CN116141299B - Reconfigurable rope-driven flexible outer limb mechanical arm and robot - Google Patents
Reconfigurable rope-driven flexible outer limb mechanical arm and robot Download PDFInfo
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- CN116141299B CN116141299B CN202310160475.6A CN202310160475A CN116141299B CN 116141299 B CN116141299 B CN 116141299B CN 202310160475 A CN202310160475 A CN 202310160475A CN 116141299 B CN116141299 B CN 116141299B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
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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
- B25J18/005—Arms having a curved shape
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Abstract
The invention relates to a flexible outer limb mechanical arm driven by a reconfigurable rope, which comprises a first bending joint, a second bending joint, a first driving rope set and a second driving rope set; wherein; the first bending joint and the second bending joint are connected in series and respectively comprise a mechanical arm unit or at least two mechanical arm units connected in series; one end of each mechanical arm unit is provided with a tenon part, the other end of each mechanical arm unit is provided with a mortise part, and two adjacent mechanical arm units are connected in series through the tenon parts and the mortise parts; the first drive cable set is connected to the end of the first flexure joint and the second drive cable set is connected to the end of the second flexure joint. According to the invention, a proper number of mechanical arm units can be selected for assembly on site according to task demands, so that the device has better space accessibility for different operation objects.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a flexible outer limb mechanical arm driven by a reconfigurable rope and a robot.
Background
With the continuous development of economy and science, various robots are being developed and applied to various industries and services for human beings. Wherein the flexible robot can realize movement and grabbing operation through continuous flexible deformation by simulating the movement mechanism of animal organs such as snakes, trunk and the like in the nature, and though the flexible robot does not have movable joints. The novel bionic robot has excellent bending performance incomparable with that of a traditional discrete robot, and can flexibly change the shape of the bionic robot according to the surrounding environment because the bionic robot can flexibly change the shape of the bionic robot, and has special adaptability to a narrow working space and a disordered environment, so the bionic robot has wide application prospect.
However, the existing flexible outer limb robot is limited by the whole size of the mechanical arm, the working space of the robot is relatively single, the size of the mechanical arm cannot be adjusted, and the robot cannot adapt to the environmental operation exceeding the working space or smaller than the working space. Furthermore, the mechanical arm is formed by connecting the connecting discs in series, the driving ropes are required to be arranged on the connecting discs, and the old and damaged driving ropes are faced, and the driving ropes are complicated and time-consuming to replace.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the flexible outer limb mechanical arm driven by the reconfigurable rope.
In order to solve the technical problems, the technical scheme of the invention is as follows: a reconfigurable rope-driven flexible outer limb mechanical arm, comprising a first bending joint, a second bending joint, a first driving rope set and a second driving rope set; wherein;
the first bending joint and the second bending joint are connected in series and respectively comprise a mechanical arm unit or at least two mechanical arm units connected in series;
one end of each mechanical arm unit is provided with a tenon part, the other end of each mechanical arm unit is provided with a mortise part, and two adjacent mechanical arm units are connected in series through the tenon parts and the mortise parts;
the first drive cable set is connected to the end of the first flexure joint and the second drive cable set is connected to the end of the second flexure joint.
The mechanical arm unit further comprises a plurality of connecting frameworks which are sequentially stacked and arranged between the tenon part and the mortise part; wherein,
the tenon portions, the mortise portions and the connecting frameworks are collectively called as connecting pieces, ball-and-socket joints are formed between the central parts of adjacent connecting pieces, two spring pieces which are symmetrical about the center are connected between the adjacent connecting pieces, the arch surfaces of the spring pieces face inwards, and the adjacent two spring pieces are arranged in a crisscross mode.
The first driving rope group is provided with four first driving ropes uniformly distributed along the circumferential direction, the second driving rope group is provided with four second driving ropes uniformly distributed along the circumferential direction, and the first driving rope group is positioned in an area surrounded by the second driving rope group; wherein,
each connecting skeleton is provided with four groups of rope grooves which are rotationally symmetrical about the center of the connecting skeleton by 90 degrees, each group of rope grooves comprises a first driving rope groove used for a first driving rope to pass through and a second driving rope groove used for a second driving rope to pass through, the openings of the first driving rope groove and the second driving rope groove face oppositely, and the groove bottoms are aligned in the radial direction;
the connecting frameworks are two, namely a first connecting framework and a second connecting framework, the first connecting frameworks and the second connecting frameworks are alternately arranged, the opening directions of the first driving rope grooves corresponding to the first connecting frameworks and the second connecting frameworks are opposite, and the opening directions of the second driving rope grooves corresponding to the first connecting frameworks and the second connecting frameworks are also opposite.
Further in order to restrain the position of driving rope in driving rope groove better, be equipped with four connection pad rope knot on every connection skeleton, connection pad rope knot is the S-shaped, including two curved shell fragments opposite in bending direction and the connection piece of connection between two curved shell fragments, the connection piece with connection skeleton links to each other, and every curved shell fragment is inlayed in one of first driving rope groove and the second driving rope groove of rope groove for retraining first driving rope or second driving rope at the tank bottom.
Further in order to make things convenient for the drive rope to get into in the drive rope groove, first drive rope groove with the opening of second drive rope groove is the V font to do the fillet processing, and little tip is towards the tank bottom.
Further, in order to prevent the tenon portion and the mortise portion which are matched in the bending process of the mechanical arm from relative displacement or deflection, the tenon portion comprises a first main body portion and a tenon arranged at the central position of the first main body portion, and the mortise portion comprises a second main body portion and a mortise arranged at the central position of the second main body portion; wherein,
the tenon embedding mortise, first main part with second main part offsets, the butt face of first main part and second main part all is equipped with eight magnetism along circumference respectively and inhales the part recess, and every magnetism is inhaled and is all inlayed in the part recess and inhale the part.
Further, in order to facilitate the driving rope to pass through the tenon part and the mortise part, four rope threading groove groups are arranged on the first main body part and the second main body part along the circumferential direction, each rope threading groove group comprises a key groove, a first arc-shaped groove and a second arc-shaped groove which respectively penetrate along the axial direction, the first arc-shaped groove and the second arc-shaped groove are aligned along the radial direction, the outer diameter of the first arc-shaped groove is smaller than the inner diameter of the second arc-shaped groove, and the groove depth direction of the key groove is positioned along the radial direction and is respectively communicated with the first arc-shaped groove and the second arc-shaped groove; wherein,
when the key grooves of the first main body part and the second main body part are aligned, the magnetic attraction parts of the first main body part and the second main body part are aligned, the first driving rope and the second driving rope can enter the key grooves along the groove depth direction, when the second main body part is rotated 45 degrees relative to the first main body part along the corresponding direction from the key groove aligned state, the first driving rope circumferentially enters the first arc-shaped groove, and the second driving rope circumferentially enters the second arc-shaped groove.
Further in order to prevent that the tenon breaks away from the mortise when the arm bending amplitude is too big, the free end of tenon all is equipped with four dogs along circumference, the dog radially evaginates, the opening of mortise has the cooperation board, the cooperation board seted up with the free end of tenon and four dog shape assorted mating hole when the keyway of first main part with the second main part aligns, the tenon can pass the mating hole gets into in the mortise.
Further, the reconfigurable rope driven flexible outer limb mechanical arm further comprises a flexible clamping jaw, wherein the flexible clamping jaw is arranged at the tail end of the second bending joint;
further, in order to increase the torque resistance of the mechanical arm, a woven film is wrapped outside the mechanical arm body formed by the first bending joint and the second bending joint.
The invention also provides a robot comprising:
a backpack wearable on a human body;
two flexible outer limb mechanical arms driven by the reconfigurable ropes are arranged on the left side and the right side of the backpack.
After the technical scheme is adopted, the invention has the following beneficial effects:
1. the mechanical arm adopts a reconfigurable structure, has better space selectivity compared with the traditional continuous mechanical arm, has a reconfigurable design, can select the number of reconfigurable mechanical arm units of the first bending joint and the second bending joint according to different working environments, working modes and wearers, and is quickly assembled;
2. the quick rope threading design of the invention overcomes the problem of difficult rope threading of the traditional mechanical arm and greatly improves the rope threading efficiency of the mechanical arm.
Drawings
FIG. 1 is a schematic structural view of a reconfigurable rope-driven flexible outer limb manipulator of the present invention;
FIG. 2 is a schematic diagram of a mechanical arm unit according to the present invention;
FIG. 3 is a schematic view of a mechanical arm unit according to another embodiment of the present invention;
fig. 4 is an enlarged view of a portion a of fig. 3;
FIG. 5 is a schematic structural view of a first connecting skeleton according to the present invention;
FIG. 6 is a schematic structural view of a second connecting skeleton according to the present invention;
fig. 7 is a schematic structural view of the connecting disc rope buckle of the present invention;
FIG. 8 is a schematic view of the tenon portion of the present invention;
fig. 9 is a schematic structural view of a mortise part of the present invention;
fig. 10 is a schematic structural view of a robot according to the present invention;
FIG. 11 is a schematic view of a robot of the present invention being worn on a human body; wherein,
1. a robot arm body; 11. a first flexure joint; 12. a second flexure joint;
2. a mechanical arm unit; 21. a tenon portion; 211. a first body portion; 212. a tenon; 2121. a stop block; 22. mortise part; 221. a second body portion; 222. mortise holes; 2221. matching plates; 23. a spring piece; 24a, a first connecting skeleton; 24b, a second connecting skeleton; 241. a first driving rope groove; 242. a second driving rope groove; 25. connecting disc rope buckles; 26. a magnetic component groove; 27. rope threading groove group; 271. a key slot; 272. a first arc-shaped groove; 273. a second arc-shaped groove;
3. a first drive rope;
4. a second drive rope;
5. a flexible jaw;
6. braiding a film;
7. a backpack; 71. a shoulder strap; 72. and connecting the platform.
Detailed Description
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Example 1
As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, a reconfigurable rope-driven flexible outer limb manipulator comprises a first flexure joint 11, a second flexure joint 12, a first drive rope set and a second drive rope set; wherein;
the first bending joint 11 and the second bending joint 12 are connected in series, and each comprises one mechanical arm unit 2 or at least two mechanical arm units 2 connected in series;
one end of each mechanical arm unit 2 is provided with a tenon 21, the other end of each mechanical arm unit is provided with a mortise 22, and two adjacent mechanical arm units 2 are connected in series through the tenon 21 and the mortise 22;
the first drive cable set is connected to the end of the first bending joint 11 and the second drive cable set is connected to the end of the second bending joint 12.
The single bending joint can realize the motion of bending and twisting two degrees of freedom, namely, similar to a spring, the top part applies pressure, the spring generates bending, the bending amplitude is a bending angle, bending in that direction is called twisting angle, and the bending is 2 degrees of freedom, therefore, the single mechanical arm has four degrees of freedom, namely, the first bending joint 11 twisting angle, the first bending joint 11 bending angle, the second bending joint 12 twisting angle and the second bending joint 12 bending angle.
In the present embodiment, as shown in fig. 1, the first bending joint 11 has three robot arm units 2, the second bending joint 12 has two robot arm units, the first, second, and third robot arm units 2 constitute the first bending joint 11, and the fourth and fifth robot arm units 2 constitute the second bending joint 12.
Specifically, the mechanical arm in this embodiment adopts a reconfigurable structure, and compared with the traditional continuous mechanical arm, the mechanical arm has better space selectivity, and the reconfigurable design of the mechanical arm can select the number of the reconfigurable mechanical arm units 2 of the first bending joint 11 and the second bending joint 12 according to different working environments, working modes and wearers, and can be assembled quickly.
As shown in fig. 1, 2, 3, and 4, the mechanical arm unit 2 further includes a plurality of connection skeletons sequentially stacked and arranged between the tenon portion 21 and the mortise portion 22; wherein,
the tenon portions 21, the mortise portions 22 and the connecting frameworks are collectively called as connecting pieces, ball-and-socket joints are formed between the central parts of adjacent connecting pieces, two spring pieces 23 which are symmetrical about the center are connected between the adjacent connecting pieces, the arch surfaces of the spring pieces 23 face inwards, and the adjacent two layers of spring pieces 23 are arranged in a crisscross manner. The structure of the mechanical arm unit 2 is so arranged that the assembly is facilitated.
In this embodiment, the end face of the connector is provided with a spring slot, and the end of the spring piece 23 is inserted into the corresponding spring slot. The spring pieces 23 are of flat design, the front and back bending towards the bending radian can be realized, the adjacent two layers of spring pieces 23 are arranged in a crisscross mode, the angle coupling of the upper layer of spring pieces 23 and the lower layer of spring pieces 23 is 0-360 torsion angles, and the torsion resistance of the mechanical arm can be improved.
As shown in fig. 3, 4, 5 and 6, the first driving rope group is provided with four first driving ropes 3 uniformly distributed along the circumferential direction, the second driving rope group is provided with four second driving ropes 4 uniformly distributed along the circumferential direction, and the first driving rope group is positioned in an area surrounded by the second driving rope group; wherein,
each connecting skeleton is provided with four sets of rope grooves which are rotationally symmetrical about the center thereof by 90 degrees, each set of rope grooves comprises a first driving rope groove 241 for the first driving rope 3 to pass through and a second driving rope groove 242 for the second driving rope 4 to pass through, the openings of the first driving rope groove 241 and the second driving rope groove 242 are opposite, and the groove bottoms are aligned in the radial direction;
the two connection frameworks are respectively a first connection framework 24a and a second connection framework 24b, the first connection framework 24a and the second connection framework 24b are alternately arranged, the openings of the first driving rope grooves 241 corresponding to the first connection framework 24a and the second connection framework 24b are opposite, and the openings of the second driving rope grooves 242 corresponding to the first connection framework and the second connection framework are opposite.
By alternately arranging the first connection frames 24a and the second connection frames 24b, the first driving rope 241 and the second driving rope 242 can be prevented from being separated from the connection frames during bending and twisting of the robot arm.
In this embodiment, the driving ropes stress the connecting skeletons by changing their respective lengths, changing the included angles between the connecting skeletons. The included angles among the connecting skeletons are coupled, so that a torsion angle and a bending angle are generated by a single bending joint compared with a base coordinate system, the lengths of the driving ropes are controlled, and the movement of the mechanical arm is realized.
As shown in fig. 7, four connecting disc rope buckles 25 are assembled on each connecting frame, the connecting disc rope buckles 25 are S-shaped, each connecting disc rope buckle comprises two arc-shaped elastic pieces with opposite bending directions and a connecting piece connected between the two arc-shaped elastic pieces, the connecting piece is connected with the connecting frame, each arc-shaped elastic piece is inlaid in one of a first driving rope groove 241 and a second driving rope groove 242 of the rope groove, and the connecting piece is used for restraining the first driving rope 3 or the second driving rope 4 at the bottom of the groove. The first driving rope 3 and the second driving rope 4 can be extruded into the corresponding groove bottoms from the positions between the arc-shaped elastic pieces and the side walls of the grooves near the groove bottoms, and then are restrained in the corresponding groove bottoms by the arc-shaped elastic pieces.
In the rope threading process, the connecting disc rope locking buckle 25 can restrict the first driving rope 3 and the second driving rope 4 at the bottom of the groove, so that the first driving rope 3 or the second driving rope 4 is prevented from being separated from the connecting framework from the notch of the rope groove due to the loose state in the rope threading process.
In addition, the first connecting frames 24a and the second connecting frames 24b are alternately arranged, so that the use frequency of the connecting disc rope locking buckle 25 can be reduced and the service life can be prolonged in the process of controlling the bending and torsion of the mechanical arm by the driving rope. Even if a certain connecting disc rope locking buckle 25 is damaged, the bottom of the corresponding rope groove can be used for restraining the driving rope, so that the avalanche effect cannot occur.
As shown in fig. 4, 5 and 6, the openings of the first driving rope groove 241 and the second driving rope groove 242 are V-shaped and rounded, and the small end portion faces the groove bottom. So set up, in the convenient drive rope gets into the drive rope groove, be convenient for wear the rope fast.
As shown in fig. 2, 3, 8, and 9, the tenon portion 21 includes a first body portion 211 and a tenon 212 provided at a central position of the first body portion 211, and the mortise portion 22 includes a second body portion 221 and mortise 222 provided at a central position of the second body portion 221; wherein,
tenon 212 embedding mortise 222, first main part 211 with second main part 221 offsets, the butt face of first main part 211 and second main part 221 all is equipped with eight magnetism and inhales part recess 26 along circumference respectively, and each magnetism is inhaled the part and is inlayed in part recess 26. By this arrangement, the tenon portion 21 and mortise portion 22 which are engaged with each other in the course of bending the arm can be prevented from being displaced or deflected relatively.
As shown in fig. 3, 8 and 9, the first main body portion 211 and the second main body portion 221 are provided with four rope threading groove groups 27 along the circumferential direction, the rope threading groove groups 27 comprise a key groove 271, a first arc groove 272 and a second arc groove 273 which respectively penetrate along the axial direction, the first arc groove 272 and the second arc groove 273 are aligned along the radial direction, the outer diameter of the first arc groove 272 is smaller than the inner diameter of the second arc groove 273, the groove depth direction of the key groove 271 is positioned along the radial direction, and the first arc groove 272 and the second arc groove 273 are respectively communicated; wherein,
when the key groove 271 of the first main body 211 and the key groove 271 of the second main body 221 are aligned, the magnetic attraction members of the first main body 211 and the second main body 221 are aligned, the first driving rope 3 and the second driving rope 4 may enter the key groove 271 in the groove depth direction, and when the second main body 221 is rotated 45 ° relative to the first main body 211 by the key groove 271 in the aligned state, the first driving rope 3 enters the first arc groove 272 in the circumferential direction, and the second driving rope 4 enters the second arc groove 273 in the circumferential direction.
Before threading, the first main body 211 and the key groove 271 of the second main body 221 are aligned, then the first driving rope 3 and the second driving rope 4 enter the key groove 271 along the depth direction of the key groove 271, then the first main body 211 or the second main body 221 is rotated 45 degrees towards the corresponding direction, so that the key grooves of the first main body 211 and the second main body 221 are staggered, meanwhile, the first driving rope enters the first arc-shaped groove 272, the second driving rope 4 enters the second arc-shaped groove 273, the tail end of the first arc-shaped groove 272 of the first main body 211 and the initial end of the first arc-shaped groove 272 corresponding to the second main body 221 jointly enclose a driving rope hole, the first driving rope 3 is fixed therein, and the tail end of the second arc-shaped groove 273 of the first main body 211 and the initial end of the second arc-shaped groove 273 corresponding to the second main body 221 jointly enclose a driving rope hole, and the second driving rope 4 is fixed therein. The rope threading groove group 27 with the structure facilitates rapid rope threading between the mechanical arm units 2.
Specifically, the quick rope threading design in the embodiment overcomes the problem that the traditional mechanical arm is difficult to thread rope, and greatly improves the rope threading efficiency of the mechanical arm.
As shown in fig. 3, 8 and 9, the free end of the tenon 212 is provided with four stoppers 2121 along the circumferential direction, the stoppers 2121 protrude outwards in the radial direction, the opening of the mortise 222 is provided with a matching plate 2221, the matching plate 2221 is provided with matching holes matching the shapes of the free end of the tenon 212 and the four stoppers 2121, and when the key grooves 271 of the first main body 211 and the second main body 221 are aligned, the tenon 212 can pass through the matching holes to enter the mortise 222.
When the key grooves 271 of the first main body 211 and the second main body 221 are aligned, the tenon 212 passes through the matching hole to enter the mortise 222, at this time, the mortise 22 and the tenon 21 are not locked, and are disconnected when no rope is arranged, and after rotating for 45 degrees, the mortise 22 and the tenon 21 are locked to prevent the tenon 212 from being separated from the mortise 222 when the bending amplitude of the mechanical arm is too large.
In the present embodiment, the outer portion of the arm body 1 formed by the first bending joint 11 and the second bending joint 12 is wrapped with the woven film 6. By the arrangement, on one hand, the torsion resistance of the mechanical arm body 1 can be improved, and on the other hand, sundries or dust can be prevented from entering a gap of the mechanical arm body 1 to influence the flexibility of the mechanical arm body 1.
As shown in fig. 1, the reconfigurable rope driven flexible outer limb manipulator further comprises a flexible jaw 5, said flexible jaw 5 being mounted at the end of said second bending joint 12. In this embodiment, the flexible clamping jaw 5 is mounted at the tail end of the second bending joint 12 through the cooperation of the tenon portion 21 and the mortise portion 22, and the flexible clamping jaw 5 realizes the grabbing action through rope driving. The flexible clamping jaw 5 and the mechanical arm body 1 are connected in a reconfigurable mode, different end effectors are convenient to replace and operate, and a driving rope of the flexible clamping jaw 5 is arranged through a cylindrical channel reserved in the center of the mechanical arm body 1.
Example two
As shown in fig. 1-11, a robot, comprising:
a backpack 7 wearable on a human body;
two flexible outer limb mechanical arms driven by the reconfigurable rope as in the first embodiment are arranged on the left side and the right side of the backpack 7.
The backpack 7 has shoulder straps 71 and a connection platform 72, and the flexible outer limb robot arm driven by the reconfigurable rope is mounted on the connection platform 72.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (6)
1. A flexible outer limb mechanical arm driven by a reconfigurable rope is characterized in that,
comprises a first bending joint (11), a second bending joint (12), a first driving rope group and a second driving rope group; wherein;
the first bending joint (11) and the second bending joint (12) are connected in series and respectively comprise a mechanical arm unit (2) or at least two mechanical arm units (2) connected in series;
one end of each mechanical arm unit (2) is provided with a tenon part (21), the other end of each mechanical arm unit is provided with a mortise part (22), and two adjacent mechanical arm units (2) are connected in series through the tenon parts (21) and the mortise parts (22);
the first driving rope set is connected with the tail end of the first bending joint (11), and the second driving rope set is connected with the tail end of the second bending joint (12);
the mechanical arm unit (2) further comprises a plurality of connecting frameworks which are sequentially stacked between the tenon part (21) and the mortise part (22); wherein,
the tenon parts (21), the mortise parts (22) and the connecting frameworks are collectively called as connecting pieces, ball-and-socket joints are formed between the central parts of adjacent connecting pieces, two spring pieces (23) which are symmetrical about the center are connected between the adjacent connecting pieces, the arch surfaces of the spring pieces (23) face inwards, and the adjacent two layers of spring pieces (23) are arranged in a crisscross manner;
the first driving rope group is provided with four first driving ropes (3) which are uniformly distributed along the circumferential direction, the second driving rope group is provided with four second driving ropes (4) which are uniformly distributed along the circumferential direction, and the first driving rope group is positioned in an area surrounded by the second driving rope group; wherein,
each connecting skeleton is provided with four sets of rope grooves which are rotationally symmetrical about the center thereof by 90 degrees, each set of rope grooves comprises a first driving rope groove (241) for passing a first driving rope (3) and a second driving rope groove (242) for passing a second driving rope (4), the openings of the first driving rope groove (241) and the second driving rope groove (242) are opposite, and the groove bottoms are aligned in the radial direction;
the connecting frameworks are two types, namely a first connecting framework (24 a) and a second connecting framework (24 b), the first connecting framework (24 a) and the second connecting framework (24 b) are alternately arranged, the opening directions of the first driving rope grooves (241) corresponding to the first connecting framework (24 a) and the second connecting framework (24 b) are opposite, and the opening directions of the second driving rope grooves (242) corresponding to the first connecting framework and the second connecting framework are opposite;
the tenon part (21) comprises a first main body part (211) and a tenon (212) arranged at the central position of the first main body part (211), and the mortise part (22) comprises a second main body part (221) and a mortise (222) arranged at the central position of the second main body part (221); wherein,
the tenon (212) is embedded into the mortise (222), the first main body part (211) and the second main body part (221) are propped against each other, eight magnetic component grooves (26) are respectively formed in the abutting surfaces of the first main body part (211) and the second main body part (221) along the circumferential direction, and each magnetic component groove (26) is internally embedded with a magnetic component;
the first main body part (211) and the second main body part (221) are provided with four rope threading groove groups (27) along the circumferential direction, the rope threading groove groups (27) comprise key grooves (271), first arc grooves (272) and second arc grooves (273) which respectively penetrate along the axial direction, the first arc grooves (272) and the second arc grooves (273) are aligned along the radial direction, the outer diameter of the first arc grooves (272) is smaller than the inner diameter of the second arc grooves (273), and the groove depth direction of the key grooves (271) is positioned along the radial direction and is respectively communicated with the first arc grooves (272) and the second arc grooves (273); wherein,
when the key grooves (271) of the first main body part (211) and the second main body part (221) are aligned, the magnetic attraction parts of the first main body part (211) and the second main body part (221) are aligned, the first driving rope (3) and the second driving rope (4) can enter the key grooves (271) along the groove depth direction, and when the second main body part (221) is rotated 45 degrees relative to the first main body part (211) along the corresponding direction in the aligned state of the key grooves (271), the first driving rope (3) circumferentially enters the first arc-shaped groove (272), and the second driving rope (4) circumferentially enters the second arc-shaped groove (273).
2. The reconfigurable rope driven flexible outer limb manipulator of claim 1,
four connecting disc rope buckles (25) are assembled on each connecting framework, each connecting disc rope buckle (25) is S-shaped and comprises two arc-shaped elastic sheets with opposite bending directions and a connecting sheet connected between the two arc-shaped elastic sheets, the connecting sheets are connected with the connecting frameworks, each arc-shaped elastic sheet is inlaid in one of a first driving rope groove (241) and a second driving rope groove (242) of the rope groove and used for restraining the first driving rope (3) or the second driving rope (4) at the bottom of the groove.
3. The reconfigurable rope driven flexible outer limb manipulator of claim 1,
the openings of the first driving rope groove (241) and the second driving rope groove (242) are V-shaped and are rounded, and the small end part faces the groove bottom.
4. The reconfigurable rope driven flexible outer limb manipulator of claim 1,
the free end of tenon (212) all is equipped with four dog (2121) along circumference, dog (2121) radially evagination, the opening of mortise (222) has cooperation board (2221), cooperation board (2221) seted up with the shape assorted cooperation hole of the free end of tenon (212) and four dog (2121) when first main part (211) with keyway (271) of second main part (221) are aligned, tenon (212) can pass cooperation hole entering in mortise (222).
5. The reconfigurable rope driven flexible outer limb manipulator of claim 1,
the device further comprises a flexible clamping jaw (5), wherein the flexible clamping jaw (5) is arranged at the tail end of the second bending joint (12);
and/or the outer part of the mechanical arm body (1) formed by the first bending joint (11) and the second bending joint (12) is wrapped with the woven film (6).
6. A robot is characterized in that,
comprising the following steps:
a backpack (7) wearable on a human body;
two reconfigurable rope driven flexible outer limb robotic arms according to any one of claims 1-5, mounted on the left and right sides of the backpack (7).
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| CN108214475A (en) * | 2017-12-30 | 2018-06-29 | 哈尔滨工业大学深圳研究生院 | A kind of rope driving flexible mechanical shoulder joint group of single-degree-of-freedom linkage |
| WO2021026991A1 (en) * | 2019-08-14 | 2021-02-18 | 哈尔滨工业大学（深圳） | Ultra-redundant linkage flexible mechanical arm based on closed-loop driving ropes |
| CN113370198A (en) * | 2021-06-28 | 2021-09-10 | 燕山大学 | Bionic cross fishbone-shaped continuum robot mechanical arm |
| CN114406988A (en) * | 2022-01-25 | 2022-04-29 | 常州大学 | Wearable continuous flexible outer limb robot for operation in narrow space |
| CN114526934A (en) * | 2022-02-16 | 2022-05-24 | 常州大学 | Flexible detection robot with automatically tensioned driving rope and control method thereof |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214475A (en) * | 2017-12-30 | 2018-06-29 | 哈尔滨工业大学深圳研究生院 | A kind of rope driving flexible mechanical shoulder joint group of single-degree-of-freedom linkage |
| WO2021026991A1 (en) * | 2019-08-14 | 2021-02-18 | 哈尔滨工业大学（深圳） | Ultra-redundant linkage flexible mechanical arm based on closed-loop driving ropes |
| CN113370198A (en) * | 2021-06-28 | 2021-09-10 | 燕山大学 | Bionic cross fishbone-shaped continuum robot mechanical arm |
| CN114406988A (en) * | 2022-01-25 | 2022-04-29 | 常州大学 | Wearable continuous flexible outer limb robot for operation in narrow space |
| CN114526934A (en) * | 2022-02-16 | 2022-05-24 | 常州大学 | Flexible detection robot with automatically tensioned driving rope and control method thereof |
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