CN211164030U - Inflatable flexible light mechanical arm - Google Patents
Inflatable flexible light mechanical arm Download PDFInfo
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- CN211164030U CN211164030U CN201922236329.9U CN201922236329U CN211164030U CN 211164030 U CN211164030 U CN 211164030U CN 201922236329 U CN201922236329 U CN 201922236329U CN 211164030 U CN211164030 U CN 211164030U
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Abstract
The utility model belongs to the field of mechanical arms, in particular to an inflatable flexible light mechanical arm, including atmospheric pressure return circuit module, the camera, thin artificial muscle, the gasbag body, the frame, the gasbag gas charging tank, the gas transmission pipeline, the resin gasket, air compressor, the electric wire, a power supply, thin artificial muscle is connected to the gasbag body through the resin gasket, make the mechanical arm drive, the drive power of thin artificial muscle is derived from the compressed air that atmospheric pressure return circuit module provided through the gas transmission pipeline, compressed air is derived from air compressor, the connecting rod of mechanical arm adopts the gasbag body of filling into helium, the gasbag body has dead weight compensation ability, the camera is installed in the most terminal of mechanical arm, be connected to the power supply of frame through the electric wire; the whole inflatable flexible light mechanical arm is fixed on the frame. The utility model discloses novel structure, control is simple, is applicable to inspection and investigation of danger, high altitude, disaster area and outer space.
Description
Technical Field
The utility model belongs to the arm field, specifically speaking are flexible light arm of inflatable.
Background
In recent years, conventional robot arms have been exposed to more and more problems. The mechanical arm gradually changes from rigidity to flexibility, and a plurality of bionic robots are manufactured. The key parts of the breaststroke robot and the agile manipulator are driven by artificial muscles, and the flexibility trend is expanded. Most of the existing mechanical arms are rigid, the flexible mechanical arms can make up for the defects of the rigid mechanical arms, inspection and exploration tasks can be carried out in dangerous, high-altitude and complex fields, and the flexible mechanical arms have the advantages of being long and light, so that the manufacturing cost and the danger coefficient are greatly reduced.
SUMMERY OF THE UTILITY MODEL
Problem to traditional arm existence, the utility model aims to provide a flexible light arm of inflatable is applicable to inspection and investigation of danger, high altitude, disaster area and outer space.
The purpose of the utility model is realized through the following technical scheme:
the utility model discloses an gasbag body, thin artificial muscle, gas transmission pipeline, gasbag gas charging tank, frame, air compressor and atmospheric pressure return circuit module, wherein gasbag gas charging tank, air compressor and atmospheric pressure return circuit module are installed respectively on the frame, the gasbag body is four at least, through the connecting rod of articulated shaft series connection, formation arm each other, and each gasbag internal portion communicates with each other, lie in first gasbag body install on the atmospheric pressure return circuit module, and communicate with gasbag gas charging tank through the gas charging pipeline, fill into lighter than air gas to each gasbag internal portion by this gasbag gas charging tank, make each gasbag body after aerifing suspend in the air; each air bag body is connected or spanned with a thin artificial muscle which can only axially stretch, the thin artificial muscle spans three air bag bodies, two ends of the thin artificial muscle are respectively connected with two sides of the spanned three air bag bodies, the thin artificial muscle is of an internal hollow structure, one end of the thin artificial muscle is connected with an air transmission pipeline, and the other end of the thin artificial muscle is a closed end; the air pressure loop module is provided with a three-position four-way electromagnetic directional valve for controlling the inflation or deflation of the thin artificial muscle, and the three-position four-way electromagnetic directional valve is respectively connected with the air compressor and the air transmission pipeline; the air compressor inflates air into the thin artificial muscle through the air transmission pipeline through the three-position four-way electromagnetic reversing valve, the air bag body connected with one end, connected with the air transmission pipeline, of the inflated thin artificial muscle is kept still as a base in the process that the thin artificial muscle contracts due to inflation, and the air bag body as the base rotates towards one side of the inflated thin artificial muscle towards the other air bag bodies far away from the direction of the air pressure loop module.
Wherein: the thin artificial muscles are divided into a vertical thin artificial muscle group and a horizontal thin artificial muscle group, the two thin artificial muscles of the vertical thin artificial muscle group are symmetrically positioned on the upper side and the lower side of the air sac body on the vertical plane, the two thin artificial muscles of the horizontal thin artificial muscle group are symmetrically positioned on the left side and the right side of the air sac body on the horizontal plane, the thin artificial muscles in the vertical thin artificial muscle group and the horizontal thin artificial muscle group are equal in length, and any one thin artificial muscle spans over the three air sac bodies; the vertical thin artificial muscle group and the horizontal thin artificial muscle group are alternately arranged along the length direction of a mechanical arm connecting rod formed by the air bag body, and two thin artificial muscles of the adjacent vertical thin artificial muscle groups are partially overlapped with two thin artificial muscles of the horizontal thin artificial muscle group.
The vertical thin artificial muscle group and the horizontal thin artificial muscle group are respectively provided with independent three-position four-way electromagnetic directional valves, and each three-position four-way electromagnetic directional valve is respectively connected with two thin artificial muscles of the vertical thin artificial muscle group or two thin artificial muscles of the horizontal thin artificial muscle group through a gas transmission pipeline; two thin artificial muscles of the vertical thin artificial muscle group are not inflated at the same time, namely one thin artificial muscle is inflated, and the other thin artificial muscle is deflated; two thin artificial muscles of the horizontal thin artificial muscle group are not inflated at the same time, namely one thin artificial muscle is inflated, and the other thin artificial muscle is deflated.
On the basis of four air sac bodies, a group of vertical thin artificial muscle groups or horizontal thin artificial muscle groups is added when one air sac body is added; correspondingly, one three-position four-way electromagnetic reversing valve is added in the pneumatic circuit module.
Thin artificial muscle is made by wrapping up the one deck nylon wire fabric outside the latex tube, and one end is the insulating band, and the other end is sealed area seted up the compressed air entry on the insulating band, the one end of this compressed air mouth with gas transmission pipeline links to each other, the other end with the inside intercommunication of latex tube.
The compressed air inlet is connected with the gas transmission pipeline in an interference fit mode.
Resin gaskets bonded on the air bag body are arranged between the two ends of the thin artificial muscle and the air bag body, and the thin artificial muscle, the resin gaskets and the air bag body are connected together through a strong horse line.
The air bag body is an air bag made of two layers of materials of a nylon co-extrusion film and a polyethylene co-extrusion film, and joint shafts are symmetrically arranged at two ends of the air bag body.
Helium is filled into the air bag body by the air bag inflation tank.
And a camera is arranged at the tail end of the mechanical arm connecting rod formed by the air bag bodies and is connected with a power supply arranged on the base through an electric wire.
The utility model discloses an advantage does with positive effect:
1. the utility model discloses novel structure, control is simple, is applicable to inspection and investigation of danger, high altitude, disaster area and outer space.
2. The driving element of the utility model is a light and thin artificial muscle, and the motion form is axial linear expansion motion; the device is not a metal driving device such as a heavy servo motor.
3. The utility model discloses a motion control is through the order, jump preface, the drive of the reverse order of different thin artificial muscles that different gasbag bodies correspond and controls.
4. The driving source of the utility model is compressed air in an air compressor; the driving loop is a pneumatic loop and has no influence on the external environment.
5. The material of the utility model is basically fiber and plastic material, has light weight, simple structure and flexibility; the self-weight compensation is carried out on the self-weight aspect, so that the mechanical arm is lighter in weight and longer in arm length.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
fig. 2A is a schematic view of four air cells and a thin artificial muscle according to the present invention;
fig. 2B is a schematic view of five air cells and a thin artificial muscle according to the present invention;
fig. 2C is a schematic view of six balloon bodies and a thin artificial muscle according to the present invention;
FIG. 3 is a sectional view of the thin artificial muscle of the present invention;
fig. 4A is a schematic structural view of two three-position four-way electromagnetic directional valves controlling two groups of thin artificial muscles in the pneumatic circuit module of the present invention;
fig. 4B is a schematic structural diagram of three-position four-way electromagnetic directional valves controlling three groups of thin artificial muscles in the pneumatic circuit module of the present invention;
fig. 4C is a schematic structural diagram of four three-position four-way electromagnetic directional valves controlling four groups of thin artificial muscles in the pneumatic circuit module of the present invention;
wherein: the device comprises a camera 1, an air bag body 2, a resin gasket 3, a thin artificial muscle 4, an air delivery pipeline 5, an air bag inflation tank 6, a machine base 7, a power supply 8, an air compressor 9, an air pressure loop module 10, an electric wire 11, a joint shaft 12, a compressed air inlet 13, a nylon mesh fabric 14, a latex tube 15, a sealing area 16, an insulating tape 17, a strong force horse wire 18 and a three-position four-way electromagnetic reversing valve 19.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the utility model discloses an air bag body 2, thin artificial muscle 4, gas transmission pipeline 5, gasbag aeration tank 6, frame 7, air compressor 9 and atmospheric pressure return circuit module 10, wherein gasbag aeration tank 6, air compressor 9 and atmospheric pressure return circuit module 10 install respectively on frame 7, air bag body 2 is at least four, through 12 series connection of joint axis, form the connecting rod of arm each other, and each 2 inside of air bag body communicate with each other, be located first air bag body and install on atmospheric pressure return circuit module 10, and be linked together through gas piping and gasbag aeration tank 6, fill into the gas lighter than the air to each 2 inside of air bag body by this gasbag aeration tank 6, make each air bag body 2 after aerifing suspend in the air, have dead weight compensation ability. A valve connected with a control system is arranged on an inflation pipeline between the air bag inflation tank 6 and the air bag body 2, and the control system controls the valve to control the opening and closing of the inflation pipeline; the control system of the present embodiment is prior art. The gas bag charging tank 6 of the present embodiment charges helium gas into the gas bag body 2.
Each air sac body 2 is connected or spanned with a thin artificial muscle 4 which can only axially stretch, the thin artificial muscle 4 spans the three air sac bodies 2, two ends of the thin artificial muscle 4 are respectively connected with two sides of the spanned three air sac bodies 2, the thin artificial muscle 4 is of an internal hollow structure, one end of the thin artificial muscle is connected with an air pipeline 5, and the other end of the thin artificial muscle is a closed end. As shown in fig. 3, the thin artificial muscle 4 of this embodiment is made by wrapping a layer of nylon mesh fabric 14 outside the latex tube 15, so that the radial expansion of the latex tube 15 becomes axial expansion, and the motion form of the thin artificial muscle 4 is axial linear expansion motion to drive the air bag body 2; the thin artificial muscle 4 of this structure is contracted in the axial direction when inflated, and is restored in an extended state when deflated. One end of the thin artificial muscle 4 is an insulating tape 17, the other end of the thin artificial muscle is a sealing area 16, a compressed air inlet 13 is formed in the insulating tape 17, one end of the compressed air inlet 13 is connected with the air transmission pipeline 5, the compressed air inlet 13 is connected with the air transmission pipeline 5 in an interference fit mode, and the other end of the compressed air inlet 13 is communicated with the inside of the latex tube 15. Resin pads 3 bonded on the air bag body 2 are arranged between the two ends of the thin artificial muscle 4 and the air bag body 2, and the thin artificial muscle 4, the resin pads 3 and the air bag body 2 are connected together through a strong horse line 18.
The thin artificial muscle 4 of this embodiment divide into the thin artificial muscle group of plumb surface and the thin artificial muscle group of horizontal plane, two thin artificial muscles 4 of this thin artificial muscle group of plumb surface are symmetrical in the upper and lower both sides of the gasbag body 2 on the plumb surface, two thin artificial muscles 4 of the thin artificial muscle group of horizontal plane are symmetrical in the left and right sides of the gasbag body 2 on the horizontal plane, the thin artificial muscle 4 length in this thin artificial muscle group of plumb surface and the thin artificial muscle group of horizontal plane equals, three gasbag body 2 is all strideed across to arbitrary thin artificial muscle 4. The arm connecting rod length direction that vertical plane thin artificial muscle group and the thin artificial muscle group of horizontal plane formed along gasbag body 2 set up in turn, and two thin artificial muscles of the thin artificial muscle group of adjacent vertical plane overlap with two thin artificial muscle parts of the thin artificial muscle group of horizontal plane.
The pneumatic circuit module 10 is provided with a three-position four-way electromagnetic directional valve 19 for controlling the inflation or deflation of the thin artificial muscle 4, and the three-position four-way electromagnetic directional valve 19 is respectively connected with the air compressor 9, the gas transmission pipeline 5 and the control system. The driving force on the thin artificial muscle 4 is derived from compressed air provided by the air compressor 9 through the pneumatic circuit module 10 and the air transmission pipeline 5. The air compressor 9 inflates air into the thin artificial muscle 4 through the air transmission pipeline 5 by the three-position four-way electromagnetic directional valve 19, the air bag body 2 connected with one end of the inflated thin artificial muscle 4 connected with the air transmission pipeline 5 is kept still as a base in the process that the thin artificial muscle 4 contracts due to inflation, and the air bag body 2 as the base rotates to one side of the inflated thin artificial muscle 4 from the rest air bag bodies 2 far away from the air pressure loop module 10. The neutral position function of the three-position four-way electromagnetic directional valve 19 of the present embodiment is an O-type, that is, in the neutral position, each air port is fully closed, and air does not flow.
The vertical thin artificial muscle group and the horizontal thin artificial muscle group are respectively provided with a three-position four-way electromagnetic directional valve 19 which are independent from each other, and each three-position four-way electromagnetic directional valve 19 is respectively connected with the two thin artificial muscles 4 of the vertical thin artificial muscle group or the two thin artificial muscles 4 of the horizontal thin artificial muscle group through a gas transmission pipeline 5. Two thin artificial muscles 4 of the vertical thin artificial muscle group are not inflated at the same time, namely one is inflated and the other is deflated. Two thin artificial muscles 4 of the horizontal thin artificial muscle group are not inflated at the same time, namely one is inflated, and the other is deflated.
The air bag body 2 of the embodiment is an air bag made of two layers of materials, namely a nylon co-extrusion film and a polyethylene co-extrusion film, wherein the nylon co-extrusion film is arranged outside the air bag body, the polyethylene co-extrusion film is arranged inside the air bag body, and the nylon co-extrusion film and the polyethylene co-extrusion film are bonded together; the two ends of the air bag body 2 are symmetrically provided with joint shafts 12, and the joint shafts 12 of the embodiment can be joint bearings. The wall thickness of the air bag body 2 is 0.06mm, and then the self weight compensation is carried out through helium gas, so that the purposes of light weight and arm length are achieved. Although the thickness is only 0.06mm, the nylon coextruded film and the polyethylene coextruded film have required supporting force under the clamping effect.
The extreme end of the mechanical arm link formed by each air bag body 2 of the embodiment is provided with the camera 1, and the camera 1 is connected with the power supply 8 arranged on the base 7 through an electric wire 11.
The number of the air sac bodies 2 is at least four, and on the basis of the four air sac bodies 2, a group of vertical thin artificial muscle groups or horizontal thin artificial muscle groups are added when one air sac body 2 is added; correspondingly, a three-position four-way electromagnetic reversing valve 19 is added in the pneumatic circuit module 10.
As shown in fig. 2A, there are four air bags 2, which are respectively an air bag a, an air bag B, an air bag C and an air bag D, the air bag a is fixed as a base, and one end of the air bag a is mounted on the air pressure loop module 10. A group of vertical plane thin artificial muscle groups (respectively thin artificial muscle a and thin artificial muscle b) and a group of horizontal plane thin artificial muscle groups (respectively thin artificial muscle c and thin artificial muscle d) are arranged on the four air sac bodies 2, wherein the thin artificial muscle a and the thin artificial muscle b of the vertical plane thin artificial muscle groups are symmetrically positioned at the upper side and the lower side of the vertical plane of the air sac bodies, and the thin artificial muscle c and the thin artificial muscle d of the horizontal plane thin artificial muscle groups are symmetrically positioned at the left side and the right side of the horizontal plane of the air sac bodies; one ends of the thin artificial muscle a and the thin artificial muscle B are connected to the other end of the air sac body A, then the thin artificial muscle a and the thin artificial muscle B span the air sac body B, and the other ends of the thin artificial muscle a and the thin artificial muscle B are connected to one end of the air sac body C; thin artificial muscle C and thin artificial muscle D's one end is connected in the other end of gasbag body B, then thin artificial muscle C and thin artificial muscle D stride across gasbag body C, and thin artificial muscle C and thin artificial muscle D's the other end is connected in the one end of gasbag body D, installs camera 1 at gasbag body D's the other end. As shown in fig. 4A, two three-position four-way electromagnetic directional valves 19 are correspondingly disposed in the pneumatic circuit module 10, one three-position four-way electromagnetic directional valve 19 is respectively connected to the lean artificial muscle a and the lean artificial muscle b through the gas transmission pipeline 5, and the other three-position four-way electromagnetic directional valve 19 is respectively connected to the lean artificial muscle c and the lean artificial muscle d through the gas transmission pipeline 5. When the control system controls the first three-position four-way electromagnetic directional valve 19 to inflate the compressed air of the air compressor 9 to the thin artificial muscle a through the air delivery pipeline 5, the thin artificial muscle B is not inflated at the same time, the air bag body A is fixed as a base, the thin artificial muscle a is inflated to contract along the axial direction, and the corresponding thin artificial muscle B is deflated to extend and reset (the deflation action is realized by the three-position four-way electromagnetic directional valve 19), so that the air bag body cannot stretch axially, the air bag body C and the air bag body C are driven to drive the air bag body D to turn around the joint shaft B 'towards the thin artificial muscle a, and the air bag body B turns around the joint shaft A' towards the thin artificial muscle a; similarly, when the first three-position four-way electromagnetic directional valve 19 inflates the thin artificial muscle B, the thin artificial muscle B contracts along the axial direction, the corresponding thin artificial muscle a deflates and extends to reset, so that the air bag body C and the air bag body C are driven to drive the air bag body D to turn around the joint shaft B 'towards the thin artificial muscle B, and the air bag body B turns around the joint shaft A' towards the thin artificial muscle B. When the control system controls the second three-position four-way electromagnetic directional valve 19 to inflate the compressed air of the air compressor 9 to the thin artificial muscle C through the air transmission pipeline 5, the thin artificial muscle D is not inflated at the same time, the air bag body A and the air bag body B are both fixed as a base, the thin artificial muscle C is inflated to contract along the axial direction, and the corresponding thin artificial muscle D is deflated to extend and reset, so that the air bag body D is driven to turn around the joint axis C 'towards the direction of the thin artificial muscle C, and the air bag body C turns around the joint axis B' towards the direction of the thin artificial muscle C; similarly, when the second three-position four-way electromagnetic directional valve 19 inflates the thin artificial muscle D, the thin artificial muscle D contracts along the axial direction, the corresponding thin artificial muscle C deflates, extends and resets, and then the air bag body D is driven to turn over towards the thin artificial muscle D around the joint shaft C ', and the air bag body C turns over towards the thin artificial muscle D around the joint shaft B'.
As shown in fig. 2B, an airbag body E is added on the basis of the four airbag bodies in fig. 2A, and a group of vertical-plane thin artificial muscle groups, namely, a thin artificial muscle E and a thin artificial muscle f are added, and are symmetrically located on the upper side and the lower side of the vertical plane of the airbag body. Thin artificial muscle E and the one end of thin artificial muscle f are connected in the other end of gasbag body C, then thin artificial muscle E and thin artificial muscle f stride across gasbag body D, and the other end of thin artificial muscle E and thin artificial muscle f is connected in the one end of gasbag body E, and camera 1 is installed to the other end of gasbag body E. As shown in fig. 4B, a three-position four-way electromagnetic directional valve is added on the basis of the two three-position four-way electromagnetic directional valves in fig. 4A, and the three-position four-way electromagnetic directional valves are respectively connected with the lean artificial muscle e and the lean artificial muscle f through the gas transmission pipeline 5 and are used for controlling the added lean artificial muscle e and the lean artificial muscle f. When the control system controls the first three-position four-way electromagnetic directional valve 19 to inflate the compressed air of the air compressor 9 to the thin artificial muscle a through the air delivery pipeline 5, the thin artificial muscle B is not inflated at the same time, the air bag body A is fixed as a base, the thin artificial muscle a is inflated to contract along the axial direction, and the corresponding thin artificial muscle B is deflated to extend and reset, so that the air bag body C and the air bag body C are driven to drive the air bag body D, the air bag body D drives the air bag body E to turn around the joint axis B 'towards the direction of the thin artificial muscle a, and the air bag body B turns around the joint axis A' towards the direction of the thin artificial muscle a; similarly, when the first three-position four-way electromagnetic directional valve 19 inflates the thin artificial muscle B, the thin artificial muscle B contracts along the axial direction, the corresponding thin artificial muscle a deflates and is extended and reset, so that the air bag body C and the air bag body C are driven to drive the air bag body D, the air bag body D drives the air bag body E to overturn around the joint axis B 'towards the direction of the thin artificial muscle B, and the air bag body B overturns around the joint axis A' towards the direction of the thin artificial muscle B. When the control system controls the second three-position four-way electromagnetic directional valve 19 to inflate the compressed air of the air compressor 9 to the thin artificial muscle C through the air delivery pipeline 5, the thin artificial muscle D is not inflated at the same time, the air bag body A and the air bag body B are both fixed as a base, the thin artificial muscle C is inflated to contract along the axial direction, and the corresponding thin artificial muscle D is deflated to extend and reset, so that the air bag body D and the air bag body D are driven to drive the air bag body E to turn over towards the thin artificial muscle C around the joint shaft C ', and the air bag body C turns over towards the thin artificial muscle C around the joint shaft B'; similarly, when the second three-position four-way electromagnetic directional valve 19 inflates the thin artificial muscle D, the thin artificial muscle D contracts along the axial direction, the corresponding thin artificial muscle C deflates and extends to reset, so that the air bag body D and the air bag body D are driven to drive the air bag body E to turn around the joint shaft C 'towards the thin artificial muscle D, and the air bag body C turns around the joint shaft B' towards the thin artificial muscle D. When the control system controls the third three-position four-way electromagnetic directional valve 19 to inflate the compressed air of the air compressor 9 to the thin artificial muscle E through the air delivery pipeline 5, the thin artificial muscle f is not inflated at the same time, the air bag body A, the air bag body B and the air bag body C are both fixed as a base, the thin artificial muscle E is inflated to contract along the axial direction, and the corresponding thin artificial muscle f is deflated to extend and reset, so that the air bag body E is driven to turn around the joint shaft D 'towards the direction of the thin artificial muscle E, and the air bag body D turns around the joint shaft C' towards the direction of the thin artificial muscle E; similarly, when the third three-position four-way electromagnetic directional valve 19 inflates the thin artificial muscle f, the thin artificial muscle f contracts along the axial direction, the corresponding thin artificial muscle E deflates and extends to reset, so that the air bag body E is driven to turn around the joint shaft D 'towards the direction of the thin artificial muscle f, and the air bag body D turns around the joint shaft C' towards the direction of the thin artificial muscle f.
As shown in fig. 2C, an additional airbag body F is added on the basis of the five airbag bodies in fig. 2B, and a group of horizontal thin artificial muscle groups, namely, a thin artificial muscle g and a thin artificial muscle h, are added and symmetrically positioned on the left side and the right side of the horizontal plane of the airbag body. Thin artificial muscle g and thin artificial muscle h's one end is connected in the other end of gasbag body D, then thin artificial muscle g and thin artificial muscle h stride across gasbag body E, and thin artificial muscle g and thin artificial muscle h's the other end is connected in the one end of gasbag body F, and camera 1 is installed to gasbag body F's the other end. As shown in fig. 4C, a three-position four-way electromagnetic directional valve is added on the basis of the three-position four-way electromagnetic directional valves in fig. 4B, and is respectively connected with the lean artificial muscle g and the lean artificial muscle h through the gas transmission pipeline 5, so as to control the added lean artificial muscle g and the lean artificial muscle h. When the control system controls the first three-position four-way electromagnetic directional valve 19 to inflate the compressed air of the air compressor 9 to the thin artificial muscle a through the air delivery pipeline 5, the thin artificial muscle B is not inflated at the same time, the air bag body A is fixed as a base, the thin artificial muscle a is inflated to contract along the axial direction, and the corresponding thin artificial muscle B is deflated to extend and reset, so that the air bag body C and the air bag body C are driven to drive the air bag body D, the air bag body D drives the air bag body E, the air bag body E drives the air bag body F to turn around the joint axis B 'towards the direction of the thin artificial muscle a, and the air bag body B turns around the joint axis A' towards the direction of the thin artificial muscle a; similarly, when the first three-position four-way electromagnetic directional valve 19 inflates the thin artificial muscle B, the thin artificial muscle B contracts along the axial direction, the corresponding thin artificial muscle a deflates and resets in an extending manner, so that the air bag body C and the air bag body C are driven to drive the air bag body D, the air bag body D drives the air bag body E and the air bag body E drives the air bag body F to overturn around the joint shaft B 'towards the direction of the thin artificial muscle B, and the air bag body B overturns around the joint shaft A' towards the direction of the thin artificial muscle B. When the control system controls the second three-position four-way electromagnetic directional valve 19 to inflate the compressed air of the air compressor 9 to the thin artificial muscle C through the air delivery pipeline 5, the thin artificial muscle D is not inflated at the same time, the air bag body A and the air bag body B are both fixed as a base, the thin artificial muscle C is inflated to contract along the axial direction, and the corresponding thin artificial muscle D is deflated to extend and reset, so that the air bag body D and the air bag body D are driven to drive the air bag body E and the air bag body E to drive the air bag body F to turn around the joint shaft C 'towards the direction of the thin artificial muscle C, and the air bag body C turns around the joint shaft B' towards the direction of the thin artificial muscle C; similarly, when the second three-position four-way electromagnetic directional valve 19 inflates the thin artificial muscle D, the thin artificial muscle D contracts along the axial direction, the corresponding thin artificial muscle C deflates and is extended and reset, so that the air bag body D and the air bag body D are driven to drive the air bag body E and the air bag body E to drive the air bag body F to turn around the joint shaft C 'towards the direction of the thin artificial muscle D, and the air bag body C turns around the joint shaft B' towards the direction of the thin artificial muscle D. When the control system controls the third three-position four-way electromagnetic directional valve 19 to inflate the compressed air of the air compressor 9 to the thin artificial muscle E through the air delivery pipeline 5, the thin artificial muscle F is not inflated at the same time, the air bag body A, the air bag body B and the air bag body C are both fixed as a base, the thin artificial muscle E is inflated to contract along the axial direction, the corresponding thin artificial muscle F is deflated to extend and reset, the air bag body E and the air bag body E are further driven to drive the air bag body F to turn around the joint shaft D 'towards the direction of the thin artificial muscle E, and the air bag body D turns around the joint shaft C' towards the direction of the thin artificial muscle E; similarly, when the third three-position four-way electromagnetic directional valve 19 inflates the thin artificial muscle F, the thin artificial muscle F contracts along the axial direction, the corresponding thin artificial muscle E deflates and is extended and reset, so that the air bag body E and the air bag body E are driven to drive the air bag body F to turn around the joint shaft D 'towards the direction of the thin artificial muscle F, and the air bag body D turns around the joint shaft C' towards the direction of the thin artificial muscle F. When the control system controls the fourth three-position four-way electromagnetic directional valve 19 to inflate the compressed air of the air compressor 9 to the thin artificial muscle g through the air delivery pipeline 5, the thin artificial muscle h is not inflated at the same time, the air bag body A, the air bag body B, the air bag body C and the air bag body D are all fixed as a base, the thin artificial muscle g is inflated to contract along the axial direction, and the corresponding thin artificial muscle h is deflated to extend and reset, so that the air bag body F is driven to turn over towards the direction of the thin artificial muscle g around the joint axis E ', and the air bag body E turns towards the direction of the thin artificial muscle g around the joint axis D'; similarly, when the fourth three-position four-way electromagnetic directional valve 19 inflates the thin artificial muscle h, the thin artificial muscle h contracts along the axial direction, the corresponding thin artificial muscle g deflates, extends and resets, and then the air bag body F is driven to turn over towards the thin artificial muscle h around the joint shaft E ', and the air bag body E turns over towards the thin artificial muscle h around the joint shaft D'.
By analogy, 4+ N air sac bodies are provided with 2+ N groups of thin artificial muscle groups and 2+ N three-position four-way electromagnetic reversing valves.
The utility model discloses a theory of operation does:
the air pressure loop module 10 provides compressed air for the thin artificial muscle 4 corresponding to each air bag body of the whole inflatable flexible light mechanical arm, and drives the air bag body 2 to rotate around the joint shaft 12 through the axial linear telescopic motion of the thin artificial muscle 4. The thin artificial muscles 4 are bound on the air bag body 2, so that the movement form of the air bag body 2 is the same as the hooke hinge movement form, and the control is carried out through the driving of the sequence, the jumping sequence and the reverse sequence of the different thin artificial muscles 4 corresponding to different air bag bodies, so that the air bag can be suitable for the inspection and the detection of danger, high altitude, disaster areas and outer space.
Claims (10)
1. The utility model provides a flexible light arm of inflatable which characterized in that: the air bag type air-cushion machine comprises air bag bodies (2), thin artificial muscles (4), an air conveying pipeline (5), air bag inflation tanks (6), a machine base (7), air compressors (9) and air pressure loop modules (10), wherein the air bag inflation tanks (6), the air compressors (9) and the air pressure loop modules (10) are respectively installed on the machine base (7), at least four air bag bodies (2) are connected in series through joint shafts (12) to form connecting rods of mechanical arms, the interiors of the air bag bodies (2) are communicated, the first air bag body is installed on the air pressure loop module (10) and communicated with the air bag inflation tanks (6) through inflation pipelines, and lighter air is inflated into the air bag bodies (2) through the air bag inflation tanks (6) so that the inflated air bag bodies (2) are suspended in the air; each air bag body (2) is connected or spanned with a thin artificial muscle (4) which can only axially stretch, the thin artificial muscle (4) spans the three air bag bodies (2), two ends of the thin artificial muscle (4) are respectively connected with two sides of the spanned three air bag bodies (2), the thin artificial muscle (4) is of an internal hollow structure, one end of the thin artificial muscle is connected with an air pipeline (5), and the other end of the thin artificial muscle is a closed end; the air pressure loop module (10) is provided with a three-position four-way electromagnetic directional valve (19) for controlling inflation or deflation of the thin artificial muscle (4), and the three-position four-way electromagnetic directional valve (19) is respectively connected with the air compressor (9) and the air transmission pipeline (5); the air compressor (9) inflates air into the thin artificial muscle (4) through the air transmission pipeline (5) through the three-position four-way electromagnetic reversing valve (19), the air bag body (2) connected with one end, connected with the air transmission pipeline (5), of the inflated thin artificial muscle (4) is kept still as a base in the process that the thin artificial muscle (4) contracts due to inflation, and the air bag body (2) serving as the base rotates to one side of the inflated thin artificial muscle (4) towards the other air bag bodies (2) far away from the air pressure loop module (10).
2. The inflatable flexible lightweight robotic arm of claim 1, wherein: the thin artificial muscles (4) are divided into a vertical thin artificial muscle group and a horizontal thin artificial muscle group, two thin artificial muscles (4) of the vertical thin artificial muscle group are symmetrically positioned on the upper side and the lower side of the air bag body (2) on the vertical plane, two thin artificial muscles (4) of the horizontal thin artificial muscle group are symmetrically positioned on the left side and the right side of the air bag body (2) on the horizontal plane, the thin artificial muscles (4) in the vertical thin artificial muscle group and the horizontal thin artificial muscle group are equal in length, and any one thin artificial muscle (4) spans over the three air bag bodies (2); the vertical thin artificial muscle group and the horizontal thin artificial muscle group are alternately arranged along the length direction of the mechanical arm connecting rod formed by the air bag body (2), and two thin artificial muscles of the adjacent vertical thin artificial muscle group are partially overlapped with two thin artificial muscles of the horizontal thin artificial muscle group.
3. The inflatable flexible lightweight robotic arm of claim 2, wherein: the vertical thin artificial muscle group and the horizontal thin artificial muscle group are respectively provided with a three-position four-way electromagnetic directional valve (19) which are independent from each other, and each three-position four-way electromagnetic directional valve (19) is respectively connected with the two thin artificial muscles (4) of the vertical thin artificial muscle group or the two thin artificial muscles (4) of the horizontal thin artificial muscle group through a gas transmission pipeline (5); two thin artificial muscles (4) of the vertical thin artificial muscle group are not inflated at the same time, namely one thin artificial muscle is inflated, and the other thin artificial muscle is deflated; two thin artificial muscles (4) of the horizontal thin artificial muscle group are not inflated at the same time, namely one thin artificial muscle is inflated, and the other thin artificial muscle is deflated.
4. The inflatable flexible lightweight robotic arm of claim 2, wherein: on the basis of four air bag bodies (2), a group of vertical thin artificial muscle groups or horizontal thin artificial muscle groups is added when one air bag body (2) is added; correspondingly, one three-position four-way electromagnetic reversing valve (19) is added in the pneumatic circuit module (10).
5. The inflatable flexible lightweight robotic arm of claim 1, wherein: thin artificial muscle (4) are made by parcel one deck nylon wire fabric (14) outside latex tube (15), and one end is insulating tape (17), and the other end is sealed area (16) seted up compressed air entry (13) on insulating tape (17), the one end of this compressed air entry (13) with gas transmission pipeline (5) link to each other, the other end with the inside intercommunication of latex tube (15).
6. The inflatable flexible lightweight robotic arm of claim 5, wherein: the compressed air inlet (13) is connected with the gas transmission pipeline (5) in an interference fit manner.
7. The inflatable flexible lightweight robotic arm of claim 1, wherein: resin pad (3) of bonding on the gasbag body (2) are equipped with between the both ends of thin artificial muscle (4) and the gasbag body (2), and this thin artificial muscle (4), resin pad (3) and gasbag body (2) link together through energetically strong horse line (18).
8. The inflatable flexible lightweight robotic arm of claim 1, wherein: the air bag body (2) is an air bag made of two layers of materials of a nylon co-extrusion film and a polyethylene co-extrusion film, and joint shafts (12) are symmetrically arranged at two ends of the air bag body (2).
9. The inflatable flexible lightweight robotic arm of claim 1, wherein: helium is filled into the air bag body (2) by the air bag inflation tank (6).
10. The inflatable flexible lightweight robotic arm of claim 1, wherein: the tail end of a mechanical arm connecting rod formed by the air bag bodies (2) is provided with a camera (1), and the camera (1) is connected with a power supply (8) arranged on the base (7) through an electric wire (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922236329.9U CN211164030U (en) | 2019-12-13 | 2019-12-13 | Inflatable flexible light mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922236329.9U CN211164030U (en) | 2019-12-13 | 2019-12-13 | Inflatable flexible light mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN211164030U true CN211164030U (en) | 2020-08-04 |
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| CN201922236329.9U Withdrawn - After Issue CN211164030U (en) | 2019-12-13 | 2019-12-13 | Inflatable flexible light mechanical arm |
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| CN (1) | CN211164030U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900654A (en) * | 2019-12-13 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Inflatable flexible light mechanical arm |
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2019
- 2019-12-13 CN CN201922236329.9U patent/CN211164030U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900654A (en) * | 2019-12-13 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Inflatable flexible light mechanical arm |
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