CN206200965U - Truss-like flexible mechanical arm - Google Patents
Truss-like flexible mechanical arm Download PDFInfo
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- CN206200965U CN206200965U CN201621210091.2U CN201621210091U CN206200965U CN 206200965 U CN206200965 U CN 206200965U CN 201621210091 U CN201621210091 U CN 201621210091U CN 206200965 U CN206200965 U CN 206200965U
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- driver element
- mechanical arm
- connector
- pneumatic muscle
- pneumatic
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Abstract
A kind of truss-like flexible mechanical arm, it includes support, the end effector driver element being sequentially connected in series identical with the multiple structures for connecting them, and the driver element is a truss structure for hexahedral shape, and it includes：Eight horizontal pneumatic muscles, four longitudinal pneumatic muscles, eight connectors and nuts, wherein, four identical transverse direction pneumatic muscle two ends are connected with connector respectively, and adjacent two are mutually perpendicular to be connected with same connector, composition plane pneumatic muscle frame, the plane pneumatic muscle frame is identical two；Four connectors of each pneumatic muscle frame are connected by other four identicals longitudinal direction pneumatic muscle two ends respectively again, the three-dimensional pneumatic muscle frame of composition；Each driver element is sequentially connected.The utility model has good flexibility, can simultaneously realize horizontal thickness conversion, the stretching motion of longitudinal direction and the bending motion of multiple directions, and light weight, mobility is good, safe during being interacted with people.
Description
Technical field
The invention 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
The flexible degree that a little class mechanical arms are realized not enough, has some flexible mechanical arms to realize the bending of flexible and multiple directions, also
There are some flexible mechanical arms to be only capable of realizing that multiple directions bend.Flexible mechanical brachiocylloosis is not only needed in some application scenarios and stretch
Contracting, in addition it is also necessary to have the conversion of thickness, to adapt to more complicated operating environment.
The content of the invention
It is an object of the invention to provide a kind of with good flexibility, can realize bending, stretch and thickness conversion, matter
Amount is light, and mobility is good, safe truss-like flexible mechanical arm.
The present invention includes support, the end effector driver element being sequentially connected in series identical with the multiple structures for connecting them,
The mechanical arm being composed in series by two driver elements is two-stage mechanical arm, and three-level mechanical arm can be derived according to requirements,
Level Four mechanical arm or even multi-stage mechanical arm, one end of the driver element of mechanical arm one end are connected with support, the mechanical arm other end
One end of driver element is connected with end effector, and mechanical arm can complete different work by end effector, also may be used
Target object is batched in itself with using mechanical arm, in the flexible protective cover of driver element peripheral hardware；The driver element is one
The truss structure of hexahedral shape, it includes：Eight horizontal pneumatic muscles, four longitudinal pneumatic muscles, eight connectors and spiral shells
Mother, the connector is triangular prism shaped housing, and through hole is equipped with four upper and lower and adjacent housings, wherein, four phases
Same horizontal pneumatic muscle two ends are inserted be connected with connector by nut in the adjacent through hole of connector respectively, and adjacent
Two are mutually perpendicular to be connected with same connector, constitute plane pneumatic muscle frame, and the plane pneumatic muscle frame is identical two
It is individual；The upper and lower of four connectors of above-mentioned each pneumatic muscle frame is inserted respectively in other four identicals longitudinal direction pneumatic muscle two ends
It is connected with connector by nut in through hole, the three-dimensional pneumatic muscle frame of composition；Another through hole of connector is used to connect another
Longitudinal pneumatic muscle of individual driver element, other driver elements are sequentially connected.
The protective cover is installed using multistage, i.e., all install independent protective cover, described protection per one-level driver element
It is elastomeric flexible rubber protective cover to cover, and is fixed on the connector of driver element, and can be with driver element together
Bending, the conversion of flexible and thickness.
Present invention utilizes the flexibility of pneumatic muscle itself, the mechanical arm can be met without adding other kinematic pairs
Bending, stretch and thickness conversion.The general principle of driver element motion is by the respective inflation/deflation of horizontal pneumatic muscle
Horizontal pneumatic muscle is carried out stretching motion, so as to change the size in driver element transverse direction, reach the thick of single driver element
Thin conversion；Longitudinal pneumatic muscle is set to carry out stretching motion, four longitudinal pneumatic muscles by the inflation/deflation of longitudinal pneumatic muscle
Coupled motions are carried out each other, so as to realize bending and the stretching motion of single driver element.On the other hand, the mechanical arm
Most of component is flexible body, and rigid connector is also adopted by the aluminum alloy material of lightweight, and mechanical arm deadweight is smaller.
The present invention has the following advantages that compared with prior art：With good flexibility, can realize that horizontal thickness becomes
Change, the stretching motion of longitudinal direction and the bending motion of multiple directions, light weight, mobility is good, the safety during being interacted with people
Property is high.
Brief description of the drawings
Fig. 1 is three-dimensional simplified schematic diagram of the invention.
Fig. 2 is the three-dimensional simplified schematic diagram of unshielded cover of the invention.
Fig. 3 is structure of driving unit schematic diagram of the invention.
Fig. 4 is with protecting cover driver element schematic diagram of the invention.
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- end effectors, 7- supports, 8- connectors, 9- transverse directions pneumatic muscle, 10- are longitudinally pneumatic
Tendon, 11- nuts, 12- protective covers.
Specific embodiment
In the truss-like flexible mechanical arm schematic diagram shown in Fig. 1 and Fig. 2, one end and the support 7 of first order driver element 1
Connection, its other end is sequentially connected second level driver element 2, third level driver element 3, fourth stage driver element 4 and level V
Driver element 5, the other end of level V driver element is connected with end effector 6, and whole mechanical arm is externally provided with flexible boot.
As shown in figure 3, the driver element is a truss structure for hexahedral shape, it includes：Eight transverse directions are pneumatic
Longitudinal 10, eight connectors 8 of pneumatic muscle of 9, four, tendon and nut 11, the connector is triangular prism shaped housing, upper
Through hole is equipped with lower and four adjacent housings, 12 pneumatic muscle two ends are equipped with nipple, four identical horizontal strokes
Inserted respectively in the adjacent through hole of connector to the nipple at pneumatic muscle two ends, fastened with nut, and adjacent two
It is mutually perpendicular to be connected with same connector, constitutes plane pneumatic muscle frame, the plane pneumatic muscle frame is identical two；Four
The nipple at root identical longitudinal direction pneumatic muscle two ends inserts the upper of four connectors of above-mentioned each pneumatic muscle frame respectively
It is connected with connector by nut in lower through-hole, the three-dimensional pneumatic muscle frame of composition, another upper and lower through hole of connector is used to connect
Longitudinal pneumatic muscle of another driver element is connect, other driver elements are sequentially connected；Described connector and nut is aluminium
Alloy material.
The pneumatic muscle is that one end carries radial direction gas interface, and the gas of the inflation/deflation process of pneumatic muscle all passes through this footpath
To gas interface, the interface can be connected directly with pneumatic line by joint.Pipeline needed for pneumatic muscle inflation/deflation is arranged in
Robotic arm middle part, each one end of pipeline connects driven pneumatic muscle, corresponding control unit in other end connection support
Part.Pneumatic muscle itself has flexibility, just can realize that itself bends without the other kinematic pairs of addition, so pneumatic muscle and company
Synkinesia pair need not be added between fitting, four longitudinal pneumatic muscles just can carry out parallel coupled fortune by the inflation/deflation of itself
It is dynamic, so as to realize bending and the stretching motion of driver element.The thickness conversion of described driver element is by eight horizontal gas
What dynamic tendon was realized, this eight pneumatic muscles are inflated or are vented simultaneously and just can realize that attenuating for driver element is thicker simultaneously.Need
, it is noted that eight horizontal pneumatic muscles are not limited solely to inflation/deflation simultaneously, the thickness of driver element is converted also not only
It is confined to the conversion of rule.
As shown in figure 4, the method that the protective cover 12 of mechanical arm uses multistage installation, i.e., all pacify per one-level driver element
Independent protective cover is filled, described protective cover is elastomeric flexible rubber protective cover, is fixed in the connection of driver element
On part, and can together be bent with driver element, stretched and thickness conversion.
Claims (3)
1. a kind of truss-like flexible mechanical arm, it includes that support, end effector are identical successively with the multiple structures for connecting them
The driver element of series connection, the mechanical arm being composed in series by two driver elements is two-stage mechanical arm, is derived according to requirements
Three-level mechanical arm, level Four mechanical arm or even multi-stage mechanical arm, one end of the driver element of mechanical arm one end are connected with support, machinery
One end of the driver element of the arm other end is connected with end effector, and protective cover is externally provided with driver element, it is characterised in that：Institute
It is a truss structure for hexahedral shape to state driver element, and it includes：Eight horizontal pneumatic muscles, four pneumatic fleshes in longitudinal direction
Tendon, eight connectors and nut, the connector are triangular prism shaped housing, are equipped with four upper and lower and adjacent housings logical
Hole, wherein, four identical transverse direction pneumatic muscle two ends are inserted in the adjacent through hole of connector by nut and connector respectively
Connection, and adjacent two be mutually perpendicular to be connected with same connector, composition plane pneumatic muscle frame, the pneumatic flesh of the plane
Tendon frame is identical two；The four of above-mentioned each pneumatic muscle frame is inserted respectively in other four identicals longitudinal direction pneumatic muscle two ends
It is connected with connector by nut in the upper lower through-hole of individual connector, the three-dimensional pneumatic muscle frame of composition；Upper and lower another of connector
Individual through hole is used to connect longitudinal pneumatic muscle of another driver element, and other driver elements are sequentially connected.
2. a kind of truss-like flexible mechanical arm according to claim 1, it is characterised in that：The connector and nut are aluminium
Alloy material.
3. a kind of truss-like flexible mechanical arm according to claim 1, it is characterised in that：The protective cover is pacified using multistage
Dress, i.e., all install independent protective cover per one-level driver element, and described protective cover is elastomeric flexible rubber protective cover, will
It is fixed on the connector of driver element, and can together be bent with driver element, stretched and thickness conversion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621210091.2U CN206200965U (en) | 2016-11-10 | 2016-11-10 | Truss-like flexible mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621210091.2U CN206200965U (en) | 2016-11-10 | 2016-11-10 | Truss-like flexible mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206200965U true CN206200965U (en) | 2017-05-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621210091.2U Expired - Fee Related CN206200965U (en) | 2016-11-10 | 2016-11-10 | Truss-like flexible mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206200965U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313033A (en) * | 2016-11-10 | 2017-01-11 | 燕山大学 | Truss-type flexible manipulator |
| CN108858177A (en) * | 2018-08-01 | 2018-11-23 | 佛山市高明曦逻科技有限公司 | Swing type high-precision dedusting soft robot |
| CN112091939A (en) * | 2020-08-24 | 2020-12-18 | 上海大学 | Reconfigurable deformation truss mechanism based on flexible plate driving |
| CN114454191A (en) * | 2022-03-08 | 2022-05-10 | 云南经济管理学院 | Bionic robot, system and method based on series-parallel hybrid pneumatic muscle and cylinder |
-
2016
- 2016-11-10 CN CN201621210091.2U patent/CN206200965U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313033A (en) * | 2016-11-10 | 2017-01-11 | 燕山大学 | Truss-type flexible manipulator |
| CN108858177A (en) * | 2018-08-01 | 2018-11-23 | 佛山市高明曦逻科技有限公司 | Swing type high-precision dedusting soft robot |
| CN112091939A (en) * | 2020-08-24 | 2020-12-18 | 上海大学 | Reconfigurable deformation truss mechanism based on flexible plate driving |
| CN114454191A (en) * | 2022-03-08 | 2022-05-10 | 云南经济管理学院 | Bionic robot, system and method based on series-parallel hybrid pneumatic muscle and cylinder |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170531 Termination date: 20181110 |