CN208289885U - A kind of Bionic flexible mechanical arm - Google Patents
A kind of Bionic flexible mechanical arm Download PDFInfo
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- CN208289885U CN208289885U CN201820776460.7U CN201820776460U CN208289885U CN 208289885 U CN208289885 U CN 208289885U CN 201820776460 U CN201820776460 U CN 201820776460U CN 208289885 U CN208289885 U CN 208289885U
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- flexible mechanical
- pedestal
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Abstract
The utility model provides a kind of Bionic flexible mechanical arm, belong to mechanical arm technical field, including pedestal, steering engine, spool and drawstring, the output end of steering engine is connected with spool in the pedestal, the venthole of inflator pump is connected with female connector at base center, female connector is connected with male connector, it is connected between joint by universal joint, it is connected between the end face of joint by ripple duct occlusion, spring is equipped with inside center axis, the upper surface of joint end face is equipped with pressure sensor and exhaust valve, the exhaust valve is solenoid electric valve, and it is connected in controller.The utility model has the following beneficial effects: the structure based on human vertebra, using spring as intermediate supports bone, the air bag of inflatable is flexible muscle, it can not only free bend, it can also stretch, can be convenient for grabbing, encircling and delivering some articles being easily damaged, and using rope driving principle as needed, volume and weight is effectively reduced, it is more convenient to use.
Description
Technical field
The utility model relates to mechanical arm technical field more particularly to a kind of Bionic flexible mechanical arms.
Background technique
Traditional mechanical arm is rigid link composition, usually there is series, parallel or mixed structure, the spy of this kind of mechanical arm
Point is that have discrete joint and rigid connection；In addition there are some non-individual body mechanical arms flexible, can generate in any part
Deformation can preferably adapt to non-structure environment to have stronger obstacle avoidance ability, have good flexibility and adaptation
Property.But this kind of mechanical arm is mostly form in parallel on class of establishment at present, it is larger in theory analysis and the upper difficulty of development,
And existing series connection flexible mechanical arm, mainly based on rigid member, therefore we are in some applications, need a germplasm
Measure light and soft enough series connection Bionic flexible mechanical arm.
Summary of the invention
It is easy to assembly the technical problem to be solved by the present invention is to provide a kind of structure is simple, it is adaptable
Bionic flexible mechanical arm.
The technical solution of the utility model are as follows:
A kind of Bionic flexible mechanical arm, including joint arm and the drive system for driving the joint arm to move；
The joint arm is multiple groups and joins end to end that the joint arm includes telescopic bellows, the ripple
The upper and lower ends of pipe are equipped with joint end face, and female connector interconnected and public affairs are respectively set on the lower articular end face even
Connector is additionally provided with multiple groups universal joint between the joint end face, is uniformly arranged multiple threading holes on the joint end face, and described ten thousand
It is distributed to section and threading hole at even circumferential, and spaced；
The drive system includes pedestal, and the chassis interior is equipped with multiple steering engines, the quantity and threading of the steering engine
The quantity in hole is identical, and the output end of steering engine is equipped with spool, and the spool is equipped with drawstring, the one ends wound of drawstring on spool,
The other end is connected by the threading hole on the end face of joint with top joint；
The upper surface of the pedestal is equipped with female connector, the joint end face of the female connector and adjacent segment arm lower end
On male connector be connected, between joint arm and pedestal be equipped with universal joint.
Preferably, it is additionally provided with inflator pump at the center of the chassis interior, the venthole of inflator pump and base upper surface
Female connector is connected, and through-hole is equipped in the female connector and male connector, is equipped at the joint arm inside center axis
Spring, the upper surface of the joint end face of joint arm lower end are equipped with pressure sensor and exhaust valve, and the exhaust valve is electromagnetism
Control valve, and be connected in controller.
Preferably, the inflator pump is electric piston formula structure, wherein driving motor and pressure sensor with control
System is connected, and forms closed-loop control system.
Preferably, the drawstring is one of wire quality or carbon fibre materials.
Preferably, the quantity of the joint arm includes at least three, and the structure of each joint arm is identical.
Preferably, the outer surface of the joint end face is equipped with one layer of layer of silica gel.
Preferably, the quantity of the universal joint is three.
Preferably, the quantity of the threading hole is three.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
It is simple with structure, it is easy to assembly, it is adaptable the features such as, the structure based on human vertebra, using bionical machine
System is used as intermediate supports bone using spring, and the air bag of inflatable is flexibility muscle, can not only free bend, moreover it is possible to according to
It stretches, can be convenient for grabbing, encircling and delivering some articles being easily damaged, and former using rope driving
Reason, effectively reduces volume and weight, more convenient to use.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the utility model, for those of ordinary skill in the art, in the premise of not making the creative labor property
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the embodiment of the present application；
Fig. 2 is the joint end structure illustration of the embodiment of the present application.
In Fig. 1-Fig. 2: 1, pedestal, 2, steering engine, 3, spool, 4, inflator pump, 5, drawstring, 6, universal joint, 7, joint end face, 8,
Bellows, 9, spring, 10, female connector, 11, male connector, 12, pressure sensor, 13, exhaust valve, 14, threading hole, 15, silicon
Glue-line.
Specific embodiment
The utility model provides a kind of Bionic flexible mechanical arm, has structure simple, easy to assembly, adaptable etc.
Feature, the structure based on human vertebra, using bionic mechanism, using spring as intermediate supports bone, the air bag of inflatable is
Flexible muscle, can not only free bend, moreover it is possible to stretch, be can be convenient for grabbing, encircling and delivering one as needed
The article being easily damaged a bit, and using rope driving principle, volume and weight is effectively reduced, it is more convenient to use.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
As Figure 1-Figure 2, a kind of Bionic flexible mechanical arm, including pedestal 1, steering engine 2, spool 3 and drawstring 5 further include
Bellows 8, spring 9, female connector 10, male connector 11, pressure sensor 12 and exhaust valve 13 are set inside the pedestal 1
There are three steering engine 2, the output end of steering engine 2 is connected with spool 3, and spool 3 is equipped with drawstring 5, and the one ends wound of the drawstring 5 exists
On spool 3, the other end is connected by the threading hole 14 on joint end face 7 with top joint, the quantity of the threading hole 14
It is three, is distributed on joint end face 7 at even circumferential, inflator pump 4 is additionally provided at the center inside the pedestal 1, inflates
The venthole of pump 4 is connected with the female connector 10 of 1 upper surface of pedestal, the joint of the female connector 10 and joint arm lower end
Male connector 11 on end face 7 is connected, and is equipped at the center of the joint end face 7 of joint arm upper end identical as 1 upper surface of pedestal
Female connector 10,1 upper joint end face 7 of pedestal is equipped with the universal joint 6 that is connected with adjacent segment arm, the universal joint 6
Quantity be three, be distributed on joint end face 7 at even circumferential, and spaced with threading hole 14, in the joint arm
It is connected on excircle between two joints end face 7 by the closing of bellows 8, spring 9, the pass of lower end is equipped with inside center axis
The upper surface for saving end face 7 is equipped with pressure sensor 12 and exhaust valve 13, and the exhaust valve 13 is solenoid electric valve, and in control
Device processed is connected.
Wherein, in practical applications, the inflator pump 4 is that electric piston formula structure, wherein driving motor and pressure pass
Sensor 12 is connected with control system, forms closed-loop control system, can the intra articular according to measured by pressure sensor 12
Pressure, air pressure inside is adjusted by inflator pump 4 or exhaust valve 13 in real time, to avoid air pressure excessive, causes to close
Section does not allow flexible and harder problem and air pressure too small the problem of cannot effectively catching article.
Wherein, in practical applications, the drawstring 5 is one of wire quality or carbon fibre materials, structural strength
Greatly, biggish pulling force, and light weight, long service life can be born.
Wherein, in practical applications, the quantity in the joint includes at least three, and the structure in each joint is identical, can
To prevent a joint too long, the discontinuous problem of bending radius is caused, while increasing the freedom degree and flexibility in joint, is used
Modular Structure Design can according to need amount of articulation required for adjustment.
Wherein, in practical applications, the outer surface of the joint end face 7 is equipped with one layer of layer of silica gel 15, due to joint
End face 7 is rigid structure, to avoid these positions from damaging article, increases by one layer of layer of silica gel 15 flexible, can be improved
Safety.
Working principle: using bionic mechanism, using the support shaft centered on internal spring 9, is equivalent to " bone ", prevents
Only flexible arm is excessively soft, it has not been convenient to use；Using the airbag structure of inflatable as " muscle ", protection can be played to article
Left and right, and pass through the mutual cooperation of pressure sensor 12, exhaust valve 13 and inflator pump 4, the pliability of muscle can be carried out
It adjusts, to guarantee to grab some smooth or soft article, using drawstring 5 as " muscle ", can flexibly control machine
Tool arm such as is bent to different directions, is shunk and is upheld at the movement.
The above descriptions are merely preferred embodiments of the present invention, not makees in any form to the utility model
Limitation be not intended to limit the utility model although the utility model has been disclosed with preferred embodiment as above, it is any ripe
Professional and technical personnel is known, is not being departed within the scope of technical solutions of the utility model, when in the technology using the disclosure above
Hold the equivalent embodiment made a little change or be modified to equivalent variations, but all without departing from technical solutions of the utility model
Hold, any simple modification, equivalent change and modification made by the above technical examples according to the technical essence of the present invention, still
It is within the scope of the technical solutions of the present invention.
Claims (8)
1. a kind of Bionic flexible mechanical arm, which is characterized in that including joint arm and the drive system for driving the joint arm to move；
The joint arm is multiple groups and joins end to end that the joint arm includes telescopic bellows, the bellows
Upper and lower ends are equipped with joint end face (7), and female connector interconnected (10) are respectively set on the lower articular end face (7)
With male connector (11), it is additionally provided with multiple groups universal joint (6) between the joint end face (7), is uniformly set on the joint end face (7)
It sets multiple threading holes (14), the universal joint (6) is distributed with threading hole (14) at even circumferential, and spaced；
The drive system includes pedestal (1), is equipped with multiple steering engines (2) inside the pedestal (1), the number of the steering engine (2)
Amount is identical as the quantity of threading hole (14), and the output end of steering engine (2) is equipped with spool (3), and the spool (3) is equipped with drawstring (5),
For the one ends wound of drawstring (5) on spool (3), the other end passes through the threading hole (14) and top joint phase on joint end face (7)
Connection；
The upper surface of the pedestal (1) is equipped with female connector (10), the female connector (10) and adjacent segment arm lower end
Male connector (11) on joint end face (7) is connected, and is equipped with universal joint (6) between joint arm and pedestal (1).
2. a kind of Bionic flexible mechanical arm according to claim 1, which is characterized in that the internal center of the pedestal (1)
Place is additionally provided with inflator pump (4), and the venthole of inflator pump (4) is connected with the female connector (10) of pedestal (1) upper surface, the mother
It is equipped with through-hole in connector (10) and male connector (11), is equipped with spring (9) at the joint arm inside center axis, joint arm
The upper surface of the joint end face (7) of lower end is equipped with pressure sensor (12) and exhaust valve (13), and the exhaust valve (13) is
Solenoid electric valve, and be connected in controller.
3. a kind of Bionic flexible mechanical arm according to claim 2, which is characterized in that the inflator pump (4) is electronic
Piston cylinder operator, wherein driving motor is connected with control system with pressure sensor (12), forms closed-loop control system.
4. a kind of Bionic flexible mechanical arm according to claim 1, which is characterized in that the drawstring (5) is steel wire material
One of matter or carbon fibre materials.
5. a kind of Bionic flexible mechanical arm according to claim 1, which is characterized in that the quantity of the joint arm is at least
Including three, the structure of each joint arm is identical.
6. a kind of Bionic flexible mechanical arm according to claim 1, which is characterized in that outside the joint end face (7)
Surface is equipped with one layer of layer of silica gel (15).
7. a kind of Bionic flexible mechanical arm according to claim 1, which is characterized in that the quantity of the universal joint (6)
It is three.
8. a kind of Bionic flexible mechanical arm according to claim 1, which is characterized in that the quantity of the threading hole (14) is equal
It is three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820776460.7U CN208289885U (en) | 2018-05-24 | 2018-05-24 | A kind of Bionic flexible mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820776460.7U CN208289885U (en) | 2018-05-24 | 2018-05-24 | A kind of Bionic flexible mechanical arm |
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| Publication Number | Publication Date |
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| CN208289885U true CN208289885U (en) | 2018-12-28 |
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| CN201820776460.7U Expired - Fee Related CN208289885U (en) | 2018-05-24 | 2018-05-24 | A kind of Bionic flexible mechanical arm |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110328686A (en) * | 2019-08-08 | 2019-10-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of bionical shoulder joint mechanism with Muscle tensility performance |
| CN110550169A (en) * | 2019-10-15 | 2019-12-10 | 上海海洋大学 | Bionic line-driven wrist cuttlefish |
| CN111037539A (en) * | 2019-12-30 | 2020-04-21 | 浙江清华柔性电子技术研究院 | Flexible telescopic unit, flexible telescopic mechanism and hybrid drive variable-degree-of-freedom soft robot |
| CN112986268A (en) * | 2021-05-20 | 2021-06-18 | 中南大学 | Detection robot and detection method for apparent diseases of high-speed railway bridge |
| CN113510745A (en) * | 2021-07-09 | 2021-10-19 | 清华大学深圳国际研究生院 | Equal-curvature flexible mechanical arm with variable rod length |
| CN113907876A (en) * | 2021-09-22 | 2022-01-11 | 中南大学湘雅医院 | Spine-imitated high-rigidity linear driving mechanical arm and surgical robot |
| CN114227661A (en) * | 2021-10-30 | 2022-03-25 | 关春东 | Multipurpose mechanical arm based on electric artificial muscle |
| CN114505867A (en) * | 2022-01-28 | 2022-05-17 | 哈尔滨工业大学（威海） | Air bag type soft robot capable of passing through special-shaped reducing inner cavity |
| CN114852292A (en) * | 2022-04-18 | 2022-08-05 | 武汉大学 | Hybrid-drive underwater unmanned vehicle fused with bionic spine |
| CN114851213A (en) * | 2022-03-04 | 2022-08-05 | 清华大学 | Membrane type joint of mobile robot, robot and multi-machine cooperation carrying system |
| CN117207165A (en) * | 2023-09-18 | 2023-12-12 | 南京农业大学 | Modular telescopic soft mechanical arm of pneumatic drive-by-wire |
-
2018
- 2018-05-24 CN CN201820776460.7U patent/CN208289885U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253562B (en) * | 2019-06-04 | 2024-05-17 | 广东省智能制造研究所 | Flexible backbone of quadruped robot based on pneumatic muscle |
| 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 |
| CN110328686A (en) * | 2019-08-08 | 2019-10-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of bionical shoulder joint mechanism with Muscle tensility performance |
| CN110550169A (en) * | 2019-10-15 | 2019-12-10 | 上海海洋大学 | Bionic line-driven wrist cuttlefish |
| CN111037539A (en) * | 2019-12-30 | 2020-04-21 | 浙江清华柔性电子技术研究院 | Flexible telescopic unit, flexible telescopic mechanism and hybrid drive variable-degree-of-freedom soft robot |
| CN111037539B (en) * | 2019-12-30 | 2022-03-08 | 浙江清华柔性电子技术研究院 | Flexible telescopic unit, flexible telescopic mechanism and hybrid drive variable-degree-of-freedom soft robot |
| CN112986268A (en) * | 2021-05-20 | 2021-06-18 | 中南大学 | Detection robot and detection method for apparent diseases of high-speed railway bridge |
| CN113510745A (en) * | 2021-07-09 | 2021-10-19 | 清华大学深圳国际研究生院 | Equal-curvature flexible mechanical arm with variable rod length |
| CN113907876A (en) * | 2021-09-22 | 2022-01-11 | 中南大学湘雅医院 | Spine-imitated high-rigidity linear driving mechanical arm and surgical robot |
| CN114227661A (en) * | 2021-10-30 | 2022-03-25 | 关春东 | Multipurpose mechanical arm based on electric artificial muscle |
| CN114505867B (en) * | 2022-01-28 | 2023-04-25 | 哈尔滨工业大学（威海） | Air bag type soft robot capable of penetrating through inner cavity with different diameters |
| CN114505867A (en) * | 2022-01-28 | 2022-05-17 | 哈尔滨工业大学（威海） | Air bag type soft robot capable of passing through special-shaped reducing inner cavity |
| CN114851213A (en) * | 2022-03-04 | 2022-08-05 | 清华大学 | Membrane type joint of mobile robot, robot and multi-machine cooperation carrying system |
| CN114851213B (en) * | 2022-03-04 | 2023-10-31 | 清华大学 | Membrane type joint of mobile robot, robot and multi-machine cooperation conveying system |
| CN114852292A (en) * | 2022-04-18 | 2022-08-05 | 武汉大学 | Hybrid-drive underwater unmanned vehicle fused with bionic spine |
| 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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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181228 Termination date: 20210524 |
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| CF01 | Termination of patent right due to non-payment of annual fee |