CN206393633U - The air articulated type flexible mechanical arm driven based on rope - Google Patents
The air articulated type flexible mechanical arm driven based on rope Download PDFInfo
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- CN206393633U CN206393633U CN201621342087.1U CN201621342087U CN206393633U CN 206393633 U CN206393633 U CN 206393633U CN 201621342087 U CN201621342087 U CN 201621342087U CN 206393633 U CN206393633 U CN 206393633U
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- rope
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- end cap
- mechanical arm
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Abstract
A kind of air articulated type flexible mechanical arm driven based on rope, it includes support, three motors, power supply, control system, Bei Shen mechanisms, end effector and driving rope；Support is housing, and motor, power supply and control system are located in support；Described Bei Shen mechanisms are in series by some groups of structure identical joint units, one end of described Bei Shen mechanisms is connected in frame, i.e. the end of other end Bei Shen mechanisms is connected with end effector, described joint unit includes end cap, air bag, sliding sleeve, garter spring, wire drawing and valve, Bei Shen mechanisms can play connection supporting role, can also bleed off the gas of each joint unit by the artificial gassy of each joint unit, artificially compress and fold, instant packed and transport.The utility model has flexible, light weight, and large carrying capacity can be folded, instant packed and transport advantage.
Description
Technical field
The utility model belongs to robot field, more particularly to a kind of mechanical arm.
Background technology
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, irregularly shaped object is preferably captured.This kind of mechanical arm was both
Clamping device crawl object can be loaded onto in end as tradition machinery arm, object can also be rolled in itself using mechanical 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 the irregular shape target in some complex environments.
Nineteen ninety-five, the KSI tentacle type manipulators that Immega etc. is 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 includes 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 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 its
Each section vertebra can be extended and be shunk by the compression and inflation of air bag；2014, Chinese patent CN203804991U,
A kind of flexible trunk mechanical arm of spring line traffic control is disclosed, the utility model includes the joint for the multi-stage series being arranged 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, being fixed with support in elastic support and joint unit, joint unit has driving bullet
Spring, the series connection arthrodesis is on elastic support, and driving spring passes through series connection joint.
These above mentioned class flexible mechanical arms are divided according to type of drive, can be divided into 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 mixed type driving is the comprehensive hybrid plan for adopting inside and outside two kinds of drivings.Outer driving or mixing
The possibility elastic rod of lightweight non-individual body in driving scheme is realized without vertebra as vertebra or with cylindrical spring.At present,
From the point of view of bearing capacity, type of drive is higher using the outer type of drive bearing capacity of rope, but the mechanical arm body of this kind of mechanical arm
It is heavier, and constituted mostly using rigid joint, it have impact on the flexibility of this kind of mechanical arm, mobility, man-machine collaboration security
With the further raising of bearing capacity.
The content of the invention
The purpose of this utility model is to provide a kind of flexible, light weight, large carrying capacity, can fold based on rope
The air articulated type flexible mechanical arm of rope driving.
The utility model includes support, three motors, power supply, control system, Bei Shen mechanisms, end effector and driving rope
Rope, wherein support are housing, and motor, power supply and control system are located in support；Bei Shen mechanisms are closed by some groups of structure identicals
Section unit is in series, and the mechanical arm of multistage is may be constructed according to requirements；One end of Bei Shen mechanisms is connected on support, its
The other end is that end is connected with end effector, for capturing target object, and driving rope is circumferentially uniform three, every rope
One end of rope is fixed on arm body mechanism end, and the cable-through hole that its other end sequentially passes through each joint unit respectively is connected to machine
In seat on the roller of 3 motors.
Described joint unit includes end cap, air bag, sliding sleeve, garter spring, wire drawing and valve, and the two ends of the end cap are equipped with
Annular boss, the lateral surface of boss has 4 ° of taper, and above provided with two annular ridges, described air bag is hyperboloid
The braiding net type rubber pneumatic bag of shape, its middle part is provided with an annular girdle ring, and one end of air bag is enclosed on the boss of one end of end cap
On, and fastened with garter spring, the other end of air bag is enclosed on one end of another end cap, and is fastened with garter spring；The end cap central is set
There is a screwed hole, the nipple at high intensity wire drawing two ends is connected to the screw thread of two end caps of same joint unit
In hole；The end cap external cylindrical surface uniformly carries the journal stirrup of through hole provided with a passage and three circumferences, each journal stirrup
Through hole is built with sliding sleeve, as the cable-through hole of driving rope, and valve is connected with described passage, for airbag aeration or
Deflate.Two adjacent joint units share an end cap, are sequentially connected the whole mechanical arm of composition；Bei Shen mechanisms can be by every
The individual artificial gassy of joint unit, plays connection supporting role, can also bleed off the gas of each joint unit, artificially be pressed
Contracting and folding, instant packed and transport.
The one end for the end cap being connected with support is along the circumferential direction provided with four round boss with threaded hole, to arm body machine
Connection between structure and support；The one end for the end cap being connected with end effector is along the circumferential direction provided with three circles with threaded hole
Shape boss, to the connection between Bei Shen mechanisms and end effector.
Described end cap is aluminum alloy material, and garter spring is rigidity material, and sliding sleeve is brass material, and driving rope is high intensity
Steel wire rope.
The utility model motion general principle be：Some motor, which is rotated, drives driving rope to tighten up, two other electricity
Machine suitably loosen driving rope, or certain two motor drives driving ropes to tighten up, and another motor loosens driving rope,
Can also three motors tighten up driving rope simultaneously, it is possible to achieve flexible mechanical arm space multiple directions are bent.Control three simultaneously
Root drive rope folding and unfolding length, can with the soft or hard degree of control arm body mechanism, can Shi Bei bodies mechanism keep current pose or
It is freely sagging.
The utility model has the following advantages that compared with prior art：
Flexible, light weight, large carrying capacity can be folded, instant packed and transport.
Brief description of the drawings
Fig. 1 is three-dimensional simplified schematic diagram of the present utility model.
Fig. 2 is the schematic perspective view sketch of joint unit of the present utility model.
Fig. 3 is the front view of joint unit of the present utility model.
Fig. 4 is the utility model Fig. 3 A-A sectional views.
Fig. 5 is the simplified schematic diagram for the end cap that the utility model is connected with support.
Fig. 6 is the simplified schematic diagram for the end cap that the utility model is connected with end effector.
In figure：1- power supplys, 2- supports, 3- drivings rope, 4- end effectors, 5- Bei Shen mechanisms, 6- motors, 7- controls system
System, 8- sliding sleeves, 9- air bags, 10- end caps, 11- valves, 12- garter springs, 13- wire drawings.
Embodiment
In the air articulated type flexible mechanical arm schematic diagram driven based on rope shown in Fig. 1, support 2 is housing, three
Portion's motor 6, power supply 1 and control system 7 are located in support；Bei Shen mechanisms 5 connected by some groups of structure identical joint units and
Into, two joint units constitute for two-stage mechanical arm, by three joint units constitute for three-level mechanical arm, the present embodiment is
Level Four mechanical arm；One end of Bei Shen mechanisms is connected on support, and its other end is that end is connected with end effector 4, for grabbing
Take target object；It is circumferentially uniform three to drive rope 3, and one end of every rope is fixed on arm body mechanism end, and its is another
The cable-through hole that end sequentially passes through each joint unit respectively is connected in support on the roller of three motors；
As shown in Fig. 2,3 and 4, joint unit includes end cap, air bag, sliding sleeve, garter spring, wire drawing and valve, the two of end cap 10
End is equipped with annular boss, and the lateral surface of boss has 4 ° of taper, and above provided with two annular ridges, air bag 9 is double
The braiding net type rubber pneumatic bag of curved, its middle part is provided with an annular girdle ring, and one end of air bag is enclosed on one end of end cap
On boss, and fastened with garter spring 12, the other end of air bag is enclosed on one end of another end cap, and is fastened with garter spring；The end cap
Center is connected to two ends of same joint unit provided with a screwed hole, the nipple at the two ends of high intensity wire drawing 13
In the screwed hole of lid；The end cap external cylindrical surface uniformly carries the journal stirrup of through hole provided with a passage and three circumferences, often
The through hole of individual journal stirrup is built with sliding sleeve 8, as the cable-through hole of driving rope, is connected with valve 11 on described passage, is used for
To airbag aeration or deflation；Two adjacent joint units share an end cap, are sequentially connected the whole mechanical arm of composition；Arm body machine
Structure can play connection supporting role, can also bleed off the gas of each joint unit by the artificial gassy of each joint unit
Body, artificially compress and fold, instant packed and transport.
As shown in figure 5, the one end for the end cap being connected with support is along the circumferential direction provided with four round boss with threaded hole,
To the connection between Bei Shen mechanisms and support；As shown in fig. 6, the one end for the end cap being connected with end effector is along the circumferential direction
Provided with three round boss with threaded hole, to the connection between Bei Shen mechanisms and end effector.
Described end cap is aluminum alloy material, and garter spring is rigidity material, and sliding sleeve is brass material, and driving rope is high intensity
Steel wire rope.
Claims (3)
1. a kind of air articulated type flexible mechanical arm driven based on rope, it includes support, three motors, power supply, control systems
System, Bei Shen mechanisms, end effector and driving rope, wherein support is housing, and motor, power supply and control system are each provided at support
It is interior；The Bei Shen mechanisms are connected on support by be in series one end of Bei Shen mechanisms of some groups of structure identical joint units,
Its other end is that end is connected with end effector, and for capturing target object, driving rope is circumferentially uniform three, every
One end of rope is fixed on arm body mechanism end, and the cable-through hole that its other end sequentially passes through each joint unit respectively is connected to
In support on the roller of three motors, it is characterised in that:Described joint unit includes end cap, air bag, sliding sleeve, garter spring, wire drawing
And valve, the two ends of the end cap are equipped with annular boss, and the lateral surface of boss has 4 ° of taper, and is provided with two above
Annular ridge, described air bag is the braiding net type rubber pneumatic bag of hyperboloid, and its middle part is provided with an annular girdle ring, air bag
One end be enclosed on the boss of one end of end cap, and fastened with garter spring, the other end of air bag is enclosed on one end of another end cap, and
Fastened with garter spring；The end cap central is provided with screwed hole, and the nipple at high intensity wire drawing two ends is connected to same
In the screwed hole of two end caps of individual joint unit；The end cap external cylindrical surface is uniform provided with a passage and three circumferences
Journal stirrup with through hole, the through hole of each journal stirrup, as the cable-through hole of driving rope, connects built with sliding sleeve on described passage
Valve is connected to, for airbag aeration or deflation, two adjacent joint units to share an end cap, are sequentially connected composition whole
Mechanical arm；Bei Shen mechanisms can be played connection supporting role, can also be bled off each by the artificial gassy of each joint unit
The gas of joint unit, artificially compress and fold, instant packed and transport.
2. the air articulated type flexible mechanical arm according to claim 1 driven based on rope, it is characterised in that：With support
One end of the end cap of connection is along the circumferential direction provided with four round boss with threaded hole, between Bei Shen mechanisms and support
Connection；The one end for the end cap being connected with end effector is along the circumferential direction provided with three round boss with threaded hole, to arm
Connection between body mechanism and end effector.
3. the air articulated type flexible mechanical arm according to claim 1 driven based on rope, it is characterised in that：Described
End cap is aluminum alloy material, and garter spring is rigidity material, and sliding sleeve is brass material, and driving rope is high strength wire rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621342087.1U CN206393633U (en) | 2016-12-08 | 2016-12-08 | The air articulated type flexible mechanical arm driven based on rope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621342087.1U CN206393633U (en) | 2016-12-08 | 2016-12-08 | The air articulated type flexible mechanical arm driven based on rope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206393633U true CN206393633U (en) | 2017-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621342087.1U Expired - Fee Related CN206393633U (en) | 2016-12-08 | 2016-12-08 | The air articulated type flexible mechanical arm driven based on rope |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493723A (en) * | 2016-12-08 | 2017-03-15 | 燕山大学 | Based on the air articulated type flexible mechanical arm that rope drives |
| CN108673558A (en) * | 2018-05-28 | 2018-10-19 | 哈尔滨工业大学 | Variation rigidity flexible motion arm |
| US10449677B1 (en) | 2019-03-12 | 2019-10-22 | United Arab Emirates University | Robotic gripping assist |
| CN110368619A (en) * | 2019-07-12 | 2019-10-25 | 东南大学 | A kind of intelligent extinguishing device based on Bionic flexible arm |
| US10682250B1 (en) | 2019-03-12 | 2020-06-16 | United Arab Emirated University | Robotic gripping assist |
| CN113291182A (en) * | 2021-06-22 | 2021-08-24 | 广州锐速智能科技股份有限公司 | Intelligent movable direct-current rapid charging pile and intelligent charging method |
| CN117207165A (en) * | 2023-09-18 | 2023-12-12 | 南京农业大学 | Modular telescopic soft mechanical arm of pneumatic drive-by-wire |
-
2016
- 2016-12-08 CN CN201621342087.1U patent/CN206393633U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493723A (en) * | 2016-12-08 | 2017-03-15 | 燕山大学 | Based on the air articulated type flexible mechanical arm that rope drives |
| CN106493723B (en) * | 2016-12-08 | 2018-09-04 | 燕山大学 | Air articulated type flexible mechanical arm based on rope driving |
| CN108673558A (en) * | 2018-05-28 | 2018-10-19 | 哈尔滨工业大学 | Variation rigidity flexible motion arm |
| CN108673558B (en) * | 2018-05-28 | 2021-10-15 | 哈尔滨工业大学 | Variable-rigidity flexible operating arm |
| US10449677B1 (en) | 2019-03-12 | 2019-10-22 | United Arab Emirates University | Robotic gripping assist |
| US10682250B1 (en) | 2019-03-12 | 2020-06-16 | United Arab Emirated University | Robotic gripping assist |
| CN110368619A (en) * | 2019-07-12 | 2019-10-25 | 东南大学 | A kind of intelligent extinguishing device based on Bionic flexible arm |
| CN113291182A (en) * | 2021-06-22 | 2021-08-24 | 广州锐速智能科技股份有限公司 | Intelligent movable direct-current rapid charging pile and intelligent charging method |
| CN117207165A (en) * | 2023-09-18 | 2023-12-12 | 南京农业大学 | Modular telescopic soft mechanical arm of pneumatic drive-by-wire |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170811 Termination date: 20181208 |
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| CF01 | Termination of patent right due to non-payment of annual fee |