CN206200964U - The flexible mechanical arm of Coupled Rigid-flexible - Google Patents
The flexible mechanical arm of Coupled Rigid-flexible Download PDFInfo
- Publication number
- CN206200964U CN206200964U CN201621210062.6U CN201621210062U CN206200964U CN 206200964 U CN206200964 U CN 206200964U CN 201621210062 U CN201621210062 U CN 201621210062U CN 206200964 U CN206200964 U CN 206200964U
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- flexible
- terminal pad
- small
- driver element
- mechanical arm
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Abstract
A kind of flexible mechanical arm of Coupled Rigid-flexible, it includes support, performs device and connects the driver element that their multiple structures are identical and are sequentially connected in series, and flexible boot is externally provided with whole mechanical arm；Described driver element mainly includes 4 pneumatic muscles, 4 lightweight connecting bars, two terminal pads, two bearings, small pneumatic muscle, the two ends of pneumatic muscle are connected with terminal pad respectively, bearing is respectively equipped with terminal pad, one group two-by-two of connecting rod, its one end is connected by the cross axle set on bearing with terminal pad respectively, the each group of other end of connecting rod mutually gives another group of other end of connecting rod to be connected by the cylindrical pin on connector respectively, the two ends of small pneumatic muscle are connected by screwed hole with above-mentioned connector respectively, the big end of the pneumatic muscle of two neighboring driver element and small end share a terminal pad.The utility model is lightweight, compliance is good, load capacity is strong, mobility good, can simultaneously realize stretching motion and each to bending motion.
Description
Technical field
The utility model belongs to robot field, more particularly to a kind of mechanical arm.
Background technology
1962, by the First industrial robot Unimate of Unimation companies of U.S. design production in General Motors
Company comes into operation, and indicates the birth of first generation robot.In subsequent decades, with computer technology, manufacturing technology,
The development of sensor, control technology, the performance of robot is being increased substantially, and the multiple fields of the mankind is deep into, in machine from now on
Device people will continue on horizontal and vertical development.In transverse direction, the scope of application is more and more wider.From the people that spatially minds the machine just from ground
Towards space, deep-sea, underground extension, from every field, robot will be deep into industry, military affairs, aviation, amusement, service；
On longitudinal direction, the species of robot will be more and more.Microrobot will turn into the rising star of robot, and it is direct that it can enter human body
Cell, virus are operated.In a word, robot will become more intelligent, and the contribution to the mankind is increasing.
Mechanical arm is one kind of robot, and traditional mechanical arm is rigid link composition, generally there is series, parallel or string
And three kinds of structures of series-parallel connection.The characteristics of this kind of mechanical arm be with discrete joint and being rigidly connected, an also class be based on octopus arm, as
The bionical non-individual body mechanical arm of the biologic-organs such as nose.Because non-individual body mechanical arm can produce plastic deformation in any part, so
With very strong avoidance ability, non-structure environment can be preferably adapted to, preferably capture irregularly shaped object.This kind of mechanical arm was both
Clamping device crawl object can be loaded onto in end, it is also possible to roll object in itself using mechanical arm as tradition machinery arm.
From the structure of this kind of mechanical arm, its is powerful, with good compliance and adaptability；From the application of this kind of robot
Angle sees that the operation object of these mechanical arms is often some soft, fragile and lived targets, and traditional mechanical arm is then
It is not easily achieved.
The KSI tentacle type manipulators that nineteen ninety-five, Immega etc. are designed and produced, the manipulator mainly have air bag, servomotor,
6 rope compositions, using soft rope and gas combination drive；2001, Hannan and Walker et al. have developed hyper-redundant as
Nose humanoid robot, the robot is made up of 16 U-shaped joints of 2DOF, overall length 82.32cm, can be divided into 4 that length is not waited
Part, wherein each part include 4 joints.Each joint mixes realization mixing control with spring by rope；2003,
Peirs et al. have developed a kind of flexible bending joint section for endoscope robot surgical operation.Sequential machine people is by micro-
Electromechanical super-elastic NiTi compo pipe is constituted, and is driven using 4 tendons, with 2 frees degree, can bend 90 in any opposite direction
Degree；2007, Harada et al. have developed a kind of flexible laser operations hand, the manipulator maximum gauge 2.4mm, can to appoint
Meaning direction bending, maximum bend angle is 90 degree；2011, German Fei Situo companies developed and are designed according to the characteristics of big trunk
Novel bionic machine processing system " bionical operation assistant " out, it can smoothly carry heavy duty, and principle is it
Each section vertebra can be extended and be shunk by the compression of air bag and inflation；2014, Chinese patent CN203804991U,
A kind of spring line traffic control flexibility trunk mechanical arm is disclosed, the utility model includes the joint of the multi-stage series on support,
The one end in the first joint is fixed on support in the joint wherein connected, and the other end in the first joint and one end of second joint are solid
Surely link together, thereafter the like, elastic support and driver element are fixed with support, there is driving bullet on driver element
Spring, the series connection arthrodesis is on elastic support, and driving spring passes through series connection joint.
Above mentioned these class flexible mechanical arms are divided according to type of drive, can be divided three classes：It is interior driving, outer
Driving and mixed type.Fluid-operated mode is filled in interior driving general use bellows, outer driving use lightweight is continuous
Body adds the mode of remote boot server, and it is the comprehensive hybrid plan for adopting inside and outside two kinds of drivings that mixed type drives.Outer driving or mixing
The possibility elastic rod of the lightweight non-individual body in driving scheme is realized without vertebra as vertebra or with cylindrical spring.At present, this
A little types all come with some shortcomings, and the mechanical arm own wt of interior type of drive is light, and action is smooth, and compliance is good, but it drives
Element tension ability and compression capability difference are big, cause such mechanical arm load capacity poor.Outer driving and combination drive mode
Mechanical arm, although lifted in load capacity, but its own weight is big, compliance is poor.
The content of the invention
The purpose of this utility model be provide that a kind of lightweight, compliance is good, load capacity is strong, mobility good, can
The flexible mechanical arm of stretching motion and each Coupled Rigid-flexible to bending motion is realized simultaneously.
The utility model includes support, performs device and connects the driving that their multiple structures are identical and are sequentially connected in series
Unit, flexible boot is externally provided with whole mechanical arm.
Described driver element includes that four have the big pneumatic muscle of flexible characteristic, four lightweights with rigidity characteristic
Connecting rod, two terminal pads, small clamp nut, big clamp nut, two bearings, small pneumatic muscles, in terminal pad along the circumferential direction
Uniform four large through-holes and four small through hole, big small through hole are staggered setting, four big ends of big pneumatic muscle by one group two-by-two,
Each group two connecting rod one end are connected by cross axle with the bearing being fixed in terminal pad respectively, cross axle and two connecting rods
Constitute two and rotate secondary, constituting one with bearing rotates secondary；Connector for one end and the tapped annulus of cylindrical pin outside
The connected structure of wall, the axis of its cylindrical pin is vertical with the bus of annulus, each group of other end of connecting rod and another group of connecting rod
The other end connected by the cylindrical pin on connector respectively, one is formed between each connecting rod and cylindrical pin and rotates secondary,
Four connecting rods are the form of parallel-crank mechanism；The two ends of described small pneumatic muscle are respectively by the band internal thread of connector
Annulus be connected with above-mentioned connector, realize that angle between connecting rod becomes by the inflation/deflation stretching motion of small pneumatic muscle
Change；The big end of the pneumatic muscle of two neighboring driver element and small end share a terminal pad.
Described terminal pad, two bearings, the materials of four connecting rods, small clamp nut and big clamp nuts are lightweight
Aluminium alloy.
Described protective cover is the bellows of flexible embedded with metal silk, and by the way of multistage installs fixation, per one-level
Driver element is equipped with a section flexible boot, and the two ends of protective cover are separately fixed in the terminal pad of driver element.It is this many
Level installs the mode of protective cover, and protective cover can on the one hand be securely fixed on mechanical arm, on the other hand, if protective cover
A certain partial destruction need to only change this grade of involved protective cover, the whole protective cover without changing mechanical arm.
Described four big pneumatic muscles and small pneumatic muscle are pneumatic muscle of the big end with axial gas interface, pneumatic muscle
Inflation/deflation process gas all pass through this axial gas interface.
Basic exercise principle of the present utility model is to realize whole machinery by each autokinesis of every one-level driver element
The compound movement of arm, driver element mainly does compound motion together by the respective inflation/deflation of four big pneumatic muscles, so that real
The overall flexible and bending motion of existing driver element, pneumatic muscle is primarily subjected to pulling force, the pressure that driver element is subject to it is main by
Small pneumatic muscle drives parallelogram connection-rod to provide, and so both make use of that pneumatic muscle light weight, compliance be good, pull resistance is good
Advantage, the weak deficiency of pneumatic muscle crushing resistance is compensate for again.
The utility model has the following advantages that compared with prior art：
1st, with pneumatic muscle and linkage, both ensure that pneumatic muscle pliability was good, light weight advantage, increased again
The load capacity of mechanical arm.
2nd, with multiple frees degree, the bending motion of flexible and multiple directions can be realized, realizes the space of various bendings
Shape, mobility is good, safe during being interacted with people.
Brief description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the utility model structure.
Fig. 2 is the with protecting cover simplified schematic diagram of the utility model.
Fig. 3 is structure of driving unit simplified schematic diagram of the present utility model.
Fig. 4 is the schematic perspective view of the utility model connector one and connector two.
Fig. 5 is driver element case of bending schematic diagram of the present utility model.
In figure：1- first order driver element, 2- second level driver element, 3- third level driver element, the 4- fourth stages drive
Unit, 5- level Vs driver element, 6- paws, 7- protective covers, 8- supports, 9- small through hole, 10- trip bolts, 11- it is pneumatic greatly
Tendon, 12 cross axles, 13- bearings, the small pneumatic muscle of 14- connecting rods one, 15-, 16- connectors one, the connection of 17- connecting rods two, 18-
The small clamp nut of disk, 19-, 20- large through-holes, 21- connecting rods three, 22- connectors two, the big clamp nut of 23- connecting rods four, 24-.
Specific embodiment
In the flexible mechanical arm schematic diagram of the Coupled Rigid-flexible described in Fig. 1 and Fig. 2, the one end of first order driver element 1 is fixed
On support 8, one end of its other end and second level driver element 2 is connected, the other end of second level driver element and the third level
One end of driver element 3 is connected, and fourth stage driver element 4, level V driver element 5 is sequentially connected, level V driver element
The other end is connected with end performs device Pneumatic paw 6, in the flexible protective cover 7 of driver element peripheral hardware；
Adjacent two driver elements share a terminal pad, and stagger 45 degree of arrangements around mechanical arm axis direction.
A kind of flexible mechanical arm of Coupled Rigid-flexible of the utility model is in this example Pyatyi mechanical arm, but is not limited to Pyatyi, the flexibility
Robot arm device includes the driver element of at least two arranged in series, and the mechanical arm driver element described in each is still with above-mentioned side
Formula is attached, as needed can be with flexible transformation two-stage mechanical arm, three-level mechanical arm, level Four mechanical arm, the Pyatyi machine of example
Tool arm, and more stages mechanical arm.
As shown in figure 3, in light aluminum alloy terminal pad 18 in described driver element along the circumferential direction uniform four it is big
Through hole 20 and four small through hole 9, big small through hole are staggered setting, and four big ends of big pneumatic muscle 11 are by large through-hole and big fastening
Nut 24 is connected with terminal pad, and its small end is connected by small through hole and small clamp nut 19 with another relative terminal pad；
Bearing 13 of the both sides with journal stirrup is respectively equipped with the relative median plane of above-mentioned two terminal pad, the bearing passes through trip bolt
10 are fixed in terminal pad, and one end of connecting rod 1 and connecting rod 4 23 is connected by cross axle 12 with bearing 13 respectively, cross axle
One being respectively constituted with connecting rod one, connecting rod four and bearing and rotating secondary, one end of connecting rod 2 17 and connecting rod 3 21 is respectively by driving
The cross axle of the unit other end is connected with bearing, and cross axle respectively constitutes one and rotates secondary with connecting rod two, connecting rod three and bearing；Such as
Shown in Fig. 4, connector is the structure that is connected with tapped annulus outer wall of one end of cylindrical pin, and cylindrical pin axle
Line is vertical with the bus of annulus, and the other end of connecting rod one and connecting rod two is connected by the cylindrical pin on connector 1, is formed
One rotates secondary, and one end of the connector one is threadedly coupled by tapped annulus with the big end of small pneumatic muscle 15, even
The other end of bar three and connecting rod four is connected by the cylindrical pin on connector 2 22, is formed one and is rotated secondary, the connector two
One end be threadedly coupled with the small end of small pneumatic muscle by tapped annulus, four connecting rods form parallelogram machines
Structure, the angular transformation between connecting rod is realized by the inflation/deflation stretching motion of small pneumatic muscle；Two neighboring driver element
The big end of pneumatic muscle and small end share a terminal pad.
The type of drive of described driver element is parallel coupled mode, and four big pneumatic muscles are driven as four branches
The parallelogram connection-rod that moving cell center plays a supportive role also regards a branch as.As shown in figure 4, pneumatic muscle itself has
Flexibility, just can realize that itself bends, so need not be added between pneumatic muscle and terminal pad auxiliary without the other kinematic pairs of addition
Help kinematic pair, and four big pneumatic muscle tendon groups into four branches stretching motion, four can be realized by the inflation/deflation of itself
Individual branch intercouples can realize the flexible and each to bending motion of driver element entirety.The pull resistance of pneumatic muscle is good, resists
Pressure performance is not enough, and pressure is born with the parallelogram connection-rod at driver element center.Described parallelogram linkage by
One small pneumatic muscle drives, and the elongation and shortening of small pneumatic muscle can be realized by inflation/deflation, so as to drive parallel four side
The motion of the connecting rod of shape, by the cooperation with four big pneumatic muscles, plays a part of support.
Claims (3)
1. a kind of flexible mechanical arm of Coupled Rigid-flexible, it includes support, performs device and to connect their multiple structures identical
And the driver element being sequentially connected in series, flexible boot is externally provided with whole mechanical arm, described driver element has including four
The big pneumatic muscle of flexible characteristic, four lightweight connecting bars with rigidity characteristic, two terminal pads, small clamp nut, big fastenings
Nut, two bearings, small pneumatic muscles, along the circumferential direction uniform four large through-holes and four small through hole in terminal pad, size are led to
Hole is staggered setting, and four big ends of big pneumatic muscle are connected by large through-hole and big clamp nut with terminal pad, and its small end passes through
Small through hole and small clamp nut are connected with another relative terminal pad, it is characterised in that：It is relative in above-mentioned two terminal pad
A bearing of the both sides with journal stirrup, four one group two-by-two of connecting rods, each group two connecting rod one end point are respectively equipped with median plane
Not Tong Guo cross axle be connected with the bearing being fixed in terminal pad, cross axle and two connecting rods constitute two and rotate secondary, with bearing
Constitute one and rotate secondary；The structure that connector is connected for one end of cylindrical pin with tapped annulus outer wall, its straight pin
The axis of axle is vertical with the bus of annulus, and each group of other end of connecting rod passes through connector respectively with another group of other end of connecting rod
On cylindrical pin connection, one is formed between each connecting rod and bearing pin and rotates secondary, four connecting rods are parallel-crank mechanism
Form；The two ends of the small pneumatic muscle are connected by the tapped annulus hole of connector with above-mentioned connector respectively, adjacent
The big end of two pneumatic muscles of driver element and small end share a terminal pad.
2. the flexible mechanical arm of Coupled Rigid-flexible according to claim 1, it is characterised in that：Described terminal pad, two branch
Seat, the material of four connecting rods, small clamp nut and big clamp nuts are the aluminium alloy of lightweight.
3. the flexible mechanical arm of Coupled Rigid-flexible according to claim 1, it is characterised in that：Described protective cover is inlayed for flexible
The bellows of embedded wire, and by the way of multistage installs fixation, a section flexible boot is equipped with per one-level driver element,
The two ends of protective cover are separately fixed in the terminal pad of driver element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621210062.6U CN206200964U (en) | 2016-11-10 | 2016-11-10 | The flexible mechanical arm of Coupled Rigid-flexible |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621210062.6U CN206200964U (en) | 2016-11-10 | 2016-11-10 | The flexible mechanical arm of Coupled Rigid-flexible |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206200964U true CN206200964U (en) | 2017-05-31 |
Family
ID=58752153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621210062.6U Withdrawn - After Issue CN206200964U (en) | 2016-11-10 | 2016-11-10 | The flexible mechanical arm of Coupled Rigid-flexible |
Country Status (1)
| Country | Link |
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| CN (1) | CN206200964U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313034A (en) * | 2016-11-10 | 2017-01-11 | 燕山大学 | Rigid-flexible coupling type flexible mechanical arm |
| CN111002300A (en) * | 2020-03-10 | 2020-04-14 | 山东华宜同创自动化科技有限公司 | Manipulator with high flexibility and low precision requirement |
| CN112022622A (en) * | 2020-09-14 | 2020-12-04 | 浙江正远医疗科技有限公司 | Upper limb rehabilitation mechanical arm and robot for spinal cord injury patient |
| CN113733154A (en) * | 2021-10-19 | 2021-12-03 | 中国民航大学 | Flexible mechanical arm based on cross shaft hinge joint |
| CN114227660A (en) * | 2021-12-17 | 2022-03-25 | 北京空间飞行器总体设计部 | Rigid-flexible coupling super-redundancy intelligent sensing mechanical arm and use method thereof |
| US20230182599A1 (en) * | 2017-05-10 | 2023-06-15 | Freie Universität Berlin | Method and systems for energy exchange between vehicles |
-
2016
- 2016-11-10 CN CN201621210062.6U patent/CN206200964U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313034A (en) * | 2016-11-10 | 2017-01-11 | 燕山大学 | Rigid-flexible coupling type flexible mechanical arm |
| CN106313034B (en) * | 2016-11-10 | 2018-07-13 | 燕山大学 | The flexible mechanical arm of Coupled Rigid-flexible |
| US20230182599A1 (en) * | 2017-05-10 | 2023-06-15 | Freie Universität Berlin | Method and systems for energy exchange between vehicles |
| CN111002300A (en) * | 2020-03-10 | 2020-04-14 | 山东华宜同创自动化科技有限公司 | Manipulator with high flexibility and low precision requirement |
| CN111002300B (en) * | 2020-03-10 | 2020-06-16 | 山东华宜同创自动化科技有限公司 | Manipulator with high flexibility and low precision requirement |
| CN112022622A (en) * | 2020-09-14 | 2020-12-04 | 浙江正远医疗科技有限公司 | Upper limb rehabilitation mechanical arm and robot for spinal cord injury patient |
| CN113733154A (en) * | 2021-10-19 | 2021-12-03 | 中国民航大学 | Flexible mechanical arm based on cross shaft hinge joint |
| CN113733154B (en) * | 2021-10-19 | 2023-09-26 | 中国民航大学 | Flexible mechanical arm based on cross shaft hinge |
| CN114227660A (en) * | 2021-12-17 | 2022-03-25 | 北京空间飞行器总体设计部 | Rigid-flexible coupling super-redundancy intelligent sensing mechanical arm and use method thereof |
| CN114227660B (en) * | 2021-12-17 | 2023-10-27 | 北京空间飞行器总体设计部 | Rigid-flexible coupling super-redundancy intelligent sensing mechanical arm and application method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170531 Effective date of abandoning: 20180713 |
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| AV01 | Patent right actively abandoned |