CN205363953U - Flexible mechanical arm of pneumatic rope accuse load type - Google Patents
Flexible mechanical arm of pneumatic rope accuse load type Download PDFInfo
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- CN205363953U CN205363953U CN201620172375.0U CN201620172375U CN205363953U CN 205363953 U CN205363953 U CN 205363953U CN 201620172375 U CN201620172375 U CN 201620172375U CN 205363953 U CN205363953 U CN 205363953U
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Abstract
The utility model relates to a flexible mechanical arm of pneumatic rope accuse load type, its structure is established ties by multisection parallel mechanism to form. And every section parallel mechanism comprises four pneumatic rubber capsules, four wire rope, two upper and lower connecting plates and cross universal joints. Four pneumatic rubber capsules and four wire rope ring array crisscross distribution the in proper order, every articular centre is connected by the cross universal joint. This arm adopts flexible construction, has a plurality of degrees of freedom, can be crooked to a plurality of directions. The rotation limitation that the rigidity pole of having overcome traditional arm brought has increased substantially the flexibility and the adaptive capacity to environment of robot, can bear great load.
Description
Technical field
This utility model belongs to robotics, is specifically related to a kind of universal joint and connects, and steel wire rope controls, the pneumatic rope control load type flexible mechanical arm that rubber pneumatic bag drives.
Background technology
The conventional motor in each joint of traditional mechanical arm drives, and its drive system is complex, and design difficulty is bigger.Pneumatic artificial muscle is a kind of novel driver, and it has been mixed air pressure and has driven and the artificial-muscle respective advantage of driving.It does not need deceleration device and drive mechanism, it is possible to directly drives, is not only simple in structure, flexible movements, and adaptive capacity to environment is strong, and power is big from anharmonic ratio, has bio-imitability and compliance.Therefore the joint drive of robot arm, finger is applied in a large number.
This flexible mechanical arm is subject to the inspiration of big trunk, mainly a kind of similar flexible continuum mechanical arm.To compress air for power source, utilize the elasticity of rubber, drive mechanical arm to bend to all directions.Meanwhile, rubber pneumatic bag and steel wire rope, candan universal joint interoperation, structure is more stable, and reliability is higher, more easily controls.This mechanical arm is particularly suitable for the operating mode of circumstance complication, it is possible to bears bigger load, has a wide range of applications.
Summary of the invention
For the deficiency that above-mentioned conventional machine mechanical arm exists, it is provided that a kind of pneumatic rope control load type flexible mechanical arm, it is achieved through the following technical solutions: its structure is to be in series by more piece parallel institution.And often save parallel institution and be made up of four rubber pneumatic bags, four steel wire ropes, upper and lower two connecting plates and candan universal joint.Four described rubber pneumatic bags and four steel wire rope annular arrays are interspersed successively, and the centre in each joint is connected by candan universal joint.This mechanical arm has multiple degree of freedom, it is possible to bend to multiple directions.
Further, described each connecting plate having the passage of four annular arrays, for proportion of installation valve trachea, connect compression air and rubber pneumatic bag, there is sealing device passage junction.Described connecting plate additionally has the through hole of four annular arrays for connecting steel wire ropes.
Further, described rubber pneumatic bag two ends have turning edge of outwards turnover, supporting rubber pressure ring push down.
Further, described steel wire rope adopts round-strand rope.Article four, steel wire rope is arranged on and is vertically connected with between plate, and each steel cord ends is fixed on upper junction plate by connector, and adpting flange is fixed on upper junction plate；The other end of every steel wire rope is promoted by electric pushrod, it is achieved steel wire rope move up and down control.
Further, described mechanical arm adopts air pressure and rope control cooperation to simultaneously drive.Adopting electric Proportion valve to control air pressure, electric pushrod controls steel wire rope, it is achieved mechanical arm moves to all directions.
Further, the end effector mechanism of described mechanical arm can installation manipulator, it is achieved the crawl of object.
By above-mentioned to description of the present utility model it can be seen that compared with prior art, this utility model provides a kind of pneumatic rope control load type flexible mechanical arm, interoperation by rubber pneumatic bag with steel wire rope, candan universal joint, structure is more stable, and reliability is higher, more easily controls.This mechanical arm is particularly suitable for the operating mode of circumstance complication, it is possible to bears bigger load, has a wide range of applications.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is Pneumatic flexible local joint enlarged drawing.
Fig. 3 is the bending effect figure of this structure.
Fig. 4 is Pneumatic circuit.
In Fig. 1 to Fig. 4: 1, rubber pneumatic bag, 2, steel wire rope, 3, connecting plate, 4, candan universal joint, 5, electric pushrod, 6, steel wire rope through hole, 7, passage, 8, universal joint connect axle, 9, rubber pressure ring, 10, source of the gas, 11, air filter, 12, air relief valve, 13, Pressure gauge, 14, oil sprayer, 15, pneumatic proportional valve, 16, air bag.
Detailed description of the invention
It is described further below in conjunction with accompanying drawing.
As shown in Figure 1 to Figure 3, a kind of pneumatic rope control load type flexible mechanical arm, its structure is to be in series by more piece parallel institution.And often save parallel institution and be made up of 1, four steel wire ropes 2 of four rubber pneumatic bags, upper and lower two connecting plates 3 and candan universal joint 4.
Described four rubber pneumatic bags 1 and four steel wire rope 2 annular arrays are interspersed successively, and each joint is connected by candan universal joint 4.This mechanical arm has multiple degree of freedom, it is possible to bend to multiple directions.
As in figure 2 it is shown, there is the passage 7 of four annular arrays on described each connecting plate 3, for proportion of installation valve trachea, connecting compression air and rubber pneumatic bag 1, there is sealing device passage 7 junction.Described connecting plate 3 additionally has the through hole 6 of four annular arrays for connecting steel wire ropes 2.
Described rubber pneumatic bag 1 two ends have turning edge of outwards turnover, supporting rubber pressure ring 9 push down, seal.
Described steel wire rope 2 adopts round-strand rope.Article four, steel wire rope 2 is arranged on and is vertically connected with between plate 3, and each steel wire rope 2 end is fixed on upper junction plate by connector, and adpting flange is fixed on upper junction plate；The other end of every steel wire rope 2 is promoted by electric pushrod 5, it is achieved steel wire rope 2 move up and down control.
Described mechanical arm adopts air pressure and rope control cooperation to simultaneously drive, and simple in construction, reliability is high.Adopting electric Proportion valve to control air pressure, electric pushrod 5 controls steel wire rope 2, it is achieved mechanical arm moves to all directions.
The end effector mechanism of described mechanical arm can installation manipulator, it is achieved the crawl of object.
In Fig. 4, source of the gas 10 adopts mini air compressor individually to supply, and by pneumatic triple piece air filter 11, air relief valve 12 and oil sprayer 14, pneumatic circuit is divided into four branch roads and connects pneumatic proportional valve 15 respectively, for controlling the pressure of air bag 16.
During the work of this mechanical arm, rubber pneumatic bag 1 inner chamber is filled with compression air, forms a compression air gas column.The rubber pneumatic bag 1 of composition mechanical arm flexible joint occurs bending and deformation under the influence of air pressure, and the positive/negative-pressure of passing ratio valve regulation rubber pneumatic bag 1 realizes the mechanical arm action to all directions, completes just to bend, the action such as side-sway and recurvation.Meanwhile, steel wire rope 2 realizes moving up and down by electric pushrod 5.Rubber pneumatic bag 1 and steel wire rope 2, candan universal joint 4 interoperation, structure is more stable, has more easily controlled grasping body.
After passing into compression air in rubber pneumatic bag 1, elastic rubber pipe cavity volume increases, and due to the constraint of external helical springs, its expanded radially is restricted；Gas can produce axial thrust at muscle end cap place, drives rubber tube and spring axial elongation simultaneously.Controlled the duty of four artificial-muscles of multi-direction bending intraarticular by solenoid directional control valve, regulate the bending direction in joint；Application percentage valve control intra articular pressure and degree of crook realize bending and the axial elongation of spatially multiple directions.
Claims (6)
1. a pneumatic rope control load type flexible mechanical arm, it is characterised in that: this utility model relates to a kind of pneumatic rope control load type flexible mechanical arm, and its structure is to be in series by more piece parallel institution；And often save parallel institution and be made up of four rubber pneumatic bags, four steel wire ropes, upper and lower two connecting plates and candan universal joint；Four described rubber pneumatic bags and four steel wire rope annular arrays are interspersed successively, and the centre in each joint is connected by candan universal joint；This mechanical arm has multiple degree of freedom, it is possible to bend to multiple directions.
2. one according to claim 1 pneumatic rope control load type flexible mechanical arm, it is characterized in that: described each connecting plate has the passage of four annular arrays, for proportion of installation valve trachea, connecting compression air and rubber pneumatic bag, there is sealing device passage junction；Described connecting plate additionally has the through hole of four annular arrays for connecting steel wire ropes.
3. one according to claim 1 pneumatic rope control load type flexible mechanical arm, it is characterised in that: described rubber pneumatic bag two ends have turning edge of outwards turnover, supporting rubber pressure ring push down, and sealing effectiveness is good.
4. one according to claim 1 pneumatic rope control load type flexible mechanical arm, it is characterised in that: described steel wire rope adopt round-strand rope, intensity height, good springiness, from heavy and light and flexibility good；Article four, steel wire rope is arranged on and is vertically connected with between plate, and each steel cord ends is fixed on upper junction plate by connector, and adpting flange is fixed on upper junction plate；The other end of every steel wire rope is promoted by electric pushrod, it is achieved steel wire rope move up and down control.
5. one according to claim 1 pneumatic rope control load type flexible mechanical arm, it is characterised in that: described mechanical arm adopts air pressure and rope control cooperation to simultaneously drive, and simple in construction, reliability is high；Adopting electric Proportion valve to control air pressure, electric pushrod controls steel wire rope, it is achieved mechanical arm moves to all directions.
6. one according to claim 1 pneumatic rope control load type flexible mechanical arm, it is characterised in that: the end effector mechanism of described mechanical arm can installation manipulator, it is achieved the crawl of object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620172375.0U CN205363953U (en) | 2016-03-08 | 2016-03-08 | Flexible mechanical arm of pneumatic rope accuse load type |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620172375.0U CN205363953U (en) | 2016-03-08 | 2016-03-08 | Flexible mechanical arm of pneumatic rope accuse load type |
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| CN205363953U true CN205363953U (en) | 2016-07-06 |
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| CN201620172375.0U Expired - Fee Related CN205363953U (en) | 2016-03-08 | 2016-03-08 | Flexible mechanical arm of pneumatic rope accuse load type |
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| CN107891419A (en) * | 2017-12-18 | 2018-04-10 | 燕山大学 | Phagocytosis type crawl transmission integrated flexible robot |
| CN108044613A (en) * | 2017-11-29 | 2018-05-18 | 上海交通大学 | Flexible pneumatic unit is connected mechanical arm with multiple-unit |
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| CN109262603A (en) * | 2018-10-29 | 2019-01-25 | 燕山大学 | Rope driving manipulator refers to and its manipulator |
| CN109434823A (en) * | 2018-12-25 | 2019-03-08 | 燕山大学 | A kind of driving flexible mechanical arm of rope based on cross-elasticity piece |
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| CN110253562A (en) * | 2019-06-04 | 2019-09-20 | 广东省智能制造研究所 | A kind of quadruped robot flexible spinal based on pneumatic muscles |
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2016
- 2016-03-08 CN CN201620172375.0U patent/CN205363953U/en not_active Expired - Fee Related
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