive force is smaller than the antagonistic force, the right bending is carried out; (c) elongation or contraction when the motive force is equal to the antagonistic force; meanwhile, on the premise of not changing the ratio of the motive power to the antagonistic force, the magnitudes of the motive power and the antagonistic force are increased or reduced, and the rigidity of the cross type variable-rigidity pneumatic stretching/bending driving unit 11 is correspondingly increased or reduced under the condition that the deformation is kept unchanged, so that the function of changing the rigidity is realized.
In this embodiment, the first hollow lever 1111 is provided with a second through slot; the second hollow lever 1112 is disposed through the second through groove.
In this embodiment, the first hollow lever 1111 and the second hollow lever 1112 are both long.
In this embodiment, the cross section of the first through groove 1114 is a waist circle.
In this embodiment, the two ends of the driving airbag 112 are movably connected to the corresponding chute frames 1113 through the first airbag connectors 114; two ends of the antagonistic air bag 113 are movably connected to the corresponding chute frame 1113 through a second air bag connecting piece 115; when the axis (the first positioning pin 1115) of the cross type variable axis lever frame 111 is on the central axis of the cross type variable axis lever frame 111, the included angle between the first hollow lever 1111 and the second hollow lever 1112 is changed, the upper plane of the cross type variable axis lever frame 111 generates up-and-down translation movement, and the extension and shortening deformation of the cross type variable stiffness pneumatic telescopic/bending driving unit 11 is corresponded; when the axis is on the left side of the central axis of the cross type axis variable lever frame 111, the included angle between the first hollow lever 1111 and the second hollow lever 1112 is changed, the upper plane of the cross type axis variable lever frame 111 deflects to the left side, corresponding to the left bending deformation of the cross type rigidity variable pneumatic telescopic/bending driving unit 11, and the larger the distance of the axis deviating from the central axis of the cross type axis variable lever frame 111 is, the larger the bending deformation of the cross type rigidity variable pneumatic telescopic/bending driving unit 11 is; when the axis is on the right side of the central axis of the cross type axis-variable lever frame 111, the included angle between the first hollow lever 1111 and the second hollow lever 1112 is changed, the upper plane of the cross type axis-variable lever frame 111 deflects to the right side, corresponding to the right bending deformation of the cross type rigidity-variable pneumatic telescopic/bending driving unit 11, and the larger the distance of the axis deviating from the central axis of the cross type axis-variable lever frame 111 is, the larger the bending deformation of the cross type rigidity-variable pneumatic telescopic/bending driving unit 11 is.
In this embodiment, the left end of the first hollow lever 1111 and the left end of the second hollow lever 1112 are rotatably connected to the corresponding chute frame 1113 by the second positioning pin 1116; the right end of the first hollow lever 1111 and the right end of the second hollow lever 1112 are slidably connected to the corresponding chute frame 1113 through a third positioning pin 1117; correspondingly, the chute frame 1113 is provided with a chute 1118 matched with the third positioning pin 1117.
In the present embodiment, a first channel for air inlet and outlet of the motive air bag 112 is provided inside 1 of the 2 first air bag connectors 114; and a second channel for preventing the air from entering and exiting the air bag 113 is arranged inside 1 second air bag connecting piece 115 of the 2 second air bag connecting pieces 115.
In this embodiment, the unit connection 12, the first airbag connection 114 and the second airbag connection 115 are all cross-universal joints.
In this embodiment, the motive bladder 112 and the antagonistic bladder 113 are of a bellows structure made of a flexible waterproof/air leakage-proof material.
In this embodiment, the number of the sliding grooves 1118 on the other sliding groove frames 1113 is 2 except for 1 sliding groove 1118 on the sliding groove frame 1113 located at the starting end.
In other embodiments, the number of the flexible joints 1 and the cross type variable stiffness pneumatic telescoping/bending drive units 11 can be set according to actual requirements.
In other embodiments, the motive bladder 112 and the antagonistic bladder 113 can be set to other configurations that can produce shape elongation/contraction or volume expansion/contraction under different fluid pressures according to actual requirements.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.
Claims (6)
1. A flexible arm based cross type variable stiffness pneumatic telescoping/bending drive unit comprising: a plurality of flexible joints (1) which are connected in series in sequence; each flexible joint (1) comprises a plurality of crossed variable-rigidity pneumatic telescopic/bending driving units (11); a hollow prism is formed by surrounding a plurality of crossed variable-rigidity pneumatic telescopic/bending driving units (11), and two adjacent crossed variable-rigidity pneumatic telescopic/bending driving units (11) are movably connected through a unit connecting piece (12); each cross type variable-rigidity pneumatic stretching/bending driving unit (11) comprises a stretchable and bendable cross type variable-axis lever frame (111), a motive air bag (112) and an antagonistic air bag (113); the motive air bag (112) and the antagonistic air bag (113) are respectively arranged at the left side and the right side of the crossed variable-axis lever frame (111); two adjacent flexible joints (1) are connected through the crossed variable-axis lever frame (111).
2. The flexible arm based on cross type variable stiffness pneumatic telescopic/bending drive unit as claimed in claim 1, characterized in that each cross type variable axis lever frame (111) comprises a first hollow lever (1111), a second hollow lever (1112) and two chute frames (1113) arranged in parallel up and down; two ends of the motive power air bag (112) are respectively connected to the left sides of the two chute frames (1113); two ends of the antagonistic air bag (113) are respectively connected to the right sides of the two chute frames (1113); a first through groove (1114) is formed in the middle of the first hollow lever (1111) and the middle of the second hollow lever (1112); the first hollow lever (1111) and the second hollow lever (1112) are arranged in a crossed mode, and a first positioning pin (1115) is arranged at the crossed position of the first hollow lever (1111) and the second hollow lever (1112); the first hollow lever (1111) and the second hollow lever (1112) are matched through the first positioning pin (1115) and the first through groove (1114) to generate relative sliding and rotating; the left end of the first hollow lever (1111) and the left end of the second hollow lever (1112) are respectively and rotatably connected to the corresponding chute frame (1113); the right end of the first hollow lever (1111) and the right end of the second hollow lever (1112) are respectively connected to the corresponding chute frame (1113) in a sliding manner; two adjacent chute frames (1113) on the same plane of each flexible joint (1) are connected through the unit connecting piece (12); the two adjacent flexible joints (1) share the chute frame (1113) between the two flexible joints (1).
3. The flexible arm based on the cross type variable stiffness pneumatic telescopic/bending driving unit as claimed in claim 2, wherein the first hollow lever (1111) is provided with a second through slot; the second hollow lever (1112) is arranged in the second through groove in a penetrating mode.
4. The flexible arm based on cross type variable stiffness pneumatic telescopic/bending drive unit according to claim 2, characterized in that both ends of the motive air bag (112) are movably connected to the corresponding chute frame (1113) through a first air bag connecting member (114); two ends of the antagonistic air bag (113) are movably connected to the corresponding chute frame (1113) through a second air bag connecting piece (115).
5. A flexible arm based on a cross type variable stiffness pneumatic telescoping/bending drive unit according to claim 4 characterized in that a first channel for the inlet and outlet of the motive air bladder (112) is provided inside one of the two first air bladder connectors (114); one of the two second air bag connecting pieces (115) is internally provided with a second channel for air inlet and air outlet of the antagonistic air bag (113).
6. A flexible arm based cross type variable stiffness pneumatic telescoping/bending drive unit according to any of claims 4 or 5 characterized in that the unit connection (12), the first bladder connection (114) and the second bladder connection (115) are all cross universal joints.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211272804.8A CN115464685B (en) | 2022-10-18 | 2022-10-18 | Flexible arm based on crossed variable-rigidity pneumatic telescopic/bending driving unit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211272804.8A CN115464685B (en) | 2022-10-18 | 2022-10-18 | Flexible arm based on crossed variable-rigidity pneumatic telescopic/bending driving unit |
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| CN115464685A true CN115464685A (en) | 2022-12-13 |
| CN115464685B CN115464685B (en) | 2024-02-06 |
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