CN112454422B - Composite variable-rigidity continuous operating arm - Google Patents
Composite variable-rigidity continuous operating arm Download PDFInfo
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- CN112454422B CN112454422B CN202011355957.XA CN202011355957A CN112454422B CN 112454422 B CN112454422 B CN 112454422B CN 202011355957 A CN202011355957 A CN 202011355957A CN 112454422 B CN112454422 B CN 112454422B
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- 239000002131 composite material Substances 0.000 title claims abstract description 20
- 239000000843 powder Substances 0.000 claims description 52
- 239000002245 particle Substances 0.000 claims description 50
- 230000000903 blocking effect Effects 0.000 claims description 43
- 241000446313 Lamella Species 0.000 claims description 41
- 238000007789 sealing Methods 0.000 claims description 12
- 210000000707 wrist Anatomy 0.000 claims description 11
- 210000000078 claw Anatomy 0.000 claims description 9
- 102220190691 rs201046901 Human genes 0.000 claims description 4
- 102220043159 rs587780996 Human genes 0.000 claims description 4
- 239000012528 membrane Substances 0.000 description 9
- 238000005086 pumping Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000005452 bending Methods 0.000 description 4
- 238000004804 winding Methods 0.000 description 3
- 241000561734 Celosia cristata Species 0.000 description 2
- 210000001520 comb Anatomy 0.000 description 2
- 210000002808 connective tissue Anatomy 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 229910001000 nickel titanium Inorganic materials 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of mechanical mechanism design of an operating arm, in particular to a composite variable-stiffness continuous operating arm which comprises an actuator, a connecting body mechanical arm and a driver, wherein two ends of the connecting body mechanical arm are respectively connected with the actuator and the driver The composite variable-rigidity continuous operating arm has the advantages of sufficient load capacity, stable and reliable locking and the like.
Description
Technical Field
The invention relates to the technical field of mechanical mechanism design of operating arms, in particular to a composite variable stiffness continuous operating arm which is simple in structure, small in radial size, capable of realizing multi-degree-of-freedom bending in a release state, capable of being locked at any position, capable of achieving any pose of an executing mechanism in a working space, capable of providing sufficient load capacity and stable and reliable in locking.
Background
As is well known, an operation arm is an electromechanical integrated product, which can carry one or more end effectors to perform various operations under the remote control of a worker or the automatic control of a computer, and is widely used in various fields, such as: the production and manufacturing field, the safety explosion-proof field, the medical field and the like have huge application prospects, and various operation arms have been deeply researched at home and abroad.
At present, various existing operating arm products and research results are mostly active operating arms and are divided into built-in driving, external driving and hybrid driving. For the built-in drive placement, a general deployment mode is that each joint of an operation arm is provided with a drive motor, the angle of a rotating joint is changed through the rotation of the motors, and the pose of an end effector is changed through the coupling of multi-joint postures. For the external driving mode, a driving motor is generally deployed outside an operating arm, and the posture of the operating arm is generally changed by pulling a driving wire through the driving motor. The active operation arms adopt a forward control mode that the controller controls the rotation angle of the motor so as to control the pose of the operation arms, and can only be suitable for a structured operation environment, and the active operation arms cannot be well adapted to unstructured operation environments such as minimally invasive surgery, emergency rescue and disaster relief.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provide the composite variable-stiffness continuous operating arm which has the advantages of simple structure, small radial size, capability of realizing multi-degree-of-freedom bending in a release state, capability of locking at any position, capability of enabling an executing mechanism to achieve any pose in a working space, sufficient load capacity and stable and reliable locking.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a composite variable-rigidity continuous operating arm comprises an actuator, a connector mechanical arm and a driver, wherein two ends of the connector mechanical arm are respectively connected with the actuator and the driver, and the composite variable-rigidity continuous operating arm is characterized in that the connector mechanical arm sequentially comprises a particle blocking variable-rigidity component, a redundant driving variable-rigidity component and a sheet blocking variable-rigidity component from inside to outside, the particle blocking variable-rigidity component comprises a particle inner sleeve film, a particle blocking column, a powder front end cover and a powder rear end cover, the front end and the rear end of the particle inner sleeve film are respectively connected with the powder front end cover and the powder rear end cover in a sealing manner, the particle blocking column is filled in the particle inner sleeve film, an air suction hole and a connecting driver connecting hole which are communicated with an inner cavity of the particle inner sleeve film and used for vacuumizing are formed in the rear end face of the powder rear end cover, the redundant driving variable-rigidity component is sleeved on the outer side of the particle inner sleeve film, the redundant driving variable stiffness assembly comprises a redundant driving front end ring, a redundant driving rear end ring, a limiting spring, a driving wire and a threading disc, wherein the redundant driving front end ring and the redundant driving rear end ring are respectively sleeved on the outer sides of a powder front end cover and a powder rear end cover and are in sealing connection with the powder front end cover and the powder rear end cover, at least 8 threading holes are uniformly distributed on the ring surfaces of the redundant driving front end ring and the redundant driving rear end ring, the limiting spring is sleeved on the outer side of a particle inner sleeve film between the redundant driving front end ring and the redundant driving rear end ring, two ends of the limiting spring are respectively connected with the redundant driving front end ring and the redundant driving rear end ring, the threading disc is uniformly distributed and sleeved on the outer part of the limiting spring, through holes corresponding to the threading holes on the redundant driving front end ring and the redundant driving rear end ring are arranged on the threading disc, and the driving wire is provided with four long wires and four short wires, the four long wires and the four short wires are arranged at intervals, the front ends of the four long wires penetrate through the redundancy driving front end ring to be connected with the actuator, the front ends of the four short wires are connected with the threading disc in the middle of the limiting spring, the rear ends of the four long wires and the four short wires penetrate through the redundancy driving rear end ring to be connected with the driver, a sheet layer blocking variable stiffness assembly is sleeved outside the threading disc and comprises a sheet layer front end cover, a sheet layer rear end cover, a sheet layer inner film, a sheet layer outer film and a blocking film, the sheet layer front end cover and the sheet layer rear end cover are respectively sleeved outside the redundancy driving front end ring and the redundancy driving rear end ring and are connected with the redundancy driving front end ring and the redundancy driving rear end ring, the space between the sheet layer front end cover and the sheet layer rear end cover are respectively connected with the two ends of the sheet layer inner film and the sheet layer outer film, and the blocking film is sleeved between the inner film layer and the sheet layer outer film, the blocking film is a strip film with sawtooth-shaped valves arranged on two sides, the strip film is spirally wound to be cylindrical, each sawtooth-shaped valve and the next circle of valves are arranged in a staggered mode, one half of the sawtooth-shaped valves are arranged on the inner side and the other half of the sawtooth-shaped valves are arranged on the outer side, the lower layer strip film and the upper layer strip film after winding are connected through fixing wires, a threaded hole connected with an actuator is formed in the front end cover of the lamella, and a connecting hole for fixing a driver and an air suction hole for connecting a vacuum air suction pipe are formed in the back end cover of the lamella.
The powder front end cover, the powder rear end cover, the redundant driving front end ring, the redundant driving rear end ring, the lamella front end cover and the lamella rear end cover are provided with annular grooves on outer walls, O-shaped sealing rings are arranged in the annular grooves, the powder front end cover and the powder rear end cover are used for sealing and connecting particle inner covering films with the powder front end cover and the powder rear end cover through the annular grooves and the O-shaped rings, the lamella inner films are connected with the redundant driving front end ring and the redundant driving rear end ring through the redundant driving front end ring and the redundant driving rear end ring in a sealing mode, and the lamella front end cover and the lamella rear end cover are used for sealing and connecting the lamella outer films with the powder front end cover and the lamella rear end cover through the annular grooves and the O-shaped rings.
The actuator comprises a wrist fixing ring, an actuator frame, a pull rod, a slide rod, a connecting rod, a clamping claw and a limiting block, wherein the actuator frame comprises a fixing plate and side lugs, the side lugs are symmetrically arranged at two sides of the fixing plate and connected with the fixing plate, the wrist fixing ring is sleeved at the outer side of a lamella front end cover, an annular plate is arranged inside the wrist fixing ring, a through hole corresponding to a threaded hole in the lamella front end cover is arranged on the annular plate, a through hole corresponding to the through hole is arranged on the fixing plate in the actuator frame, a screw sequentially penetrates through the through hole in the actuator frame and the through hole in the annular plate to be connected with the threaded hole in the lamella front end cover, a connecting column is arranged on the side surface of the side lug in the actuator frame, the pull rod penetrating hole is arranged in the middle of the actuator frame, the pull rod comprises a plate part and a rod part, and the plate part is arranged in a groove arranged on the rear side surface of the actuator frame, the rod part penetrates through a pull rod on the actuator rack and penetrates through a hole to be connected with the slide rod, the two ends of the slide rod are respectively sleeved with a clamping claw, each clamping claw comprises a clamping part and a sliding sleeve, the sliding sleeves are sleeved on the slide rod, the two ends of the slide rod are connected with limiting blocks for preventing the sliding sleeves from falling off, the opposite side faces of the two sliding sleeves are respectively provided with a connecting rod, one end of each connecting rod is hinged with the corresponding sliding sleeve, and the other end of each connecting rod is sleeved on a connecting column of a side lug in the actuator rack and is hinged with the corresponding connecting column.
The actuator is internally provided with a return spring, and the return spring is sleeved on a rod part of a pull rod between a slide rod and a fixed plate of a frame of the actuator.
The driver comprises a rear end protecting cover, a shell, a motor base, a vacuum air pump, a linear motor and a vacuum air pump pipe, wherein the rear end protecting cover is sleeved outside a rear end cover of a sheet layer, the rear end of the rear end protecting cover is provided with the motor base, the motor base is provided with the linear motor and the vacuum air pump which are matched and connected with a driving wire, the linear motor is connected with the motor base, an output shaft of the linear motor is connected with the driving wire, an air outlet of the vacuum air pump is connected with the vacuum air pump pipe, the vacuum air pump pipe is respectively connected with an air pumping hole of the rear end cover of the sheet layer and an air pumping hole of a rear end cover of powder, and the motor base and the vacuum air pump are fixed on the shell.
The air exhaust hole of the lamella rear end cover and the air exhaust hole of the powder rear end cover are respectively connected with a quick screwing head, and the quick screwing heads are respectively connected with a vacuum air exhaust pipe.
The particle blocking column is coarse ground coffee particles, and the coarse ground coffee particles have D50=1200 μm and D97=1800 μm.
The blocking film is a PVC film, the thickness of the blocking film is 0.15mm, and the surface friction coefficient of the blocking film is 0.7.
The invention adopts the structure, the operating arm is a passive operating arm which can be manually dragged and passively positioned by an operator, the operating arm adopts three variable stiffness principles of particle blockage, sheet blockage and drive line redundancy drive, can be freely switched between a flexible state and a rigid state, can be freely dragged to any position by one hand of the operator in the flexible state, and then can be rapidly converted between rigid and flexible states to reach the rigid state, and the three variable stiffness principles can provide larger load capacity for the operating arm, thereby solving the problems that the traditional active rigid operating arm cannot be passively driven and the load capacity of the flexible operating arm is insufficient, and the invention has the advantages of simple structure, small radial size, capability of realizing multi-degree-of-freedom bending in a release state, locking in any position, and any pose of an actuating mechanism in a working space, and providing enough load capacity, The locking is stable and reliable, and the composite variable-rigidity continuous operating arm has the advantages of being stable and reliable.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic diagram of the structure of the driver.
Fig. 3 is a schematic structural view of the actuator.
FIG. 4 is a schematic diagram of a link arm configuration.
FIG. 5 is a schematic diagram of a particle blocking variable stiffness assembly in a link robot arm.
FIG. 6 is a schematic diagram of a redundant drive variable stiffness assembly in a link robot arm.
Fig. 7 is a schematic view of the structure of the occluding film in the sheet occluding variable stiffness assembly.
FIG. 8 is a diagram of the connection of the interface arm to the wrist mounting ring and rear housing.
Fig. 9 is a schematic structural view of an actuator frame.
FIG. 10 is a schematic view of the structure of the wrist securing ring.
FIG. 11 is a schematic view of the construction of the rear end cover.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in the attached drawing, the composite variable-stiffness continuous operating arm comprises an actuator 1, a connecting body mechanical arm 2 and a driver 3, wherein two ends of the connecting body mechanical arm 2 are respectively connected with the actuator 1 and the driver 3, and is characterized in that the connecting body mechanical arm 2 sequentially comprises a particle blocking variable-stiffness component, a redundancy driving variable-stiffness component and a sheet blocking variable-stiffness component from inside to outside, the particle blocking variable-stiffness component comprises a particle inner sleeve membrane 4, a particle blocking column 5, a powder front end cover 6 and a powder rear end cover 7, the front end and the rear end of the particle inner sleeve membrane 4 are respectively connected with a powder front end cover 6 and a powder rear end cover 7 in a sealing manner, the particle inner sleeve membrane 4 is filled with the particle blocking column 5, the rear end face of the powder rear end cover 7 is provided with an air suction hole communicated with an inner cavity of the particle inner sleeve membrane 4 and used for vacuumizing and is connected with a driver connecting hole, the particle inner sleeving membrane 4 is sleeved with a redundant driving variable stiffness assembly, the redundant driving variable stiffness assembly comprises a redundant driving front end ring 8, a redundant driving rear end ring 9, a limiting spring 10, a driving wire 11 and a threading disc 12, the redundant driving front end ring 8 and the redundant driving rear end ring 9 are respectively sleeved on the outer sides of the powder front end cover 6 and the powder rear end cover 7 and are in sealing connection with the powder front end cover 6 and the powder rear end cover 7, the ring surfaces of the redundant driving front end ring 8 and the redundant driving rear end ring 9 are uniformly provided with at least 8 threading holes, the limiting spring 10 is sleeved on the outer side of the particle inner sleeving membrane 4 between the redundant driving front end ring 8 and the redundant driving rear end ring 9, two ends of the limiting spring 10 are respectively connected with the redundant driving front end ring 8 and the redundant driving rear end ring 9, the threading disc 12 is uniformly sleeved on the outer part of the limiting spring 10, the threading disc 12 is provided with through holes corresponding to threading holes on the redundant drive front end ring 8 and the redundant drive rear end ring 9, the drive line 11 is provided with four long lines and four short lines which are arranged at intervals, the front ends of the four long lines penetrate through the redundant drive front end ring 8 to be connected with the actuator 1, the front ends of the four short lines are connected with the threading disc 12 in the middle of the limiting spring 10, the rear ends of the four long lines and the four short lines penetrate through the redundant drive rear end ring 9 to be connected with the driver 3, the threading disc 12 is externally sleeved with a lamella blocking variable stiffness component, the lamella blocking variable stiffness component comprises a lamella front end cover 14, a lamella rear end cover 15, a lamella inner film 16, a lamella outer film 17 and a blocking film 18, the lamella front end cover 14 and the lamella rear end cover 15 are respectively sleeved outside the redundant drive front end ring 8 and the redundant drive rear end ring 9 and are connected with the redundant drive front end ring 8, the lamella rear end ring 9, the driving end ring 14 and the redundant drive rear end ring 9, The redundant drive rear end ring 9 is connected, lamella front end housing 14 and lamella rear end housing 15 between be connected with the both ends of lamella inner membrance 16 and lamella adventitia 17 respectively, lamella inner membrance 16 and lamella adventitia 17 between the cover have the blocking film 18, blocking film 18 establish to be the banding film that both sides were equipped with the cockscomb structure valve, banding film spiral winding be the tube-shape, every cockscomb structure valve is arranged with the valve of next round is crisscross, half inboard, half outside, lower floor banding film after the winding is connected through fixed filament 13 with upper band film, lamella front end housing 14 on be equipped with the screw hole of being connected with executor 1, lamella rear end housing 15 on be equipped with the connecting hole of fixed driver 3 and the aspirating hole of connecting the vacuum exhaust tube.
Further, annular grooves 19 are formed in the outer walls of the powder front end cover 6, the powder rear end cover 7, the redundant driving front end ring 8, the redundant driving rear end ring 9, the sheet layer front end cover 14 and the sheet layer rear end cover 15, O-shaped sealing rings are arranged in the annular grooves 19, the powder front end cover 6 and the powder rear end cover 7 hermetically connect the particle inner sleeve membrane 4 with the powder front end cover 6 and the powder rear end cover 7 through the annular grooves 19 and the O-shaped rings, the redundant driving front end ring 8 and the redundant driving rear end ring 9 hermetically connect the sheet layer inner membrane 16 with the redundant driving front end ring 8 and the redundant driving rear end ring 9 through the annular grooves 19 and the O-shaped rings, and the sheet layer front end cover 14 and the sheet layer rear end cover 15 hermetically connect the outer membrane sheet layer 17 with the sheet layer front end cover 14 and the sheet layer rear end cover 15 through the annular grooves 19 and the O-shaped rings.
Further, the actuator 1 comprises a wrist fixing ring 20, an actuator frame 21, a pull rod 22, a slide rod 23, a connecting rod 24, a clamping claw 25 and a limiting block 26, wherein the actuator frame 21 comprises a fixing plate and side lugs, the side lugs are symmetrically arranged on two sides of the fixing plate and connected with the fixing plate, the wrist fixing ring 20 is sleeved on the outer side of the lamella front end cover 14, an annular plate is arranged inside the wrist fixing ring 20, a through hole corresponding to a threaded hole in the lamella front end cover 14 is formed in the annular plate, a through hole corresponding to the through hole is formed in the fixing plate in the actuator frame 21, a screw sequentially penetrates through the through hole in the actuator frame 21 and the through hole in the annular plate to be connected with the threaded hole in the lamella front end cover 14, a connecting column is arranged on the side surface of the side lug in the actuator frame 21, the pull rod 22 penetrates through the through hole in the middle of the actuator frame 21, and the pull rod 22 comprises a plate part and a rod part, the plate portion is arranged in a groove formed in the rear side face of the actuator rack 21, the rod portion penetrates through a pull rod 22 on the actuator rack 21 and penetrates through a hole to be connected with a slide rod 23, clamping claws 25 are sleeved at two ends of the slide rod 23 respectively, each clamping claw 25 comprises a clamping portion and a sliding sleeve, the sliding sleeves are sleeved on the slide rod 23, two ends of the slide rod 23 are connected with limiting blocks 26 for preventing the sliding sleeves from falling off, connecting rods 24 are arranged on opposite side faces of the two sliding sleeves respectively, one end of each connecting rod 24 is hinged to the corresponding sliding sleeve, and the other end of each connecting rod 24 is sleeved on a connecting column of a side lug in the actuator rack 21 and hinged to the corresponding connecting column.
Furthermore, a return spring 27 is arranged in the actuator 1, and the return spring 27 is sleeved on the rod part of the pull rod 22 between the slide rod 23 and the fixed plate of the actuator frame 21.
Further, the driver 3 includes a rear end protecting cover 28, a housing 29, a motor base 30, a vacuum air pump 31, a linear motor 32 and a vacuum air pumping pipe 33, the rear end protecting cover 28 is sleeved outside the lamella rear end cover 15, the rear end of the rear end protecting cover 28 is provided with the motor base 30, the motor base 30 is provided with the linear motor 32 and the vacuum air pump 31 which are connected with the driving wire 11 in a matching manner, the linear motor 32 is connected with the motor base 30, an output shaft of the linear motor 32 is connected with the driving wire 11, an air outlet of the vacuum air pump 31 is connected with the vacuum air pumping pipe 33, the vacuum air pumping pipe 33 is respectively connected with an air pumping hole of the lamella rear end cover 15 and an air pumping hole of the powder rear end cover 7, the motor base 30 and the vacuum air pump 31 are fixed on the housing 29, and the vacuum air pumping pipe 33 is connected with the vacuum air pump 31 through a four-way 35.
Furthermore, the air suction holes of the slice rear end cover 15 and the air suction holes of the powder rear end cover 7 are respectively connected with a quick screw head 34, and the quick screw heads 34 are respectively connected with a vacuum air suction pipe 33.
Further, the particle clogging column 5 is coarse ground coffee particles, D50=1200 μm and D97=1800 μm, D50=1200 μm indicates that the median size diameter of the coarse ground coffee particles is 1200 μm, and D97=1800 μm indicates that 97% of the coarse ground coffee particles have a particle diameter of 1800 μm or less.
Further, the blocking film 18 is a PVC film, the thickness is 0.15mm, and the surface friction coefficient is 0.7.
Further, the axial middle part of the blocking film 18 is uniformly provided with fixing holes, the fixing wires 13 sequentially penetrate through the fixing holes, the fixing holes of the upper and lower layers of the blocking film 18 after being screwed are connected with the fixing wires 13, the connection mode of the blocking film 18 after being screwed is shown in fig. 7, the blocking film 18 can be designed into a multilayer structure, and the load capacity of the mechanical arm is improved.
When the invention is used, the locking and releasing states are divided, when in the locking state, the driving wire 11 is tensioned by the linear motor 32, the vacuum air pump 31 sucks air, and the coarse ground coffee particles in the particle inner sleeve film 4 block the mutual extrusion and locking of the column 5; the blocking films 18 between the sheet layer inner film 16 and the sheet layer outer film 17 are mutually extruded to generate friction force, the two films are in a blocking state to generate rigidity, the hyperelastic NiTi alloy driving wire 11 redundant driving unit also provides part of rigidity, the driving wire 11 is relaxed in a releasing state, the vacuum air pump 31 exhausts air, the coarse grinding coffee particle blocking column 5 in the particle inner sleeve film 4 and the blocking films 18 between the sheet layer inner film 16 and the sheet layer outer film 17 lose rigidity, the mechanical arm can be flexibly pulled by an operator to be positioned at any position and enter a locking state, and the two states can be randomly switched.
When the actuating mechanism is used, the pull rod 22 is pulled by the driving wire 11 to drive the connecting rod 24 to rotate, the clamping claw 25 slides towards the center on the sliding rod 23 to achieve a clamping state, the driving wire 11 is loosened when the actuating mechanism is loosened, the return spring 27 releases elastic potential energy, the clamping claw 25 moves reversely, and the actuating mechanism is loosened.
The invention adopts the structure, the operating arm is a passive operating arm which can be manually dragged and passively positioned by an operator, the operating arm adopts three rigidity changing principles of particle blockage, lamella blockage and driving wire 11 redundant driving, can be freely switched between two states of flexibility and rigidity, can be freely dragged to any position by one hand of the operator in the flexible state, and can rapidly convert rigidity and flexibility to reach the rigid state, and the three rigidity changing principles can provide larger load capacity for the operating arm, thereby solving the problems that the traditional rigid operating arm can not be passively driven and the load capacity of the flexible operating arm is insufficient, and having the advantages of simple structure, small radial size, capability of realizing multi-degree-of-freedom bending in a release state, locking in any position, random pose of an actuating mechanism in a working space, and providing enough load capacity, The locking is stable and reliable, and the composite variable-rigidity continuous operating arm has the advantages of being stable and reliable.
Claims (8)
1. A composite variable-stiffness continuous operating arm comprises an actuator, a connector mechanical arm and a driver, wherein two ends of the connector mechanical arm are respectively connected with the actuator and the driver, and the composite variable-stiffness continuous operating arm is characterized in that the connector mechanical arm sequentially comprises a particle blocking variable-stiffness component, a redundancy driving variable-stiffness component and a sheet blocking variable-stiffness component from inside to outside, the particle blocking variable-stiffness component comprises a particle inner sleeve film, a particle blocking column, a powder front end cover and a powder rear end cover, the front end and the rear end of the particle inner sleeve film are respectively connected with the powder front end cover and the powder rear end cover in a sealing manner, the particle blocking column is filled in the particle inner sleeve film, an air suction hole and a connecting driver connecting hole which are communicated with an inner cavity of the particle inner sleeve film and used for vacuumizing are formed in the rear end face of the powder rear end cover, and the redundancy driving variable-stiffness component is sleeved outside the particle inner sleeve film, the redundant driving variable stiffness assembly comprises a redundant driving front end ring, a redundant driving rear end ring, a limiting spring, a driving wire and a threading disc, wherein the redundant driving front end ring and the redundant driving rear end ring are respectively sleeved on the outer sides of a powder front end cover and a powder rear end cover and are in sealing connection with the powder front end cover and the powder rear end cover, at least 8 threading holes are uniformly distributed on the ring surfaces of the redundant driving front end ring and the redundant driving rear end ring, the limiting spring is sleeved on the outer side of a particle inner sleeve film between the redundant driving front end ring and the redundant driving rear end ring, two ends of the limiting spring are respectively connected with the redundant driving front end ring and the redundant driving rear end ring, the threading disc is uniformly distributed and sleeved on the outer part of the limiting spring, through holes corresponding to the threading holes on the redundant driving front end ring and the redundant driving rear end ring are arranged on the threading disc, and the driving wire is provided with four long wires and four short wires, the four long wires and the four short wires are arranged at intervals, the front ends of the four long wires penetrate through the redundancy driving front end ring to be connected with the actuator, the front ends of the four short wires are connected with the threading disc in the middle of the limiting spring, the rear ends of the four long wires and the four short wires penetrate through the redundancy driving rear end ring to be connected with the driver, a sheet layer blocking variable stiffness assembly is sleeved outside the threading disc and comprises a sheet layer front end cover, a sheet layer rear end cover, a sheet layer inner film, a sheet layer outer film and a blocking film, the sheet layer front end cover and the sheet layer rear end cover are respectively sleeved outside the redundancy driving front end ring and the redundancy driving rear end ring and are connected with the redundancy driving front end ring and the redundancy driving rear end ring, the space between the sheet layer front end cover and the sheet layer rear end cover are respectively connected with the two ends of the sheet layer inner film and the sheet layer outer film, and the blocking film is sleeved between the inner film layer and the sheet layer outer film, the blocking film is a strip film with zigzag valves on two sides, the strip film is spirally wound to be cylindrical, each zigzag valve and the next circle of valves are arranged in a staggered mode, one half of the zigzag valve is arranged on the inner side, the other half of the zigzag valve is arranged on the outer side, the wound lower-layer strip film and the wound upper-layer strip film are connected through fixing wires, a threaded hole connected with an actuator is formed in the front end cover of the lamella, and a connecting hole for fixing a driver and an exhaust hole for connecting a vacuum exhaust pipe are formed in the rear end cover of the lamella.
2. The composite variable stiffness continuous operating arm according to claim 1, wherein annular grooves are formed in outer walls of the powder front end cover, the powder rear end cover, the redundant drive front end ring, the redundant drive rear end ring, the laminated front end cover and the laminated rear end cover, O-shaped sealing rings are arranged in the annular grooves, the powder front end cover and the powder rear end cover hermetically connect the particle inner sleeve film with the powder front end cover and the powder rear end cover through the annular grooves and the O-shaped rings, the redundant drive front end ring and the redundant drive rear end ring hermetically connect the laminated inner film with the redundant drive front end ring and the redundant drive rear end ring through the annular grooves and the O-shaped rings, and the laminated front end cover and the laminated rear end cover hermetically connect the laminated outer film with the laminated front end cover and the laminated rear end cover through the annular grooves and the O-shaped rings.
3. The composite variable stiffness continuous operation arm according to claim 1, wherein the actuator comprises a wrist fixing ring, an actuator frame, a pull rod, a slide rod, a connecting rod, a clamping claw and a limiting block, the actuator frame comprises a fixing plate and side lugs, the side lugs are symmetrically arranged on two sides of the fixing plate and connected with the fixing plate, the wrist fixing ring is sleeved on the outer side of the front end cover of the lamella, an annular plate is arranged inside the wrist fixing ring, a through hole corresponding to the threaded hole in the front end cover of the lamella is formed in the annular plate, a through hole corresponding to the through hole is formed in the fixing plate in the actuator frame, a screw sequentially penetrates through the through hole in the actuator frame and the through hole in the annular plate to be connected with the threaded hole in the front end cover of the lamella, a connecting column is arranged on the side surface of the side lug in the actuator frame, the middle of the actuator frame is provided with the pull rod through hole, the pull rod includes board and pole portion, the board establish in the recess that executor frame trailing flank was equipped with, pole portion passes the pull rod in the executor frame and passes the hole and be connected with the slide bar, the both ends of slide bar overlap respectively and have the gripper jaw, the gripper jaw includes clamping part and slip cap, the slip cap overlaps on the slide bar, the both ends of slide bar are connected with the stopper that prevents the slip cap and drop, the opposite side of two slip caps is equipped with the connecting rod respectively, the one end of connecting rod is articulated mutually with the slip cap, the other pot head of connecting rod is articulated mutually with the spliced pole on the spliced pole of side ear in the executor frame.
4. A composite variable stiffness continuous type manipulator arm according to claim 3, wherein the actuator is provided with a return spring which is sleeved on a rod portion of the pull rod between the slide rod and the fixed plate of the actuator frame.
5. The composite variable stiffness continuous operation arm as claimed in claim 1, wherein the actuator comprises a rear end protecting cover, a housing, a motor base, a vacuum pump, a linear motor and a vacuum pump, the rear end protecting cover is sleeved outside the rear end cover of the sheet layer, the rear end of the rear end protecting cover is provided with the motor base, the motor base is provided with the linear motor and the vacuum pump which are connected with the driving wire in a matching manner, the linear motor is connected with the motor base, an output shaft of the linear motor is connected with the driving wire, an air outlet of the vacuum pump is connected with the vacuum pump, the vacuum pump is respectively connected with the pump hole of the rear end cover of the sheet layer and the pump hole of the rear end cover of the powder, and the motor base and the vacuum pump are fixed on the housing.
6. The composite variable stiffness continuous type manipulator according to claim 5, wherein the air suction holes of the sheet rear end cover and the powder rear end cover are respectively connected with a quick screw head, and the quick screw heads are respectively connected with a vacuum air suction pipe.
7. A composite variable stiffness continuous operating arm as claimed in claim 1 wherein the particle blocking column is a coarse ground coffee particle having D50=1200 μm and D97=1800 μm.
8. A composite variable stiffness continuous arm as claimed in claim 1 wherein the dam film is PVC film having a thickness of 0.15mm and a surface friction coefficient of 0.7.
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