CN209682208U - Gas, line combination drive software mechanical arm - Google Patents
Gas, line combination drive software mechanical arm Download PDFInfo
- Publication number
- CN209682208U CN209682208U CN201920476964.1U CN201920476964U CN209682208U CN 209682208 U CN209682208 U CN 209682208U CN 201920476964 U CN201920476964 U CN 201920476964U CN 209682208 U CN209682208 U CN 209682208U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- air
- rubber hose
- bag
- flexible
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Actuator (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a kind of gas, line combination drive software mechanical arm, including sealing the rubber hose being connected in control pedestal on air pump blowing mouth, the outer end closure of rubber hose, if being arranged at intervals with the identical air bag telescopic unit of stem structure thereon, it is linked together between adjacent two air bags telescopic unit by joint tooth roller box.The utility model advantage is that structure is simple, and using simplicity, small in volume is low in cost, highly-safe.Based on being driven with line, supplemented by pneumatic control, drives drawstring flexible by stepper motor, realize the stretching motion of mechanical arm, greatly reduce mechanical arm the space occupied, conveniently adapt to more complicated small environment；It inflates to realize that the rebound of mechanical arm is extended into flexible air-bag by air pump, makes up simple line and drive the lesser disadvantage of mechanical arm strength square, be more easier long-range control, response speed faster, increases actuation redundancy degree, and mechanism rigidity is made to get a promotion.
Description
Technical field
The utility model relates to mechanical arms, more particularly, to a kind of gas, line combination drive software mechanical arm.
Background technique
Currently, in industrial production, core and radiating in the fields such as maintenance, medical operating, aerospace, service, due to facing
Operating environment complexity and unstructured degree it is very high (such as the maintenance cooling line of nuclear power plant reactor, aerospace
Operation, earthquake-stricken area are rescued and for Minimally Invasive Surgery of the organs such as patient's alimentary canal etc.), therefore lead to the application day of mechanical arm
Become universal.
Traditional Rigid Robot Manipulator is difficult to precisely complete careful task inside the crawl space for having a large amount of barriers, this is
The technical bottleneck explored as mechanical arm in application field；And software machinery due to possess in space infinite degrees of freedom,
Can arbitrarily change shape, smooth curved, therefore replaced tradition machinery arm to realize it in complicated, structural lower environment
Impossible task obtains the favor of domestic and foreign scholars.In addition, rope yarn is as a kind of driving medium flexible, there have to be easy
Model, control it is relatively simple, guarantee mechanical arm rotary inertia it is smaller, the precision of positive drive can be reached, drive can be transmitted at a distance
The advantageous features such as power are more that of obtaining the concern of every field.
For from driving method, most of domestic and international existing bionic soft mechanical arm is with marmem, pneumatic
The modes such as artificial-muscle and motor driven rope realize the driving of mechanical arm, although the driving method of these mechanical arms phase not to the utmost
It together, but functionally is essentially all the ability realized the normal bending motion of mechanical arm and grab object, it is difficult to realize mechanical arm
Telescopic.
Summary of the invention
The utility model aim is to provide a kind of structure simple, assembling and easily to operate gas, line combination drive software
Mechanical arm.
To achieve the above object, the utility model can take following technical proposals:
Gas described in the utility model, line combination drive software mechanical arm, including sealing are connected to air pump in control pedestal
Rubber hose on blowing mouth, the outer end closure of the rubber hose are stretched if being arranged at intervals with the identical air bag of stem structure thereon
Contracting unit is linked together between the adjacent two air bag telescopic unit by joint tooth roller box；
The air bag telescopic unit includes a pair of of the bottom plate being set in the rubber hose, is passed through between two bottom plates
Several support springs circumferentially uniformly distributed along rubber hose tube wall are linked together, be sealed and coated with outside each support spring with
The flexible air-bag that rubber hose is connected；It is distributed along the circumference on the outer edge of the bottom plate and the flexible air-bag number phase
Same wears ring, and described wear on same axis is equipped with the drawing flexible by the stepper motor drive in the control pedestal in ring
Rope；
The joint gear case includes the tubular shell that both ends are connected with the bottom plate of adjacent two air bags telescopic unit respectively, position
In being installed with rotating wheel in the intracorporal rubber hose of the cylindrical case, it has been engaged on the outside of the rotating wheel by decelerating motor
The driving gear of drive；
The single-chip microcontroller with reception of wireless signals module, the control output of the single-chip microcontroller are provided in the control pedestal
It holds and is electrically connected with the control signal of the air pump, stepper motor, decelerating motor.
The rubber hose, wears the axial consistent of ring and drawstring at support spring.
The support spring lays three along the tube wall circumferential direction uniform intervals of the rubber hose.
It is described to wear ring and flexible air-bag dislocation laying.
Circumferentially uniform intervals are laid with three groups of sector sections, sector described in every group on the lateral wall of the rotating wheel
Duan Shangjun is engaged a set of driving gear driven by decelerating motor.
The utility model advantage is that structure is simple, and using simplicity, small in volume is low in cost, highly-safe.With
Based on line driving, supplemented by pneumatic control, driving drawstring to stretch by stepper motor (just can change machinery when unilateral drawstring is shunk
The direction of motion of arm just can make mechanical arm integral telescopic when whole drawstrings are shunk simultaneously), realize the stretching motion of mechanical arm,
Mechanical arm the space occupied is greatly reduced, more complicated small environment is conveniently adapted to；It is filled by air pump into flexible air-bag
Gas makes up simple line and drives the lesser disadvantage of mechanical arm strength square to realize that the rebound of mechanical arm extends, and makes remotely to control more
It is easy, response speed faster, increases actuation redundancy degree, and mechanism rigidity is made to get a promotion；In addition, by slowing down in joint tooth roller box
Motor-driven driving gear can change the windup-degree at joint of mechanical arm, and then improve the control precision of mechanical arm.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the enlarged drawing of single air bag telescopic unit in Fig. 1.
Fig. 3 is the top view (concealing drawstring) of Fig. 2.
Specific embodiment
As shown in Figure 1-3, gas described in the utility model, line combination drive software mechanical arm, including sealing are connected to control
Rubber hose 2 in pedestal 1 processed on air pump blowing mouth, the outer end closure of rubber hose 2, if being arranged at intervals with stem structure phase thereon
Same air bag telescopic unit, the length of rubber hose 2 and the quantity of air bag telescopic unit can be according to the required specific rings used
Border is chosen, and is linked together between adjacent two air bags telescopic unit by joint tooth roller box.
Air bag telescopic unit includes a pair of of the bottom plate 3 being set in rubber hose 2, by soft along rubber between two bottom plates 3
Three circumferentially uniformly distributed support springs 4 of 2 tube wall of pipe are linked together (as shown in Figure 2), the axial direction and rubber hose 2 of support spring 4
Axial consistent, being sealed and coated with the flexible air-bag 5(being connected with rubber hose 2 outside each support spring 4, i.e. there are three flexible
Air bag 5), the interior gas exported of air pump is full of flexible air-bag 5 through rubber hose 2.On the outer edge of each bottom plate 3 circumferentially
Be furnished with and wear ring 6 with identical three of the number of flexible air-bag 5, wear ring 6 axial direction and rubber hose 2 it is axial consistent, and wear ring 6 with
The dislocation of flexible air-bag 5 is laid, and avoiding contacting with each other at work has an impact；Wearing in ring 6 on same axis is equipped with by controlling
Stepper motor in pedestal 1 processed drives flexible drawstring 7(to drive three drawstrings 7 respectively there are three stepper motor, per adjacent two
A drawstring 7 is passed through between flexible air-bag 5), additionally, due to the axial consistent of the axial direction and rubber hose 2 for wearing ring 6, therefore from its
The drawstring 7 inside passed through it is axial do not deform be bent when, it is also consistent with axially retaining for rubber hose 2.
Joint gear case includes a tubular shell 8, the both ends of tubular shell 8 phase with adjacent two air bags telescopic unit respectively
Adjacent bottom plate 3 is spirally connected connected, and it is as shown in Figure 3 in the rubber hose 2 in tubular shell 8 to be installed with rotating wheel 9(), rotating wheel 9
Outside be engaged by decelerating motor drive driving gear 10, controlled by decelerating motor driving gear 10 rotation,
To drive rotating wheel 9 to rotate, soft 2 pipe of rubber is made to generate torsional deformation in the joint.In addition, for accurate control rubber hose
2 reverse by a small margin, and circumferentially uniform intervals are laid with three groups of sector sections 11, every group of sector on the lateral wall of rotating wheel 9
A set of driving gear 10 driven by decelerating motor is engaged in section 11, i.e. the torsional amplitude control of rubber hose 2 exists
In the length range of sector section 11, to reach the bending direction for adjusting mechanical arm by a small margin.
To realize long-range control mechanical arm, it is provided with the single-chip microcontroller with reception of wireless signals module in control pedestal 1, list
Piece machine is communicated to connect by the mobile phone or controller of reception of wireless signals module and external belt wireless signal transmitting module, and monolithic
The control output end of machine and the control signal of air pump, stepper motor, decelerating motor are electrically connected, and control its work.
The working principle of the utility model is as follows:
Firstly, inflating by air pump to flexible air-bag 5, the straight ahead of mechanical arm is realized；When needing to turn, control should
The stepper motor of side works, and inwardly withdraws drawstring 7, so that the flexible air-bag 5 of the side is squeezed deformation, reach mechanical brachiocylloosis side
To change, simultaneously decelerating motor also can be as needed, control driving gear 10 rotate, thus make rubber hose 2 generate
The torsional bending of each angle of mechanical arm is realized in the torsional deflection of adaptability；In addition, three stepper motors inwardly withdraw drawstring simultaneously
The contraction of 7 achievable mechanical arms.
Claims (5)
1. a kind of gas, line combination drive software mechanical arm, it is characterised in that: be connected to air pump gas transmission in control pedestal including sealing
Rubber hose on mouth, the outer end closure of the rubber hose, if it is flexible single to be arranged at intervals with the identical air bag of stem structure thereon
Member is linked together between the adjacent two air bag telescopic unit by joint tooth roller box；
The air bag telescopic unit includes a pair of of the bottom plate being set in the rubber hose, by along rubber between two bottom plates
The circumferentially uniformly distributed several support springs of glue hose tube wall are linked together, and each support spring is sealed and coated with outside and rubber
The flexible air-bag that hose is connected；It is distributed along the circumference on the outer edge of the bottom plate identical with the flexible air-bag number
Ring is worn, described wear on same axis is equipped with the drawstring flexible by the stepper motor drive in the control pedestal in ring；
The joint gear case includes the tubular shell that both ends are connected with the bottom plate of adjacent two air bags telescopic unit respectively, is located at institute
It states and is installed with rotating wheel in the intracorporal rubber hose of cylindrical case, be engaged on the outside of the rotating wheel and driven by decelerating motor
Driving gear；
Be provided with the single-chip microcontroller with reception of wireless signals module in the control pedestal, the control output end of the single-chip microcontroller with
The air pump, stepper motor, decelerating motor control signal be electrically connected.
2. gas according to claim 1, line combination drive software mechanical arm, it is characterised in that: the rubber hose, support
Spring wears the axial consistent of ring and drawstring.
3. gas according to claim 1 or 2, line combination drive software mechanical arm, it is characterised in that: the support spring edge
The tube wall circumferential direction uniform intervals of the rubber hose lay three.
4. gas according to claim 1 or 2, line combination drive software mechanical arm, it is characterised in that: it is described wear ring with it is described
Flexible air-bag dislocation is laid.
5. gas according to claim 1 or 2, line combination drive software mechanical arm, it is characterised in that: in the rotating wheel
Circumferentially uniform intervals are laid with three groups of sector sections on lateral wall, sector Duan Shangjun described in every group be engaged it is a set of by
The driving gear that decelerating motor drives.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920476964.1U CN209682208U (en) | 2019-04-10 | 2019-04-10 | Gas, line combination drive software mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920476964.1U CN209682208U (en) | 2019-04-10 | 2019-04-10 | Gas, line combination drive software mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209682208U true CN209682208U (en) | 2019-11-26 |
Family
ID=68607556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920476964.1U Expired - Fee Related CN209682208U (en) | 2019-04-10 | 2019-04-10 | Gas, line combination drive software mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209682208U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900642A (en) * | 2019-12-24 | 2020-03-24 | 东北林业大学 | Universal variable-rigidity soft actuator |
| CN111743631A (en) * | 2020-06-29 | 2020-10-09 | 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) | Minimally invasive interventional continuum surgical robot and operation method thereof |
| CN112607299A (en) * | 2020-11-10 | 2021-04-06 | 北京城创新智科技有限公司 | Swallowing type conveying channel and mechanical arm |
| CN112758337A (en) * | 2021-01-25 | 2021-05-07 | 哈尔滨工业大学 | Aerial refueling device with gas drive becomes rigidity hose |
| CN112976031A (en) * | 2021-03-23 | 2021-06-18 | 青岛双瑞海洋环境工程股份有限公司 | Pneumatic flexible driver and net-catching type pneumatic grabbing device |
| CN111457028B (en) * | 2020-03-12 | 2021-09-14 | 华中科技大学鄂州工业技术研究院 | Pneumatic clutch and wearable rehabilitation assistance device |
| CN113427519A (en) * | 2021-06-04 | 2021-09-24 | 杭州电子科技大学 | Flexible rattan-shaped robot and driving method and application thereof |
| 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 |
| CN113939386A (en) * | 2020-03-31 | 2022-01-14 | 株式会社雷片 | Robot gripper and robot |
| CN114434424A (en) * | 2022-01-25 | 2022-05-06 | 南京信息工程大学 | Bionic spine mechanism |
| CN114683222A (en) * | 2020-12-31 | 2022-07-01 | 北京晓聪科技有限公司 | Device with handle |
| CN115853229A (en) * | 2023-02-03 | 2023-03-28 | 山东鼎安升机器人有限公司 | Self-walking indoor wall surface polishing and spraying operation robot |
| CN117207165A (en) * | 2023-09-18 | 2023-12-12 | 南京农业大学 | Modular telescopic soft mechanical arm of pneumatic drive-by-wire |
-
2019
- 2019-04-10 CN CN201920476964.1U patent/CN209682208U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900642A (en) * | 2019-12-24 | 2020-03-24 | 东北林业大学 | Universal variable-rigidity soft actuator |
| CN111457028B (en) * | 2020-03-12 | 2021-09-14 | 华中科技大学鄂州工业技术研究院 | Pneumatic clutch and wearable rehabilitation assistance device |
| CN113939386A (en) * | 2020-03-31 | 2022-01-14 | 株式会社雷片 | Robot gripper and robot |
| CN111743631A (en) * | 2020-06-29 | 2020-10-09 | 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) | Minimally invasive interventional continuum surgical robot and operation method thereof |
| CN112607299A (en) * | 2020-11-10 | 2021-04-06 | 北京城创新智科技有限公司 | Swallowing type conveying channel and mechanical arm |
| CN114683222A (en) * | 2020-12-31 | 2022-07-01 | 北京晓聪科技有限公司 | Device with handle |
| CN112758337B (en) * | 2021-01-25 | 2022-06-21 | 哈尔滨工业大学 | Aerial refueling device with gas drive becomes rigidity hose |
| CN112758337A (en) * | 2021-01-25 | 2021-05-07 | 哈尔滨工业大学 | Aerial refueling device with gas drive becomes rigidity hose |
| CN112976031A (en) * | 2021-03-23 | 2021-06-18 | 青岛双瑞海洋环境工程股份有限公司 | Pneumatic flexible driver and net-catching type pneumatic grabbing device |
| CN112976031B (en) * | 2021-03-23 | 2022-09-30 | 青岛双瑞海洋环境工程股份有限公司 | Pneumatic flexible driver and net-catching type pneumatic grabbing device |
| CN113427519A (en) * | 2021-06-04 | 2021-09-24 | 杭州电子科技大学 | Flexible rattan-shaped robot and driving method and application thereof |
| CN113427519B (en) * | 2021-06-04 | 2022-06-28 | 杭州电子科技大学 | Flexible rattan-shaped robot and driving method and application thereof |
| 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 |
| CN114434424A (en) * | 2022-01-25 | 2022-05-06 | 南京信息工程大学 | Bionic spine mechanism |
| CN114434424B (en) * | 2022-01-25 | 2024-01-09 | 南京信息工程大学 | Bionic spine mechanism |
| CN115853229A (en) * | 2023-02-03 | 2023-03-28 | 山东鼎安升机器人有限公司 | Self-walking indoor wall surface polishing and spraying operation robot |
| CN117207165A (en) * | 2023-09-18 | 2023-12-12 | 南京农业大学 | Modular telescopic soft mechanical arm of pneumatic drive-by-wire |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209682208U (en) | Gas, line combination drive software mechanical arm | |
| CN105690378A (en) | Compact multi-joint-section snake arm driving mechanism easy to expand | |
| WO2020248557A1 (en) | Soft bionic legged robot | |
| CN108972527B (en) | Rigidity-variable snakelike arm robot based on phase change material | |
| US9649771B2 (en) | Parallel robot, robot system, and assembly method for transfer system | |
| CN108578173B (en) | Flexible upper limb assistance exoskeleton | |
| CN100560307C (en) | The active Wrist mechanism that is used for mechanical arm or snake-shaped robot | |
| CN108582058B (en) | Negative pressure rotary artificial muscle | |
| CN110293581A (en) | A kind of bionic soft mechanical arm and grasping system | |
| CN105318141A (en) | Miniature spiral pipeline robot | |
| CN107186707B (en) | Mechanical structure of flexible arm | |
| CN103144756A (en) | Bionic robot fish propelled by oscillating and twisting compound motion of pectoral fins | |
| CN102506266A (en) | Bionic squirm type pipeline travelling mechanism and control method thereof | |
| CN104669290A (en) | Under-actuated spatial manipulator end effector | |
| CN110425377B (en) | Bidirectional movement's inertial pipeline robot | |
| CN210650736U (en) | Mechanical arm joint assembly and mechanical arm | |
| CN111482949A (en) | Novel flexible mechanical arm and driving method thereof | |
| CN113601542B (en) | Variable-rigidity flexible manipulator based on bionic adhesion | |
| CN107891419A (en) | Phagocytosis type crawl transmission integrated flexible robot | |
| CN112828870A (en) | Pneumatic soft robot for pipeline | |
| CN113942004A (en) | Snake-like soft robot based on tension structure | |
| CN108555894B (en) | Pipeline creeping robot | |
| CN107662202A (en) | The six-joint robot and its assemble method of a kind of gear transmission structure | |
| CN112013204A (en) | Self-adaptive mobile robot for underground pipeline | |
| CN208289883U (en) | A kind of pneumatic software executive device |
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: 20191126 Termination date: 20210410 |