CN219337769U

CN219337769U - Flexible mechanical arm with stay wire and pneumatic control

Info

Publication number: CN219337769U
Application number: CN202320490529.0U
Authority: CN
Inventors: 李鹏飞; 李维宇
Original assignee: Jiangsu Intelligent Software Robot Technology Co ltd
Current assignee: Jiangsu Intelligent Software Robot Technology Co ltd
Priority date: 2023-03-15
Filing date: 2023-03-15
Publication date: 2023-07-14
Anticipated expiration: 2033-03-15

Abstract

The utility model discloses a flexible mechanical arm for stay wire and pneumatic control, which comprises a base, wherein a first bus steering engine is installed on the base, an output shaft of the first bus steering engine is connected with a first unit, a second bus steering engine is arranged at the top of the first unit, an output shaft of the second bus steering engine is connected with a second unit, a third bus steering engine is arranged at the top of the second unit, an output shaft of the third bus steering engine is connected with a clamping mechanism, the first unit comprises an air bag I, and the second unit comprises an air bag II. The flexible mechanical arm skillfully adopts the cable pulling motor to control the cable retraction and the two sections of flexible air bags to cooperatively coordinate the bending and stretching of the mechanical arm, so that the overall control precision, the positioning effect and the load bearing capacity of the flexible mechanical arm are obviously improved; the flexible mechanical arm has seven degrees of freedom as a whole, has good flexibility, can adapt to various complex industrial and mining environments, and is especially suitable for a narrow working space; the whole structure design is ingenious and reasonable, the preparation and implementation feasibility is high, and the practicability is strong.

Description

Flexible mechanical arm with stay wire and pneumatic control

Technical Field

The utility model belongs to the technical field of mechanical arms, and particularly relates to a flexible mechanical arm with a stay wire and pneumatic control function.

Background

In recent years, robots have been greatly developed, and the robots are widely used in various fields of military, industry, medical treatment, scientific detection and the like, such as complex terrain exploration, minimally invasive surgery and disaster relief. Conventional robots are typically constructed of rigid modules connected by kinematic pairs, each kinematic pair providing one (or more) translational degrees of freedom, but the rigidity of the structure limits their movement in confined spaces to passage through channels of a size smaller than the size of the robot. Once the environment changes or the working environment changes, the rigid robot is limited by the structural characteristics of the rigid robot, so that the rigid robot cannot meet the task requirements.

The soft robot is a novel flexible robot, can adapt to various unstructured environments and is safer in interaction with human beings. The robot body is made of soft materials, is different from the traditional robot motor drive, and mainly has two driving modes: traditional mode drive and intelligent material drive, wherein traditional mode drive mainly contains motor drive, hydraulic drive, pneumatic artifical muscle drive and act as go-between drive etc. novel intelligent material drive includes electroactive polymer and shape memory metal etc.. Up to now, the robot driving technology involving intelligent materials has not been developed and is only used on test machines, small or micro-mechanical arms. The novel intelligent material-driven flexible robot has high flexibility and can finish morphological change in a complex environment, but because the soft mechanical arm is made of flexible materials, the load bearing capacity of the flexible robot is greatly influenced, the robot cannot grab too heavy things, and the control precision and the positioning effect of the flexible robot are not good.

Disclosure of Invention

The utility model aims to overcome the defects in the prior art, provides the flexible mechanical arm with the stay wire and pneumatic control, skillfully adopts the cooperative coordination of the retraction and the extension of a stay wire motor control cable and two sections of flexible air bags to the bending and the stretching of the mechanical arm, and remarkably improves the overall control precision, the positioning effect and the load bearing capacity of the flexible mechanical arm; the flexible mechanical arm has seven degrees of freedom as a whole, has good flexibility, can adapt to various complex industrial and mining environments, and is especially suitable for a narrow working space; the whole structure design is ingenious and reasonable, the preparation and implementation feasibility is high, and the practicability is strong.

In order to achieve the above purpose, the technical scheme of the utility model is to design a flexible mechanical arm for wire pulling and pneumatic control, which comprises a base, wherein the upper end surface of the base is fixedly provided with a first bus steering engine, the output shaft of the first bus steering engine is connected with a first unit, the top of the first unit is provided with a second bus steering engine, the output shaft of the second bus steering engine is connected with a second unit, the top of the second unit is provided with a third bus steering engine, and the output shaft of the third bus steering engine is connected with a clamping mechanism; the first unit comprises an air bag I, wherein the lower end of the air bag I is fixedly arranged at the top of a rigid structural member I, the upper end of the air bag I is fixedly arranged at the bottom of a rigid structural member II, the rigid structural member I is fixedly arranged on a steering wheel I on an output shaft of a bus steering engine, the air bag I is internally provided with a vertical air cavity I symmetrically arranged at two sides, the peripheral side surface of the air bag I is formed by stacking a plurality of wing plates I which are correspondingly arranged at the outer side of the vertical air cavity I in an end-to-end mode, the outer side edge of the wing plates I is provided with a threading hole II, the lower end of the peripheral side surface of the rigid structural member I is fixedly provided with four wire pulling motors, threading Kong Erna on the wing plates I at two sides of the air bag I are connected with a cable I in a threading way, the bottom end of the cable I is wound on a wire winding wheel of the corresponding wire pulling motor, the air bag I is internally provided with two air passage holes I and one air passage hole II which are correspondingly communicated with the vertical air cavity I; the second unit comprises an air bag II, the lower end of the air bag II is fixedly arranged at the top of a rigid structural member III, the upper end of the air bag II is fixedly arranged at the bottom of a rigid structural member IV, the rigid structural member III is fixedly arranged on a steering wheel II on an output shaft of a bus steering engine II, vertical air cavities II which are symmetrically arranged at two sides are arranged in the air bag II, the peripheral side surface of the air bag II is formed by stacking a plurality of wing plates II which are correspondingly arranged at the outer side of the air cavity II in an end-to-end mode, threading holes IV are formed in the outer side edges of the wing plates II, a cable II is connected in the threading holes IV on the wing plates II in a penetrating mode, the bottom end of the cable II is wound on a wire winding wheel of a corresponding wire winding motor, an air passage hole III which penetrates through the center of the upper end face and the lower end face is arranged in the air bag II, two air holes II which are correspondingly penetrated with the vertical air cavities II are respectively connected with the upper ends of the two air passage holes I on the air bag I through the air holes II, and the lower ends of the air passage III are correspondingly connected with the air passage Kong Ershang ends on the air bag I; the clamping mechanism comprises a rigid structural member five and a pneumatic finger arranged at the top of the rigid structural member five, the rigid structural member five is fixedly arranged on an output shaft of a bus steering engine three, and an air hole three at the bottom of the pneumatic finger is correspondingly connected with the upper end of an air passage hole three on the air bag two.

According to the flexible mechanical arm with the stay wire and pneumatic control, the stay wire motor is used for controlling the cable to be folded and unfolded, and the two flexible air bags are cooperated with each other to coordinate the bending and stretching of the mechanical arm, so that the overall control precision, the positioning effect and the load bearing capacity of the flexible mechanical arm are remarkably improved; the flexible mechanical arm has seven degrees of freedom as a whole, has good flexibility, can adapt to various complex industrial and mining environments, and is especially suitable for a narrow working space; the whole structure design is ingenious and reasonable, the preparation and implementation feasibility is high, and the practicability is strong.

The technical scheme is that two elastic wire control units corresponding to the first air cavity in the first air bag are correspondingly arranged in the first rigid structural member, two elastic wire control units corresponding to the second air cavity in the second air bag are symmetrically arranged in the third rigid structural member, one lower end of a cable or the lower end of the second cable penetrates through a wire passing hole assembly on the corresponding elastic wire control unit to be wound on a wire winding wheel of the corresponding wire drawing motor, and the elastic wire control units and the corresponding wire drawing motor are cooperatively matched to control winding and unwinding of the first cable or the second cable. The elastic wire control unit on the first rigid structural member and the corresponding wire pulling motor are matched to control the winding and unwinding of the first cable, and the elastic wire control unit on the third rigid structural member and the corresponding wire pulling motor are matched to control the winding and unwinding of the second cable, so that the locking control of the first cable and the second cable can be realized by fully relying on the elastic wire control unit, the bearing capacity of the wire pulling motor is effectively reduced, and the control precision, the positioning effect, the load bearing capacity and the service life of the flexible mechanical arm are further improved.

The further preferable technical scheme is that the elastic wire control unit comprises a steering wheel and a supporting block, a steering wheel is arranged on an output shaft of the steering wheel, and a wire passing hole I is formed in the steering wheel; the steering wheel is movably inserted and installed in a steering wheel installation hole on the arc plate, a wire passing hole II which is correspondingly communicated with the wire passing hole I is formed in the arc plate, and the wire passing hole I and the wire passing hole II form a wire passing hole assembly. The elastic wire control unit has simple and reasonable structural design, and ensures that the stay wire and the pneumatic control flexible mechanical arm can be successfully prepared and implemented.

The further preferable technical scheme is that the first rigid structural member is a cylindrical structure with an opening at the lower end, the top surface of the first rigid structural member is correspondingly provided with two vertical slotted holes I which are positioned at two ends of the same section diameter and two countersunk holes I which are positioned at the center, the peripheral wall of the first rigid structural member is vertically correspondingly provided with threading holes I which are positioned at two ends of the same section diameter, the upper end of the peripheral wall of the first rigid structural member is correspondingly provided with elastic thread control unit mounting holes which are positioned at two ends of the same section diameter, the elastic thread control units are embedded and fixedly arranged in the elastic thread control unit mounting holes of the first rigid structural member, the threading holes I are correspondingly communicated with the first thread passing holes and the second thread passing holes, the lower end of the inner peripheral wall surface of the first rigid structural member is also correspondingly provided with two arc-shaped first slotted holes which are correspondingly positioned below the vertical slotted holes, and the arc-shaped first slotted holes which are communicated with one end of the first slot holes far away from the countersunk holes; the second rigid structural member is of a cylindrical structure with an opening at the upper end, a central hole, two countersunk slotted holes and two vertical slotted holes which are positioned at two ends of the same section diameter are correspondingly formed in the lower end face of the second rigid structural member, two arc-shaped slotted holes which are respectively communicated with the corresponding vertical slotted holes are correspondingly formed in the outer side edge of the lower end face of the second rigid structural member, a steering engine mounting groove is formed in the center of the upper end face of the bottom of the second rigid structural member, two fixing blocks II which are corresponding to the two vertical slotted holes are fixedly arranged on the upper end of the inner peripheral wall face of the second rigid structural member, and the second bus steering engine is fixedly arranged in the steering engine mounting groove; the air passage Kong Erwei is arranged on the central axis of the air bag I, two air passage holes I are correspondingly arranged on two sides of the air passage holes II, two cavities I which are correspondingly arranged on two ends of the same section diameter and two cavities II which are correspondingly arranged on the inner side of the section diameter are arranged in the air bag I, the cavities I are arranged between the air passage holes I and the air passage holes II, the air passage holes I are arranged between the cavities I and the cavities II, the air passage holes I, the air passage holes II, the cavities I and the cavities II are all arranged on the separation line of the two vertical air cavities I, two bosses I are correspondingly arranged on the lower end surface of the air bag, two bosses II are correspondingly arranged on the upper end surface of the air bag, the two bosses I and the bosses II are respectively corresponding to the two vertical air cavities I, the two air holes I are correspondingly arranged on the two bosses I, the boss I at the lower end of the air bag is inserted into the countersunk hole I on the rigid structural member, and the boss II at the upper end is inserted into the countersunk hole II on the rigid structural member II; the air bag is characterized by further comprising a fixing belt which is connected to the inner part of the first upper cavity of the air bag in a penetrating manner, the lower end of the fixing belt penetrates through the first vertical slotted hole in the first rigid structural member to be fixed on the first fixing block, and the upper end of the fixing belt penetrates through the second vertical slotted hole in the second rigid structural member to be fixed on the second fixing block. The first rigid structural member, the second rigid structural member and the first air bag are ingenious and reasonable in assembly relation, the first rigid structural member and the second rigid structural member are connected through the fixing belt penetrating through the first air bag, so that the traction force of the first air bag is reduced, and the load bearing capacity of the first unit and the service life of the first air bag are improved.

Further preferable technical scheme is that the third rigid structural member has the same structure as the first rigid structural member, and the fourth rigid structural member has the same structure as the second rigid structural member; the air bag is characterized in that two cavities III corresponding to two ends with the same cross-section diameter are arranged in the air bag II, the cavities III are positioned on separation lines of the two vertical air cavities II, two bosses III are arranged on the lower end face of the air bag II, two bosses IV are arranged on the upper end face of the air bag II, the two bosses III and the bosses IV respectively correspond to the two vertical air cavities, the two air holes II are correspondingly positioned on the two bosses III, the boss III at the lower end of the air bag II is inserted and installed on the rigid structural member III, and the boss IV at the upper end of the air bag II is inserted and installed on the rigid structural member IV; the air bag further comprises a fixing belt which is connected to the inner portion of the upper cavity III of the air bag II in a penetrating mode, the lower end of the fixing belt is fixedly arranged on the rigid structural member III, and the upper end of the fixing belt is fixedly arranged on the rigid structural member IV. The assembly relation among the third rigid structural member, the fourth rigid structural member and the second air bag is ingenious and reasonable, the third rigid structural member and the fourth rigid structural member are connected through the fixing belt penetrating through the second air bag, so that the traction force of the second air bag is reduced, and the load bearing capacity of the second unit and the service life of the second air bag are improved.

The further preferable technical scheme is that the first air bag is formed by connecting a plurality of air bag units end to end, two adjacent air bag units are connected through a connecting column positioned in the center, and the connecting column is provided with a vent hole I for communicating the inner cavities of the two adjacent air bag units; the second air bag is formed by connecting a plurality of second air bag units end to end, two adjacent second air bag units are connected through a second connecting column positioned in the center, and a second vent hole used for communicating the inner cavities of the two adjacent second air bag units is formed in the second connecting column. The first air bag and the second air bag are ingenious in structural design, and good expansion performance of the first air bag and the second air bag is guaranteed, namely good expansion flexibility of the flexible mechanical arm is guaranteed.

Further preferable technical scheme is that the first air bag and the second air bag are manufactured by adopting a 3D printing technology. The manufacturing and processing technology of the first air bag and the second air bag is simple, and the cost is greatly reduced.

Further preferred technical scheme still, the first peripheral wall surface lower extreme of rigid structure radially set firmly annular bottom plate, annular bottom plate lower terminal surface annular interval set firmly four motor mount pad, four the stay wire motor one-to-one install in four motor mount pad is inside. The motor of acting as go-between is corresponding to install in the motor mount pad on the terminal surface under the annular bottom plate inside, and the installation or the dismantlement of motor of acting as go-between of being convenient for simultaneously be convenient for receive and release operation of cable one or cable two lower extreme on corresponding acting as go-between motor take-up pulley, ensure the smoothness nature that the cable was received and released.

In order to improve the high efficiency of the expansion or contraction of the first air bag and the second air bag and ensure the service life of the cable, the further preferred technical scheme is that the third threading hole, the second threading hole, the first threading hole and the first threading hole are respectively and correspondingly arranged two threading holes, the first cable is of an n-shaped structure, and the lower end of the cable passes through the third threading hole, the second threading hole and the first threading hole and a threading hole component on the elastic wire control unit and is wound on a wire winding wheel of the corresponding wire drawing motor; the cable II is of an n-shaped structure, the threading holes IV on the air bag II are two correspondingly arranged, and the lower end of the cable II penetrates through the threading holes IV on the rigid structural member, the threading holes IV on the air bag II, the threading holes IV on the rigid structural member III, the threading hole assemblies of the elastic wire control unit, the arc-shaped slotted holes II on the rigid structural member II, the cavity II on the air bag I and the arc-shaped slotted holes I on the rigid structural member I and are wound on the take-up pulley of the corresponding wire drawing motor.

Further preferable technical scheme is that the fifth top of the rigid structural member is also provided with a camera mounting seat.

The utility model has the advantages and beneficial effects that:

1. according to the flexible mechanical arm with the stay wire and pneumatic control, the stay wire motor is used for controlling the cable to be folded and unfolded, and the two flexible air bags are cooperated with each other to coordinate the bending and stretching of the mechanical arm, so that the overall control precision, the positioning effect and the load bearing capacity of the flexible mechanical arm are remarkably improved; the flexible mechanical arm has seven degrees of freedom as a whole, has good flexibility, can adapt to various complex industrial and mining environments, and is especially suitable for a narrow working space; the whole structure design is ingenious and reasonable, the preparation and implementation feasibility is high, and the practicability is strong.

2. The elastic wire control unit on the first rigid structural member and the corresponding wire pulling motor are matched to control the winding and unwinding of the first cable, and the elastic wire control unit on the third rigid structural member and the corresponding wire pulling motor are matched to control the winding and unwinding of the second cable, so that the locking control of the first cable and the second cable can be realized by fully relying on the elastic wire control unit, the bearing capacity of the wire pulling motor is effectively reduced, and the control precision, the positioning effect, the load bearing capacity and the service life of the flexible mechanical arm are further improved.

3. The first rigid structural member, the second rigid structural member and the first air bag are ingenious and reasonable in assembly relation, the first rigid structural member and the second rigid structural member are connected through the fixing belt penetrating through the first air bag, so that the traction force of the first air bag is reduced, and the load bearing capacity of the first unit and the service life of the first air bag are improved.

4. The assembly relation among the third rigid structural member, the fourth rigid structural member and the second air bag is ingenious and reasonable, the third rigid structural member and the fourth rigid structural member are connected through the fixing belt penetrating through the second air bag, so that the traction force of the second air bag is reduced, and the load bearing capacity of the second unit and the service life of the second air bag are improved.

5. The motor of acting as go-between is corresponding to install in the motor mount pad on the terminal surface under the annular bottom plate inside, and the installation or the dismantlement of motor of acting as go-between of being convenient for simultaneously be convenient for receive and release operation of cable one or cable two lower extreme on corresponding acting as go-between motor take-up pulley, ensure the smoothness nature that the cable was received and released.

Drawings

FIG. 1 is a schematic perspective view of a flexible mechanical arm with a pull wire and pneumatic control according to the present utility model;

FIG. 2 is a schematic longitudinal cross-sectional view of one of the pull wires and pneumatically controlled flexible mechanical arm of the present utility model;

FIG. 3 is a second schematic longitudinal cross-sectional view of a cable and pneumatically controlled flexible mechanical arm of the present utility model;

FIG. 4 is an enlarged view of a portion of H in FIG. 3;

FIG. 5 is a schematic perspective view of a clamping mechanism;

FIG. 6 is a top perspective view of the first airbag;

FIG. 7 is a schematic longitudinal sectional view of the first airbag;

FIG. 8 is an enlarged view of a portion of FIG. 7 at W;

FIG. 9 is a bottom perspective view of the first air bag;

FIG. 10 is a top perspective view of a second airbag;

FIG. 11 is a bottom perspective view of the second airbag;

FIG. 12 is a schematic perspective view of a steering engine;

FIG. 13 is a schematic perspective view of the elastic cord unit;

FIG. 14 is a top perspective view of a first rigid structure;

FIG. 15 is a bottom perspective view of the rigid structure I;

FIG. 16 is a top perspective view of a second rigid structure;

fig. 17 is a bottom perspective view of a rigid structural member two.

In the figure: 1. a base; 2. a bus steering engine I; 3. a steering wheel I; 4. a first rigid structural member; 5. an air bag I; 6. a rigid structural member II; 7. a bus steering engine II; 8. a rigid structural member III; 9. an air bag II; 10. a rigid structural member IV; 11. a bus steering engine III; 12. fifth, 13, pneumatic fingers of the rigid structure; 14. a wire drawing motor; 15. a camera mounting seat; 4-1, an annular bottom plate; 4-2, threading holes I; 4-3, an elastic wire control unit mounting hole; 4-4, a countersunk slot hole I; 4-5, a first vertical slotted hole; 4-6, an arc slotted hole I; 4-7, a motor mounting seat; 4-8, fixing block I; 5-1, a boss I; 5-1-1, air holes I; 5-2, a boss II; 5-3, a wing plate I; 5-3-1, threading hole II; 5-4, connecting column I; 5-4-1, vent one; 5-5, cavity I; 5-6, cavity II; 5-7, an airway hole I; 5-8, an airway hole II; 6-1, threading holes III; 6-2, a countersunk slot hole II; 6-3, a central hole; 6-4, an arc slotted hole II; 6-5, a vertical slotted hole II; 6-6, fixing the second block; 6-7, a steering engine mounting groove; 9-1, a boss III; 9-1-1, air holes II; 9-2, a boss IV; 9-3, a wing plate II; 9-3-1, threading holes IV; 9-4, a cavity III; 9-5, airway hole III; A. a first cable; B. a second cable; C. a steering engine is divided; c-1, steering wheels; c-1-1, a first wire through hole; D. a support block; d-1, vertical plates; d-1-1, steering engine mounting holes; d-2, an arc-shaped plate; d-2-1, steering wheel mounting holes; d-2-2, and a second wire through hole.

Detailed Description

The following describes the embodiments of the present utility model further with reference to the drawings and examples. The following examples are only for more clearly illustrating the technical aspects of the present utility model, and are not intended to limit the scope of the present utility model.

Examples

As shown in fig. 1-17, the utility model relates to a flexible mechanical arm for wire pulling and pneumatic control, which comprises a base 1, wherein a first bus steering engine 2 is fixedly arranged on the upper end surface of the base 1, an output shaft of the first bus steering engine 2 is connected with a first unit, a second bus steering engine 7 is arranged at the top of the first unit, an output shaft of the second bus steering engine 7 is connected with a second unit, a third bus steering engine 11 is arranged at the top of the second unit, and an output shaft of the third bus steering engine 11 is connected with a clamping mechanism;

the first unit comprises an air bag I5, the lower end of the air bag I5 is fixedly arranged at the top of a rigid structural member I4, the upper end of the air bag I5 is fixedly arranged at the bottom of a rigid structural member II 6, the rigid structural member I4 is fixedly arranged on a steering wheel I3 on an output shaft of a bus steering engine I2, vertical air cavities I symmetrically arranged at two sides are arranged in the air bag I5, the peripheral side surface of the air bag I5 is formed by stacking a plurality of wing plates I5-3 corresponding to the outer sides of the vertical air cavities in an end-to-end mode, threading holes II 5-3-1 are formed in the outer side edges of the wing plates I5-3, four wire drawing motors 14 are fixedly arranged at the lower end of the peripheral side surface of the rigid structural member I4, a plurality of wire drawing motors 5-3 on two sides of the air bag I5 are connected with a cable I in a penetrating mode, the bottom end of the cable I A is wound on a wire collecting wheel of the corresponding wire drawing motor 14, two air passage holes I5-7 and one air passage hole II 5-8 which penetrate through the upper end face and the lower end face are arranged in the air bag I5, and the lower end face of the air bag I5 is provided with two air passage holes 1 corresponding to the air passage 1;

the second unit comprises an air bag II 9, the lower end of the air bag II 9 is fixedly arranged at the top of a rigid structural member III 8, the upper end of the air bag II 9 is fixedly arranged at the bottom of a rigid structural member IV 10, the rigid structural member III 8 is fixedly arranged on a steering wheel II on the output shaft of a bus steering engine II 7, the interior of the air bag II 9 is provided with a vertical air cavity II symmetrically arranged at two sides, the peripheral side surface of the air bag II 9 is formed by stacking a plurality of wing plates 9-3 corresponding to the outer side of the vertical air cavity II in an end-to-end mode, the outer side edge of the wing plates II 9-3 is provided with a threading hole IV 9-3-1, a cable II B is connected in the threading holes IV 9-3-1 on the wing plates II 9-3 on the two sides of the air bag II 9 in a penetrating way, the bottom end of the cable II B is wound on a wire winding wheel of the corresponding wire drawing motor 14, an air passage hole III 9-5 penetrating through the centers of the upper end face and the lower end face is arranged in the air bag II 9, the lower end face of the air bag II 9 is provided with two air holes II 9-1-1 correspondingly penetrating through the vertical air cavities II, the two vertical air cavities II are correspondingly connected with the upper ends of the two air passage holes I5-7 on the air bag I5 through the air holes II 9-1-1 respectively, and the lower end of the air passage hole III 9-5 is correspondingly connected with the upper end of the air passage hole II 5-8 on the air bag I5;

the clamping mechanism comprises a rigid structural member five 12 and a pneumatic finger 13 arranged at the top of the rigid structural member five 12, the rigid structural member five 12 is fixedly arranged on an output shaft of a bus steering engine three 11, and an air hole three at the bottom of the pneumatic finger 13 is correspondingly connected with the upper end of an air passage hole three 9-5 on the air bag two 9.

Preferably, two elastic wire control units corresponding to the first vertical air cavity in the first air bag 5 are correspondingly arranged in the first rigid structural member 4, two elastic wire control units corresponding to the second vertical air cavity in the second air bag 9 are symmetrically arranged in the third rigid structural member 8, the lower end of the first cable A or the lower end of the second cable B penetrates through a wire passing hole assembly on the corresponding elastic wire control unit to be wound on a wire winding wheel of the corresponding wire drawing motor 14, and the elastic wire control units and the corresponding wire drawing motor 14 are cooperatively matched to control winding and unwinding of the first cable A or the second cable B.

Further preferably, the elastic thread control unit comprises a steering wheel C and a supporting block D, a steering wheel C-1 is arranged on an output shaft of the steering wheel C, and a thread passing hole C-1-1 is arranged on the steering wheel C-1; the supporting block D is of a D-shaped structure, the supporting block D comprises a vertical plate D-1 and an arc plate D-2, one end or two ends of the arc plate D-2 are fixedly connected with the corresponding end parts of the vertical plate D-1, the steering engine C is embedded and fixedly arranged in a steering engine mounting hole D-1-1 on the vertical plate D-1, the steering wheel C-1 is movably inserted and mounted in a steering wheel mounting hole D-2-1 on the arc plate D-2, a wire passing hole D-2-2 which corresponds to the wire passing hole C-1-1 and penetrates through the wire passing hole C-1 is formed in the arc plate D-2, and the wire passing hole C-1-1 and the wire passing hole D-2-2 form the wire passing hole assembly.

Still preferably, the first rigid structural member 4 is a cylindrical structure with an opening at the lower end, the top surface of the first rigid structural member 4 is correspondingly provided with two vertical slotted holes 4-5 positioned at two ends of the same section diameter and two countersunk holes 4-4 positioned at the center, the peripheral wall of the first rigid structural member 4 is vertically correspondingly provided with two threading holes 4-2 positioned at two ends of the same section diameter, the upper end of the peripheral wall of the first rigid structural member 4 is correspondingly provided with an elastic wire control unit mounting hole 4-3 positioned at two ends of the same section diameter, the elastic wire control unit is embedded and fixed in the elastic wire control unit mounting hole 4-3 fixedly arranged on the first rigid structural member 4, the threading holes 4-2 are correspondingly communicated with the first through wire hole C-1-1 and the second through wire hole D-2-2, the lower end of the peripheral wall of the first rigid structural member 4 is vertically provided with two fixing blocks 4-8 which are correspondingly positioned below the first vertical slotted holes 4-5, and the top surface of the first rigid structural member 4 is correspondingly provided with two arc-shaped slotted holes 6 which are far away from the first slotted holes 4-5;

the second rigid structural member 6 is of a cylindrical structure with an opening at the upper end, a central hole 6-3, two countersunk slotted holes II 6-2 and two vertical slotted holes II 6-5 which are positioned at two ends of the same section diameter are correspondingly formed in the lower end face of the bottom of the second rigid structural member 6, two arc slotted holes II 6-4 which are respectively communicated with the corresponding vertical slotted holes II 6-5 are correspondingly formed in the outer side edge of the lower end face of the bottom of the second rigid structural member 6, a steering engine mounting groove 6-7 is formed in the center of the upper end face of the bottom of the second rigid structural member 6, two fixing blocks II 6-6 which correspond to the vertical slotted holes II 6-5 are fixedly arranged at the upper end of the inner peripheral wall face of the second rigid structural member 6, and the second bus steering engine 7 is fixedly arranged in the steering engine mounting groove 6-7;

the air bag is characterized in that the air passage holes II 5-8 are positioned on the central axis of the air bag I5, the air passage holes I5-7 are correspondingly positioned on two sides of the air passage holes II 5-8, the air bag I5 is internally provided with two cavities I5-5 correspondingly positioned on two ends of the same cross section diameter, two cavities II 5-6 correspondingly positioned on the inner side of the cross section diameter, the cavities II 5-6 are positioned between the air passage holes I5-7 and the air passage holes II 5-8, the air passage holes I5-7 are positioned between the cavities I5-5 and the cavities II 5-6, the air passage holes I5-7, the air passage holes II 5-8, the cavities I5-5 and the cavities II 5-6 are respectively positioned on the separation line of the two vertical air cavities I, the lower end surface of the air bag I5 is correspondingly provided with two bosses I5-1, the upper end surface of the air bag I5-1 and the two bosses II 5-2 are correspondingly positioned between the two vertical bosses I5-7 and the air passage holes II 5-8, the two bosses I1-1 are respectively corresponding to the two vertical bosses I1-1 and the two bosses II-4 are respectively positioned on the separation line of the upper end of the air bag I4-5-1, the two bosses 1-II-4 are correspondingly positioned on the upper end of the hollow structural piece I4 and the hollow structural piece I4 is installed on the upper end of the hollow cavity I4;

the air bag is characterized by further comprising a fixing belt which is connected to the inner part of the first cavity 5-5 of the first air bag 5 in a penetrating manner, the lower end of the fixing belt penetrates through the first vertical groove hole 4-5 of the first rigid structural member 4 to be fixed on the first fixing block 4-8, and the upper end of the fixing belt penetrates through the second vertical groove hole 6-5 of the second rigid structural member 6 to be fixed on the second fixing block 6-6.

It is further preferred that the third rigid structural member 8 has the same structure as the first rigid structural member 4, and the fourth rigid structural member 10 has the same structure as the second rigid structural member 6; the inside of the air bag II 9 is provided with two cavities III 9-4 which are correspondingly positioned at two ends of the same cross section diameter, the cavities III 9-4 are positioned on separation lines of the two vertical air cavities II, the lower end surface of the air bag II 9 is provided with two bosses III 9-1, the upper end surface of the air bag II is provided with two bosses IV 9-2, the two bosses III 9-1 and the bosses IV 9-2 are respectively corresponding to the two vertical air cavities, the two air holes II 9-1-1 are correspondingly positioned on the two bosses III 9-1, the bosses III 9-1 at the lower end of the air bag II are inserted and installed on the rigid structural member III 8, and the bosses IV 9-2 at the upper end of the air bag II 9 are inserted and installed on the rigid structural member IV 10; the air bag is characterized by further comprising a fixing belt which is connected to the air bag II 9 in a penetrating manner and is arranged in the cavity III 9-4, the lower end of the fixing belt is fixedly arranged on the rigid structural member III 8, and the upper end of the fixing belt is fixedly arranged on the rigid structural member IV 10.

Still preferably, the first air bag 5 is formed by connecting a plurality of air bag units end to end, two adjacent air bag units are formed by connecting a connecting column 5-4 positioned at the center, and the connecting column 5-4 is provided with a vent hole 5-4-1 for communicating two adjacent air bag units with an inner cavity; the second air bag 9 is formed by connecting a plurality of second air bag units end to end, two adjacent second air bag units are connected through a second connecting column positioned in the center, and a second vent hole for communicating the inner cavities of the two adjacent second air bag units is formed in the second connecting column.

Still more preferably, the first airbag 5 and the second airbag 9 are manufactured by adopting a 3D printing technology.

Still preferably, the lower end of the peripheral wall surface of the first rigid structural member 4 is radially fixed with an annular bottom plate 4-1, the lower end surface of the annular bottom plate 4-1 is circumferentially fixed with four motor mounting seats 4-7 at intervals, and the four wire-pulling motors 14 are correspondingly arranged in the four motor mounting seats 4-7 one by one.

Still more preferably, the three threading holes 6-1, the second threading hole 5-3-1, the first threading hole 4-2, the first threading hole C-1-1 and the second threading hole D-2-2 are two correspondingly arranged, the first cable A is of an n-shaped structure, the lower end of the first cable A passes through the corresponding threading hole three 6-1, the second threading hole 5-3-1, the first threading hole 4-2 and the threading hole component on the elastic wire control unit and is wound on the take-up pulley of the corresponding wire drawing motor 14; the cable B is of an n-shaped structure, the four threading holes 9-3-1 on the air bag B9 are two correspondingly arranged, the lower end of the cable B penetrates through the threading holes on the rigid structural member IV 10, the four threading holes 9-3-1 on the air bag B9, the threading holes on the rigid structural member III 8, the threading hole component of the elastic thread control unit, the arc-shaped slotted hole II 6-4 on the rigid structural member II 6, the cavity II 5-6 on the air bag I5 and the arc-shaped slotted hole I4-6 on the rigid structural member I4 to be wound on the take-up pulley of the corresponding stay wire motor 14.

Still more preferably, a camera mounting seat 15 is further arranged on the top of the rigid structural member five 12.

The utility model relates to a working principle of a flexible mechanical arm controlled by a stay wire and a pneumatic control:

the output shaft of the bus steering engine I2 rotates to drive the whole flexible mechanical arm to rotate, the air bag I5 in the first unit can control the bending or the returning to the straightening state of the mechanical arm through inflation and deflation, the corresponding wire pulling motor 14 synchronously controls the wire A on one side of the air bag I5 to take up the wire while the corresponding wire pulling motor 14 synchronously controls the wire A on the other side of the air bag I5 to pay off, and meanwhile, the two elastic wire control units on the rigid structural member I4 control the wire A on two sides to keep a tightening state, so that the first unit keeps a precise working posture; the mechanical arm of the second unit is driven to rotate through the rotation of the output shaft of the bus steering engine II 7, the second air bag 9 in the second unit can control the bending or the returning to the straightening state of the mechanical arm through inflation and deflation, the corresponding wire pulling motor 14 synchronously controls the second cable B on one side of the second air bag 9 to take up wires, the corresponding wire pulling motor 14 synchronously controls the second cable B on the other side of the second air bag 9 to pay off wires, and meanwhile, the two elastic wire control units on the third rigid structural member 8 control the second cable B on two sides to keep a tightening state, so that the second unit keeps a precise working posture; the pneumatic finger 13 on the rigid structural member five 12 is driven to rotate through the rotation of the output shaft of the bus steering engine three 11, and the flexible mechanical arm is controlled to grasp or put down an object through the inflation and deflation of the pneumatic finger 13.

The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that it will be apparent to those skilled in the art that several modifications and variations can be made without departing from the technical principle of the present utility model, and these modifications and variations should also be regarded as the scope of the utility model.

Claims

1. The flexible mechanical arm is characterized by comprising a base (1), wherein a first bus steering engine (2) is fixedly arranged on the upper end face of the base (1), an output shaft of the first bus steering engine (2) is connected with a first unit, a second bus steering engine (7) is arranged at the top of the first unit, a second unit is connected with an output shaft of the second bus steering engine (7), a third bus steering engine (11) is arranged at the top of the second unit, and a clamping mechanism is connected with an output shaft of the third bus steering engine (11);

the first unit comprises an air bag I (5), the lower end of the air bag I (5) is fixedly arranged at the top of a rigid structural member I (4), the upper end of the air bag I (5) is fixedly arranged at the bottom of a rigid structural member II (6), the rigid structural member I (4) is fixedly arranged on a steering wheel I (3) on an output shaft of a bus steering engine I (2), vertical air cavities I symmetrically arranged at two sides are arranged in the air bag I (5), the peripheral side surface of the air bag I (5) is formed by stacking a plurality of wing plates I (5-3) corresponding to the outer side of the vertical air cavity I in an end-to-end connection mode, the outer side edge of the wing plates I (5-3) is provided with a threading hole II (5-3-1), the lower end of the peripheral side surface of the rigid structural member I (4) is fixedly provided with four threading holes II (5-3-1) positioned at two sides of the air bag I (5-3), a cable I (A) is connected in the threading hole II (5-3-1), the bottom end of the cable I (A) is wound on the threading hole II (14) corresponding to the threading hole II, the upper end surface of the wing plate I (5-3) is provided with a threading hole II (7) and the upper end surface of the air bag I (5-3) respectively, the lower end surface of the first air bag (5) is provided with two air holes I (5-1-1) correspondingly communicated with the vertical air cavity I;

the second unit comprises an air bag II (9), the lower end of the air bag II (9) is fixedly arranged at the top of a rigid structural member III (8), the upper end of the air bag II (9) is fixedly arranged at the bottom of a rigid structural member IV (10), the rigid structural member III (8) is fixedly arranged on a steering wheel II on an output shaft of a bus steering engine II (7), vertical air cavities II symmetrically arranged at two sides are arranged in the air bag II (9), the peripheral side surface of the air bag II (9) is formed by stacking a plurality of wing plates II (9-3) which are correspondingly arranged at the outer side of the vertical air cavities II in an end-to-end connection mode, a threading hole IV (9-3-1) is arranged at the outer side edge of the wing plates II (9-3), a plurality of threading holes IV (9-3-1) which are arranged at two sides of the air bag II (9) are internally connected with a cable II (B) in a penetrating mode, the bottom end of the cable II (B) is wound on a wire collecting wheel of a corresponding wire drawing motor (14), holes III (9-5) which are correspondingly arranged at the center of the upper end face and lower end faces of the air bag II (9) are correspondingly connected with the air cavities II (1-5) respectively, the two air bags II (9-5) are correspondingly connected with the air cavities 1-9 respectively, the lower end of the air passage hole III (9-5) is correspondingly connected with the upper end of the air passage hole II (5-8) on the air bag I (5);

the clamping mechanism comprises a rigid structural member five (12) and a pneumatic finger (13) arranged at the top of the rigid structural member five (12), the rigid structural member five (12) is fixedly arranged on an output shaft of a bus steering engine three (11), and an air hole three at the bottom of the pneumatic finger (13) is correspondingly connected with the upper end of an air passage hole three (9-5) on the air bag two (9).

2. The flexible mechanical arm for wire drawing and pneumatic control according to claim 1, wherein two elastic wire control units corresponding to the first vertical air cavity in the first air bag (5) are correspondingly arranged in the first rigid structural member (4), two elastic wire control units corresponding to the second vertical air cavity in the second air bag (9) are symmetrically arranged in the third rigid structural member (8), the lower end of the first cable (A) or the lower end of the second cable (B) passes through a wire hole assembly on the corresponding elastic wire control unit and is wound on a wire winding wheel of the corresponding wire drawing motor (14), and the elastic wire control unit and the corresponding wire drawing motor (14) are cooperatively used for controlling the winding and unwinding of the first cable (A) or the second cable (B).

3. The flexible mechanical arm controlled by stay wire and pneumatic power according to claim 2, wherein the elastic wire control unit comprises a steering wheel (C) and a supporting block (D), a steering wheel (C-1) is arranged on an output shaft of the steering wheel (C), and a first wire passing hole (C-1-1) is arranged on the steering wheel (C-1); the steering wheel assembly is characterized in that the supporting block (D) is of a D-shaped structure and comprises a vertical plate (D-1) and an arc plate (D-2), one end or two ends of the arc plate (D-2) are fixedly connected with corresponding ends of the vertical plate (D-1), the steering wheel (C) is embedded and fixedly arranged in a steering wheel mounting hole (D-1-1) on the vertical plate (D-1), the steering wheel (C-1) is movably inserted and arranged in a steering wheel mounting hole (D-2-1) on the arc plate (D-2), a second through wire hole (D-2-2) corresponding to the first through wire hole (C-1-1) is formed in the arc plate (D-2), and the first through wire hole (C-1-1) and the second through wire hole (D-2-2) form the through wire hole assembly.

4. The flexible mechanical arm controlled by wire drawing and pneumatic control as claimed in claim 3, wherein the first rigid structural member (4) is of a cylindrical structure with an opening at the lower end, two vertical slotted holes (4-5) positioned at two ends of the same section diameter and two slotted holes (4-4) positioned at the center are correspondingly formed in the top surface of the first rigid structural member (4), a first threading hole (4-2) positioned at two ends of the same section diameter is vertically and correspondingly formed in the peripheral wall of the first rigid structural member (4), a mounting hole (4-3) of an elastic wire control unit positioned at two ends of the same section diameter is correspondingly formed in the upper end of the peripheral wall of the first rigid structural member (4), the elastic wire control unit is embedded in the mounting hole (4-3) of the elastic wire control unit fixedly arranged on the first rigid structural member (4), the first threading hole (4-2) is correspondingly communicated with the first threading hole (C-1-1) and the second threading hole (D-2-2), two corresponding slotted holes (4-5) are vertically and fixedly arranged at the lower end of the peripheral wall of the first rigid structural member (4) and are correspondingly formed in the position away from the top surface of the first slot hole (4-4) and the second slot hole (4-4) is correspondingly communicated with the top surface of the first rigid structural member (4);

the rigid structural member II (6) is of a cylindrical structure with an opening at the upper end, a central hole (6-3), two countersunk slot holes II (6-2) and two vertical slot holes II (6-5) which are positioned at two ends of the same section diameter are correspondingly formed in the lower end face of the bottom of the rigid structural member II (6), two arc slot holes II (6-4) which are respectively communicated with the corresponding vertical slot holes II (6-5) are correspondingly formed in the outer side edge of the lower end face of the bottom of the rigid structural member II (6), a steering engine mounting groove (6-7) is formed in the center of the upper end face of the bottom of the rigid structural member II (6), two fixing blocks II (6-6) which are corresponding to the vertical slot holes II (6-5) are fixedly arranged at the upper end of the inner peripheral wall of the rigid structural member II (6), and the bus steering engine II (7) is fixedly arranged in the steering engine mounting groove (6-7);

the air bag is characterized in that the air passage hole II (5-8) is positioned on the central axis of the air bag I (5), the two air passage holes I (5-7) are correspondingly positioned at two sides of the air passage hole II (5-8), the air bag I (5) is internally provided with two cavities I (5-5) correspondingly positioned at two ends of the same section diameter, two cavities II (5-6) correspondingly positioned at the inner side of the section diameter, the cavities II (5-6) are positioned between the air passage hole I (5-7) and the air passage hole II (5-8), the air passage hole I (5-7) is positioned between the cavities I (5-5) and the cavities II (5-6), the air passage hole I (5-7), the air passage hole II (5-8), the cavities I (5-5) and the cavities II (5-6) are respectively positioned on the separation lines of the two vertical air cavities I, the lower end face of the air bag I (5) is correspondingly provided with two bosses I (5-1), the upper end face of the air bag I (5-6) is correspondingly provided with two bosses (5-1), the upper end face of the air bag I (5-2) is correspondingly positioned between the two bosses (1-1 and the air passage I (5-1), the boss I (5-1) at the lower end of the air bag I (5) is inserted and installed in the countersunk slot I (4-4) on the rigid structural member I (4), and the boss II (5-2) at the upper end is inserted and installed in the countersunk slot II (6-2) on the rigid structural member II (6);

the air bag is characterized by further comprising a fixing belt which is connected in the first cavity (5-5) of the first air bag (5) in a penetrating manner, wherein the lower end of the fixing belt penetrates through the first vertical slot hole (4-5) in the first rigid structural member (4) and is fixed on the first fixing block (4-8), and the upper end of the fixing belt penetrates through the second vertical slot hole (6-5) in the second rigid structural member (6) and is fixed on the second fixing block (6-6).

5. The flexible mechanical arm according to claim 4, wherein the third rigid structural member (8) has the same structure as the first rigid structural member (4), and the fourth rigid structural member (10) has the same structure as the second rigid structural member (6); the air bag II (9) is internally provided with two cavity III (9-4) which are correspondingly positioned at two ends of the same cross section diameter, the cavity III (9-4) is positioned on a separation line of the two vertical air cavities II, the lower end surface of the air bag II (9) is provided with two boss III (9-1), the upper end surface of the air bag II is provided with two boss IV (9-2), the two boss III (9-1) and the boss IV (9-2) are respectively corresponding to the two vertical air cavities II, the two air holes II (9-1-1) are correspondingly positioned on the two boss III (9-1), the boss III (9-1) at the lower end of the air bag II (9) is inserted and installed on the rigid structural member III (8), and the boss IV (9-2) at the upper end of the air bag II (9) is inserted and installed on the rigid structural member IV (10);

the air bag is characterized by further comprising a fixing belt which is connected to the inner part of the third cavity (9-4) of the second air bag (9) in a penetrating way, the lower end of the fixing belt is fixedly arranged on the third rigid structural member (8), and the upper end of the fixing belt is fixedly arranged on the fourth rigid structural member (10).

6. A stay wire and pneumatic control flexible mechanical arm as claimed in claim 5, wherein the first air bag (5) is formed by connecting a plurality of first air bag units end to end, two adjacent first air bag units are connected by a connecting column (5-4) positioned at the center, and a vent hole (5-4-1) for communicating the inner cavities of the two adjacent first air bag units is arranged on the connecting column (5-4); the second air bag (9) is formed by connecting a plurality of second air bag units end to end, two adjacent second air bag units are connected through a second connecting column positioned in the center, and a second vent hole for communicating the inner cavities of the two adjacent second air bag units is formed in the second connecting column.

7. The flexible manipulator of claim 6, wherein the first and second air bags (5, 9) are manufactured by 3D printing.

8. The flexible mechanical arm for wire drawing and pneumatic control according to claim 7, wherein an annular bottom plate (4-1) is radially fixed at the lower end of the peripheral wall surface of the first rigid structural member (4), four motor mounting seats (4-7) are circumferentially fixed at intervals on the lower end surface of the annular bottom plate (4-1), and four wire drawing motors (14) are correspondingly arranged in the four motor mounting seats (4-7) one by one.

9. The flexible mechanical arm for wire drawing and pneumatic control according to claim 8, wherein the bottom lower end surface of the rigid structural member II (6) is correspondingly provided with a threading hole III (6-1) positioned at two ends with the same diameter, the threading hole III (6-1), the threading hole II (5-3-1), the threading hole I (4-2), the threading hole I (C-1-1) and the threading hole II (D-2-2) are respectively and correspondingly arranged two, the wire I (A) is in an n-shaped structure, the lower end of the wire I (A) penetrates through the threading hole III (6-1) and the threading hole II (5-3-1), the threading hole I (4-2) and the threading hole assembly on the elastic wire control unit and is wound on a wire winding wheel of the corresponding wire drawing motor (14); the cable II (B) is of an n-shaped structure, the four threading holes (9-3-1) on the air bag II (9) are two correspondingly arranged, the lower end of the cable II (B) penetrates through the threading holes on the rigid structural member IV (10), the threading holes on the air bag II (9) IV (9-3-1), the threading holes on the rigid structural member III (8), the threading hole assembly of the elastic thread control unit, the arc-shaped slotted hole II (6-4) on the rigid structural member II (6), the cavity II (5-6) on the air bag I (5) and the arc-shaped slotted hole I (4-6) on the rigid structural member I (4) to be wound on the take-up pulley of the corresponding wire drawing motor (14).

10. A wire and pneumatic control flexible mechanical arm as claimed in any one of claims 1 to 9, wherein a camera mount (15) is further provided on top of the rigid structural member five (12).