CN217728729U - Stay wire and pneumatic control rigid-flexible coupling mechanical arm - Google Patents
Stay wire and pneumatic control rigid-flexible coupling mechanical arm Download PDFInfo
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- CN217728729U CN217728729U CN202221377037.2U CN202221377037U CN217728729U CN 217728729 U CN217728729 U CN 217728729U CN 202221377037 U CN202221377037 U CN 202221377037U CN 217728729 U CN217728729 U CN 217728729U
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Abstract
The utility model discloses a hard and soft coupling arm of acting as go-between and pneumatic control, the on-line screen storage device comprises a base, install cloud platform motor two on the base, the output shaft of cloud platform motor two has lower unit, and the top of lower unit is equipped with cloud platform motor three, and the output shaft of cloud platform motor three has last unit, and the top of going up the unit is equipped with cloud platform motor one, and the output shaft of cloud platform motor one has fixture. The invention skillfully adopts the matching of the air bag and the rigid outer framework, so that the invention can be better controlled and has higher precision. Meanwhile, the dual control of the stay wire and the pneumatic control is adopted, the precision of the device is greatly improved, the device is integrally formed by 3D printing, the cost is reduced, and the human-computer interaction is safer and more reliable. The method has seven degrees of freedom, is flexible, has larger working space, and can adapt to various complex environments.
Description
Technical Field
The utility model relates to a software arm field specifically is a rigid-flexible coupling arm of acting as go-between and pneumatic control.
Background
In recent years, robots have been developed greatly, and the robots are widely applied to various fields such as military, industry, medical treatment, scientific exploration and the like, such as complex terrain exploration, minimally invasive surgery and disaster rescue. The traditional robot is generally formed by connecting rigid modules through kinematic pairs, each kinematic pair provides one (or more) translational freedom degree, but the rigidity of the structure limits the movement of the traditional robot in a narrow space and cannot pass through a passage with the size smaller than that of the robot. Once the environment or the working environment changes, the rigid robot cannot meet the task requirement due to the structural characteristics of the rigid robot. The soft robot is made of flexible materials, so the soft robot has high flexibility and can finish form change in a complex environment, the research inspiration of the soft robot is derived from the bionics structure and bionics movement of organisms and organs in the nature, and the soft robot has great development power in medical treatment and exploration and is a new direction for robot development.
However, the soft mechanical arm has disadvantages, and is made of flexible materials such as silicon rubber and electroactive polymer, which makes the soft mechanical arm more flexible, but makes the load of the soft mechanical arm to drop, and does not handle too heavy objects, and meanwhile, the flexible structure lacks a rigid supporting structure inside, and the shape of the flexible structure is very easily influenced by gravity and load. It is also difficult to control, and the control precision and the positioning effect are not good.
SUMMERY OF THE UTILITY MODEL
The not enough to prior art, the utility model provides a hard and soft coupling arm of acting as go-between and pneumatic control has solved the problem that the software arm control accuracy is not high, the shape receives gravity and load influence easily.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a pull wire and pneumatic control rigid-flexible coupling mechanical arm comprises a base, wherein a second tripod head motor is mounted on the base, an output shaft of the second tripod head motor is connected with a lower unit, a third tripod head motor is arranged at the top of the lower unit, an output shaft of the third tripod head motor is connected with an upper unit, a first tripod head motor is arranged at the top of the upper unit, and an output shaft of the first tripod head motor is connected with a clamping mechanism;
the upper unit and the lower unit both comprise a connecting circular truncated cone and two rigid structural members, the side surfaces of two ends of the connecting circular truncated cone are respectively connected with the two rigid structural members through rotating pieces and pin shafts, the inner sides of the two rotating pieces at the same height are fixed with baffle plates, the two sides of each baffle plate are both fixed with air bags, each air bag is provided with an air pipe controlled by a proportional valve, a partition plate is arranged between the upper and lower adjacent air bags, and the partition plate is fixed with the rotating pieces at the two sides of the partition plate;
the cable is connected between the partition plates on the same side of the baffle in the upper unit, two stay wire motors are arranged in the rigid structural member at the bottom end of the upper unit, the two stay wire motors are respectively located on two sides of the rigid structural member, and take-up pulleys of the two stay wire motors are respectively connected with the cable bottom ends on two sides of the partition plates.
Further, the stay wire and pneumatic control rigid-flexible coupling mechanical arm is further limited, wherein the clamping mechanism comprises a pneumatic claw, the bottom of the pneumatic claw is mounted on a flange through a bolt, the first holder motor is mounted in a rigid structural member at the top end of the upper unit through a bolt, and an output shaft of the first holder motor is connected with the flange through a bolt.
Further, the stay wire and pneumatic control rigid-flexible coupling mechanical arm is further limited, wherein the third tripod head motor is installed in the rigid structural member at the top end of the lower unit through a bolt, the output shaft of the third tripod head motor is provided with a connecting plate through a bolt, and the connecting plate is connected with the rigid structural member at the bottom end of the upper unit through a bolt.
Further, the stay wire and pneumatic control rigid-flexible coupling mechanical arm is further limited, wherein the number of the rotating pieces between the connecting circular truncated cone and the rigid structural member is eight, the number of the baffles is four, and the number of the baffles on the same side is four.
Further inject, foretell rigid-flexible coupling arm of acting as go-between and pneumatic control, wherein, the motor of acting as go-between adopts the biax motor, the baffle is two with the cable of one side, the top of cable is fixed in two angles that the baffle was kept away from to the topmost unit topmost baffle, and the bottom of cable is vertical to be passed the baffle on the unit and is connected with the take-up pulley on two axles of biax motor with the connection round platform.
The utility model discloses possess following beneficial effect: the invention skillfully adopts the matching of the air bag and the rigid outer framework, so that the invention can be better controlled and has higher precision. Meanwhile, the precision of the device is greatly improved by adopting dual control of the stay wire and the pneumatic device, the device is integrally formed by adopting 3D printing, the cost is reduced, and the human-computer interaction is safer and more reliable. The method has seven degrees of freedom, is flexible, has larger working space, and can adapt to various complex environments.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the software unit of the present invention;
fig. 3 is a side view of the present invention;
FIG. 4 is a structural view of the clamping mechanism of the present invention;
fig. 5 is a cross-sectional view of the present invention;
fig. 6 is a partial sectional view of the present invention.
In the figure: 1. a base; 2. a rotating sheet; 3. a software unit; 4. a circular truncated cone is connected; 5. an air bag; 6. a rigid structural member; 7. a connecting plate; 8. a cable; 9. a partition plate; 10. a flange; 11. a pneumatic gripper; 12. a first holder motor; 13. a baffle plate; 14. a pin shaft; 15. a second holder motor; 16. a tripod head motor III; 17. a pull wire motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: a rigid-flexible coupling mechanical arm with a pull wire and pneumatic control function comprises a base 1, wherein a second tripod head motor 15 is installed on the base 1, an output shaft of the second tripod head motor 15 is connected with a lower unit, a third tripod head motor 16 is arranged at the top of the lower unit, an output shaft of the third tripod head motor 16 is connected with an upper unit, a first tripod head motor 12 is arranged at the top of the upper unit, an output shaft of the first tripod head motor 12 is connected with a clamping mechanism, and the first tripod head motor 12, the second tripod head motor 15 and the third tripod head motor 16 can control a certain part in the application to rotate, so that the working space of the application is greatly increased, and more complex conditions can be met;
as shown in fig. 2, the upper unit and the lower unit both comprise a connecting circular truncated cone 4 and two rigid structural members 6, the rigid structural members 6 and the connecting circular truncated cone 4 are both hollow, air pipes and electric wires can be conveniently led inside, the whole mechanical arm is formed by 3D printing, the processing is convenient, the structure is simple, and the man-machine interaction is safer, the end parts of the air bags 5 in contact with the circular truncated cone and the rigid structural members 6 are provided with bosses which can be placed into the rigid structural members 6 and the connecting circular truncated cone 4, so that the contact areas of the air bags 5 and the rigid structural members 6 are increased when the air bags 5 are inflated, the air bags 5 are better stressed, the side surfaces at two ends of the connecting circular truncated cone 4 are respectively connected with the two rigid structural members 6 through the rotating sheets 2 and the pin shafts 14, the pin shafts 14 and gaskets matched with the pin shafts 14 play a role in fixed connection, baffle plates 13 are fixed on the inner sides of the two rotating sheets 2 at the same height, the air bags 5 are both sides of the baffle plates 13, the air bags 5 are provided with air pipes controlled by a proportional valve, a baffle plate 9 is arranged between the two adjacent air bags 5, the baffle plates 9, the rotating sheets 2 at two sides of the baffle plate 9 are fixed with the rotating sheets 2 at two sides, the air bags 5, and play a role in fixed support, and the whole mechanical arm structure is symmetrical structure;
as shown in the figures 1 and 3, a cable 8 is connected between the partition plates 9 on the same side of the baffle plate 13 in the upper unit, two stay wire motors are arranged in the rigid structural member 6 at the bottom end of the upper unit, take-up pulleys of the stay wire motors are respectively connected with the bottom ends of the cables 8 on the two sides of the partition plates 9, the cable 8 can be driven to be tensioned or loosened through rotation control of the stay wire motors, the upper unit is controlled, the pneumatic and stay wire simultaneous control upper unit can finely adjust the position of the pneumatic paw 11, and the control precision of the pneumatic paw is improved.
As shown in fig. 4, the clamping mechanism includes a pneumatic gripper 11, and an air pipe is provided on the pneumatic gripper 11, and the bending and straightening of the pneumatic gripper 11 are controlled by inflating and deflating, the bottom of the pneumatic gripper 11 is mounted on the flange 10 through a bolt, a first pan-tilt motor 12 is mounted in the rigid structural member 6 at the top end of the upper unit through a bolt, and an output shaft of the pan-tilt motor is connected with the flange 10 through a bolt.
The tripod head motor III 16 is installed in the rigid structural part 6 at the top end of the lower unit through bolts, the output shaft of the tripod head motor III 16 is provided with the connecting plate 7 through bolts, and the connecting plate 7 is connected with the rigid structural part 6 at the bottom end of the upper unit through bolts.
The number of the rotating pieces 2 between the connecting circular truncated cone 4 and the rigid structural member 6 is eight, the number of the baffles 13 is four, and the number of the partition plates 9 on the same side of the baffles 13 is four.
Stay wire motor adopts double-shaft motor, baffle 13 is two with the cable 8 of one side, baffle 9 keeps away from and leaves 1.2 mm's hole on two angles of baffle 13, the top of cable 8 is fixed in two holes of the topmost unit top baffle 9, the vertical hole that passes baffle 9 on the unit of last unit of bottom of cable 8 is connected with two epaxial take-up pulley of connection round platform 4 and double-shaft motor, from this last unit structure can realize pneumatics and stay wire simultaneous control, its pneumatic control is the same with lower unit structure, but still add stay wire control, be used for finely tuning fixture's position, the work precision of this application has been increased.
The whole arm of cloud platform motor two 15 control carries out rotary motion, aerifys just can control 5 bendings of gasbag for the gasbag 5 of lower unit through the air pump, drives whole lower unit from this and then bends together, and each festival of lower unit all can reach 45 degrees through the pneumatic control is crooked, and is controlled respectively, so lower unit has three degree of freedom, a rotational degree of freedom, two pneumatic control's degree of freedom. Because each section has two air bags 5, the two sides can be bent; similarly, the upper unit also has two pneumatically controlled degrees of freedom and two rotational degrees of freedom, thereby achieving seven degrees of freedom control.
The specific control process is as follows: the second control holder motor 15 rotates to drive the whole rigid-flexible coupling mechanical arm to rotate, the air bags 5 of the lower unit can control the mechanical arm to be bent and return to the straightening state through inflation and deflation, and the air bags 5 are arranged on two sides of each section, so that the mechanical arm of each section can be bent towards two directions. The rotation of the control console motor III 16 can drive the upper unit to rotate, the control mode of the upper unit air bag 5 is also the same as the control mode of controlling the bending and straightening of each mechanical arm by inflating and deflating, but the difference is that the structure of the second section of soft unit 3 is additionally provided with the pull wire control to control the rotation of the output shaft of the pull wire motor, and the pull wire motor drives the cable 8 to drive the upper unit to bend, so that the position of the pneumatic paw 11 can be finely adjusted, and the control precision of the invention is improved. The first motor 12 of the holder is controlled to move, the clamping mechanism can be controlled to rotate, and meanwhile the pneumatic gripper 11 can be controlled to grab by inflating and deflating the pneumatic gripper 11.
The invention ingeniously adopts the matching of the air bag 5 and the rigid outer framework, so that the invention can be better controlled and has higher precision. Meanwhile, the precision of the device is greatly improved by adopting dual control of the stay wire and the pneumatic device, the device is integrally formed by adopting 3D printing, the cost is reduced, and the human-computer interaction is safer and more reliable. The method has seven degrees of freedom, is flexible, has larger working space, and can adapt to various complex environments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a hard and soft coupling arm of acting as go-between and pneumatic control, includes the base, its characterized in that: a second holder motor is installed on the base, an output shaft of the second holder motor is connected with a lower unit, a third holder motor is arranged at the top of the lower unit, an output shaft of the third holder motor is connected with an upper unit, a first holder motor is arranged at the top of the upper unit, and an output shaft of the first holder motor is connected with a clamping mechanism;
the upper unit and the lower unit respectively comprise a connecting circular truncated cone and two rigid structural members, the side surfaces of two ends of the connecting circular truncated cone are respectively connected with the two rigid structural members through rotating pieces and pin shafts, baffle plates are fixed on the inner sides of the two rotating pieces at the same height, air bags are fixed on two sides of each baffle plate, air pipes controlled by a proportional valve are arranged on the air bags, a partition plate is arranged between the upper and lower adjacent air bags, and the partition plate is fixed with the rotating pieces on the two sides of the partition plate;
the cable is connected between the partition plates positioned on the same side of the baffle in the upper unit, two stay wire motors are arranged in the rigid structural member at the bottom end of the upper unit, and take-up pulleys of the two stay wire motors are respectively connected with the bottom ends of the cables on two sides of the partition plates.
2. The pull-wire and pneumatically controlled rigid-flexible coupling robot arm of claim 1, wherein: the clamping mechanism comprises a pneumatic claw, the bottom of the pneumatic claw is installed on the flange through a bolt, the first holder motor is installed in the rigid structural member at the top end of the upper unit through a bolt, and the output shaft of the first holder motor is connected with the flange through a bolt.
3. The pull-wire and pneumatically controlled rigid-flexible coupling robot arm of claim 2, wherein: and the third tripod head motor is arranged in the rigid structural member at the top end of the lower unit through a bolt, an output shaft of the third tripod head motor is provided with a connecting plate through a bolt, and the connecting plate is connected with the rigid structural member at the bottom end of the upper unit through a bolt.
4. A pull-wire and pneumatically controlled rigid-flexible coupling robot arm as set forth in claim 3, wherein: the number of the rotating pieces between the connecting circular truncated cone and the rigid structural member is eight, the number of the baffles is four, and the number of the baffles on the same side is four.
5. The pull-wire and pneumatically controlled rigid-flexible coupling robot arm of claim 4, wherein: the stay wire motor adopts a double-shaft motor, two cables on the same side of the baffle are arranged, the top end of each cable is fixed at two corners of the topmost partition plate of the topmost unit, which are far away from the baffle, and the bottom end of each cable vertically penetrates through the partition plate on the topmost unit and is connected with the connecting circular truncated cone and two take-up pulleys on shafts of the double-shaft motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221377037.2U CN217728729U (en) | 2022-06-02 | 2022-06-02 | Stay wire and pneumatic control rigid-flexible coupling mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221377037.2U CN217728729U (en) | 2022-06-02 | 2022-06-02 | Stay wire and pneumatic control rigid-flexible coupling mechanical arm |
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| CN217728729U true CN217728729U (en) | 2022-11-04 |
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| CN202221377037.2U Active CN217728729U (en) | 2022-06-02 | 2022-06-02 | Stay wire and pneumatic control rigid-flexible coupling mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116604609A (en) * | 2023-07-20 | 2023-08-18 | 成都大学 | Multi-degree-of-freedom grabbing mechanical arm |
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2022
- 2022-06-02 CN CN202221377037.2U patent/CN217728729U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116604609A (en) * | 2023-07-20 | 2023-08-18 | 成都大学 | Multi-degree-of-freedom grabbing mechanical arm |
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