CN117207165A - Modular telescopic soft mechanical arm of pneumatic drive-by-wire - Google Patents
Modular telescopic soft mechanical arm of pneumatic drive-by-wire Download PDFInfo
- Publication number
- CN117207165A CN117207165A CN202311197258.0A CN202311197258A CN117207165A CN 117207165 A CN117207165 A CN 117207165A CN 202311197258 A CN202311197258 A CN 202311197258A CN 117207165 A CN117207165 A CN 117207165A
- Authority
- CN
- China
- Prior art keywords
- corrugated pipe
- flexible
- driving
- modular
- installation base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009975 flexible effect Effects 0.000 claims abstract description 39
- 238000009434 installation Methods 0.000 claims abstract description 31
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 10
- 239000000741 silica gel Substances 0.000 claims abstract description 10
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 10
- 230000008859 change Effects 0.000 claims description 5
- 230000006870 function Effects 0.000 abstract description 5
- 238000004904 shortening Methods 0.000 abstract description 2
- 238000005452 bending Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 229920001746 electroactive polymer Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a modularized telescopic soft mechanical arm of a pneumatic drive-by-wire, and belongs to the technical field of soft robots. The flexible joint solves the problems that the flexible joint adopting a single driving mode is difficult to realize the functions of stretching and adjusting the posture of the flexible joint simultaneously, the flexible joint adopting a combined driving mode has larger volume, a relatively complex external auxiliary system is required, and the combination use is difficult. The device comprises a driving installation base, a corrugated pipe, ropes and flanges, wherein the driving installation base and the flanges are arranged at two ends of the corrugated pipe and a plurality of ropes, the angle adjustment of the corrugated pipe is realized by changing the length of the ropes, and the extension or shortening of the silica gel corrugated pipe is realized by changing the air pressure in the air-adjusting corrugated pipe. The combined driving mode of rope driving and inflation driving can simultaneously realize gesture adjustment of stretching, angle and the like, has small volume, light weight and low cost, and is easy to realize multifunctional combination through series connection or parallel connection.
Description
Technical Field
The invention relates to a telescopic soft mechanical arm controlled by a pneumatic drive line, and belongs to the technical field of soft robots.
Background
Robotics are widely used in the fields of industrial production, military, scientific exploration, and aerospace in today's society. The traditional robot is generally formed by connecting rigid joints and rigid connecting rods, and has the advantage of accurate movement, but the rigidity of the structure makes the environment of the robot relatively poor in adaptability, and the movement in a narrow space is limited. The flexible robot technology is an important branch in the technical field of robots, and the flexible robot has the characteristics of high flexibility, deformability, energy absorption property and the like, has stronger adaptability to the environment, has a continuous deformation organism structure, and can realize multi-degree-of-freedom complex motion.
In terms of driving methods, most flexible mechanisms currently used are electroactive polymers, string drives, shape memory alloys, fluid drives, and the like. Although the driving modes of the flexible mechanisms are different, the functions are basically used for realizing bending motion and grabbing object motion, the flexible joints mainly adopt a single driving mode from the current research status, the flexible joints adopting the single driving mode are difficult to realize the functions of stretching and adjusting the posture of the flexible joints at the same time, and the flexible joints adopting the combined driving mode have larger volumes, require more complex external auxiliary systems and are difficult to be combined for use.
Therefore, it is needed to provide a modular telescopic flexible manipulator for pneumatic drive-by-wire to solve the above-mentioned problems.
Disclosure of Invention
The invention solves the problems that the flexible joint adopting a single driving mode is difficult to realize the functions of stretching and posture adjustment of the flexible joint simultaneously, the flexible joint adopting a combined driving mode is large in size, a complex external auxiliary system is needed and the combination is difficult to use, and provides a modularized telescopic soft mechanical arm of an air driving drive-by-wire, and a brief overview of the invention is given below so as to provide basic understanding about certain aspects of the invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to identify key or critical elements of the invention or to delineate the scope of the invention.
The technical scheme of the invention is as follows:
the utility model provides a modularization telescopic software arm of gas drive-by-wire, includes drive installation base, bellows, rope and flange, the both ends of bellows, a plurality of ropes are provided with drive installation base and flange, change the length of rope and realize the angle modulation of bellows, change the interior atmospheric pressure of gas regulation bellows and realize the extension of silica gel bellows or shorten.
Preferably: the number of the ropes is more than three, and a plurality of ropes are circumferentially and equidistantly arranged outside the corrugated pipe.
Preferably: the motor and the air pump are installed in the drive installation base through the bolt, an air hole and a plurality of first mounting holes are formed in the drive installation base, the air pump is communicated with the inside of the corrugated pipe through the air hole, the output end of the motor is provided with a wheel disc, and one end of the rope penetrates through the first mounting holes and is wound on the wheel disc.
Preferably: the flange is provided with a second mounting hole, the first mounting hole and the second mounting hole are coaxially arranged, and the other end of the rope is fixedly or detachably connected with the second mounting hole.
Preferably: the corrugated pipe is a silica gel corrugated pipe.
Preferably: a plurality of modularized telescopic soft mechanical arms driven by gas and controlled by wires can be connected end to end.
Preferably: a plurality of modularized telescopic soft mechanical arms driven by air and controlled by wires can be installed on the installation plate through the driving installation base.
The invention has the following beneficial effects:
the invention has the advantages of ingenious structure, simple and convenient use, small volume, light weight, low cost, higher folding rate, better flexibility and safety, and stronger adaptability in unstructured environment;
according to the invention, the flexible air bag is inflated by the air pump, so that the retraction and extension of the flexible joint are realized, the stepping motor drives the pull rope to stretch so as to change the movement direction of the flexible joint, and the mixed driving mode of combining rope driving and inflation driving is utilized, so that the gesture adjustment of stretching, angle and the like can be realized at the same time, the control is easier, and the response speed is faster;
the multi-joint is simple to connect and disassemble, and the multi-functional combination is easy to realize through series connection or parallel connection; the method has wide application prospect in the fields of low-cost system construction, flexible robot manufacturing, mechanical operation in a narrow space and the like.
Drawings
FIG. 1 is a schematic illustration of an uninflated state of a pneumatically driven, drive-by-wire modular telescoping soft robotic arm;
FIG. 2 is a schematic illustration of an inflated state of a pneumatically driven, drive-by-wire modular telescopic soft manipulator;
FIG. 3 illustrates an uninflated modular telescopic soft manipulator of a pneumatic drive-by-wire system;
FIG. 4 is a schematic diagram of a bending motion deformation of a pneumatically driven, drive-by-wire modular telescopic soft manipulator;
FIG. 5 is a schematic diagram of a parallel connection of a gas-driven, drive-by-wire modular telescopic soft manipulator;
FIG. 6 is a schematic diagram of a modular telescopic robotic arm in series with a pneumatic drive-by-wire system.
In the figure: 1-drive mounting base, 2-bellows, 3-rope, 4-flange.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The first embodiment is as follows: referring to fig. 1-6, a modular telescopic flexible mechanical arm with air drive and wire control in this embodiment is described, and the modular telescopic flexible mechanical arm comprises a driving installation base 1, a corrugated pipe 2, ropes 3 and a flange 4, wherein the driving installation base 1 and the flange 4 are arranged at two ends of the corrugated pipe 2 and the ropes 3, the driving installation base 1 controls the length of the ropes 3 to achieve bending angle adjustment of the corrugated pipe 2, and the driving installation base 1 adjusts air pressure in the corrugated pipe 2 through inflation and deflation to achieve extension or shortening of a silica gel corrugated pipe.
The second embodiment is as follows: 1-6, the number of ropes 3 is more than three, and a plurality of ropes 3 are circumferentially and equidistantly arranged outside a corrugated pipe 2; the elastic sleeve is sleeved on the outer side of the rope 3 and fixedly connected with the side wall of the corrugated pipe, so that the expansion and contraction can be carried out along with the shape of the corrugated pipe, the scratch is avoided, the service life is prolonged, and the use reliability is improved; the ropes 3 can be independently driven by the driving installation base, and the flexible joints can generate bending motion along any direction by combining different deformation amounts of a plurality of ropes; by controlling the deformation of different ropes, the precise adjustment of the bending direction and the bending angle of the flexible joint can be realized.
And a third specific embodiment: referring to fig. 1-6, a modular telescopic soft mechanical arm with air drive and wire control in this embodiment is described, a motor and an air pump are installed in a driving installation base 1 through bolts, an air hole and a plurality of first installation holes are machined in the driving installation base 1, the air pump is communicated with the inside of a corrugated pipe 2 through the air hole, the motor is a stepping motor, a wheel disc is arranged at the output end of the motor, one end of a rope 3 passes through the first installation holes and is wound on the wheel disc, and a silica gel corrugated pipe 2 is installed on the driving installation base 1 and an installation flange 4 in a sealing manner; the flexible joint is retracted and stretched by inflating the flexible air bag (inside the corrugated pipe) through the air pump, the moving direction of the flexible joint is changed by driving the pull rope to stretch through the stepping motor, and the control is easier and the response speed is faster by utilizing a mixed driving mode of combining rope driving and inflation driving.
The specific embodiment IV is as follows: referring to fig. 1-6, a modular telescopic flexible mechanical arm with a pneumatic drive-by-wire of the present embodiment is described in this embodiment, a second mounting hole is machined on the flange 4, the first mounting hole and the second mounting hole are coaxially arranged, and the other end of the rope 3 is fixedly or detachably connected with the second mounting hole.
Fifth embodiment: 2-3, the air-driven line-controlled modularized telescopic soft mechanical arm of the embodiment is manufactured by a silica gel pouring process of a corrugated pipe 2, and air pressure is regulated by driving an air hole (air hole) of a mounting base 1 to charge and discharge, so that the silica gel corrugated pipe is lengthened or shortened; the main structure of the invention is formed by pouring silica gel, and has the advantages of simple structure, simple and convenient use, small volume, light weight, low cost, higher folding rate, better flexibility and safety, and stronger adaptability in unstructured environment.
Specific embodiment six: 1-6, a gas drive line-controlled modularized telescopic soft mechanical arm of the present embodiment adopts a modularized design, a plurality of modules can be connected in series and in parallel to be detachably combined, and a plurality of gas drive line-controlled modularized telescopic soft mechanical arms can be connected end to form a group of mechanical grippers to be connected in series; the head end and the tail end of the modularized telescopic soft mechanical arm driven by seed gas are fixedly connected through the drive mounting base 1 and the mounting flange 4 to form a flexible mechanical arm (mechanical gripper), and all joints of the mechanical arm can be driven independently; the spatial attitude of the flexible mechanical arm can be accurately controlled by controlling the bending deformation of each joint; the flexible action of the mechanical arm can be realized through the combined driving of a plurality of joints, so that the execution tail end reaches the target working point.
Seventh embodiment: 1-6, a modularized telescopic soft mechanical arm controlled by air driving and wire in the embodiment is described, a plurality of modularized telescopic soft mechanical arms controlled by air driving and wire can be installed on an installation plate through a driving installation base 1, and the driving installation bases 1 of the mechanical grabbing ends are fixedly connected with the installation plate; the modular telescopic soft mechanical arms of three or more than three air drive line controls are circumferentially arranged, the tail ends of the modular telescopic soft mechanical arms are fixedly connected with a base (a mounting plate) through a drive mounting base 1, and the modular telescopic soft mechanical arms are connected in parallel to form a flexible drive paw, and each joint of the paw can be independently driven; the action state of the paw can be accurately controlled by controlling the bending deformation of each joint; driving a single or a plurality of joints to bend towards the inner side of the paw to generate a grabbing action; the single or multiple joints are driven to bend towards the outer side of the paw, so that release action is generated, and the basic function of the flexibly driven paw is further realized; the multi-joint connection and disassembly are simple, and the multi-functional combination is easy to realize through series connection or parallel connection; the method has wide application prospect in the fields of low-cost system construction, flexible robot manufacturing, mechanical operation in a narrow space and the like.
It should be noted that, in the above embodiments, as long as the technical solutions that are not contradictory can be arranged and combined, those skilled in the art can exhaust all the possibilities according to the mathematical knowledge of the arrangement and combination, so the present invention does not describe the technical solutions after the arrangement and combination one by one, but should be understood that the technical solutions after the arrangement and combination have been disclosed by the present invention.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A modularized telescopic soft mechanical arm of air drive line control is characterized in that: including drive installation base (1), bellows (2), rope (3) and flange (4), the both ends of bellows (2), a plurality of rope (3) are provided with drive installation base (1) and flange (4), change the length of rope (3) and realize the crooked regulation of bellows (2), change the interior atmospheric pressure of gas regulation bellows (2) and realize the extension of silica gel bellows or shorten.
2. The modular, telescoping, flexible, robotic arm of claim 1, wherein: the number of the ropes (3) is more than three, and the ropes (3) are circumferentially equidistantly arranged outside the corrugated pipe (2).
3. The modular, telescoping, flexible, robotic arm of claim 1, wherein: the novel electric motor is characterized in that a motor and an air pump are installed in the driving installation base (1) through bolts, an air hole and a plurality of first installation holes are formed in the driving installation base (1), the air pump is communicated with the inside of the corrugated pipe (2) through the air hole, a wheel disc is arranged at the output end of the motor, and one end of the rope (3) penetrates through the first installation holes and is wound on the wheel disc.
4. A modular, telescoping, flexible, robotic arm for gas drive-by-wire as claimed in claim 3, wherein: the flange (4) is provided with a second mounting hole, the first mounting hole and the second mounting hole are coaxially arranged, and the other end of the rope (3) is fixedly or detachably connected with the second mounting hole.
5. The modular, telescoping, flexible, robotic arm of claim 1, wherein: the corrugated pipe (2) is a silica gel corrugated pipe.
6. The modular, telescoping, flexible, robotic arm of claim 1, wherein: a plurality of modularized telescopic soft mechanical arms driven by gas and controlled by wires can be connected end to end.
7. A modular, telescoping, flexible, pneumatic drive-by-wire robot as claimed in claim 1 or 6, wherein: a plurality of modularized telescopic soft mechanical arms driven by air and controlled by wire can be installed on the installation plate through the driving installation base (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311197258.0A CN117207165A (en) | 2023-09-18 | 2023-09-18 | Modular telescopic soft mechanical arm of pneumatic drive-by-wire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311197258.0A CN117207165A (en) | 2023-09-18 | 2023-09-18 | Modular telescopic soft mechanical arm of pneumatic drive-by-wire |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117207165A true CN117207165A (en) | 2023-12-12 |
Family
ID=89042109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311197258.0A Pending CN117207165A (en) | 2023-09-18 | 2023-09-18 | Modular telescopic soft mechanical arm of pneumatic drive-by-wire |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117207165A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102962850A (en) * | 2012-11-05 | 2013-03-13 | 南京航空航天大学 | Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof |
| CN206393633U (en) * | 2016-12-08 | 2017-08-11 | 燕山大学 | The air articulated type flexible mechanical arm driven based on rope |
| CN207155799U (en) * | 2017-08-31 | 2018-03-30 | 南京邮电大学 | Software driver, software arm and software platform |
| CN108000552A (en) * | 2017-11-30 | 2018-05-08 | 哈尔滨工业大学 | A kind of Modular Flexible artificial-muscle joint |
| CN108621148A (en) * | 2018-05-07 | 2018-10-09 | 中国人民解放军国防科技大学 | Modularized pneumatic control type flexible mechanical arm |
| CN108943010A (en) * | 2018-06-29 | 2018-12-07 | 中国人民解放军国防科技大学 | Pneumatic control type rigid-flexible coupling modular soft mechanical arm |
| CN208289885U (en) * | 2018-05-24 | 2018-12-28 | 枣庄学院 | A kind of Bionic flexible mechanical arm |
| CN109648550A (en) * | 2019-02-27 | 2019-04-19 | 福州大学 | A kind of the software mechanical arm module and its control method of stiffness variable |
| CN209682208U (en) * | 2019-04-10 | 2019-11-26 | 郑州大学 | Gas, line combination drive software mechanical arm |
| WO2020057142A1 (en) * | 2018-09-18 | 2020-03-26 | 哈尔滨工业大学（深圳） | Multi-fingered flexible manipulator based on scroll spring |
| CN116442268A (en) * | 2023-02-24 | 2023-07-18 | 中国科学院西安光学精密机械研究所 | Self-telescopic rope-driven continuous robot |
-
2023
- 2023-09-18 CN CN202311197258.0A patent/CN117207165A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102962850A (en) * | 2012-11-05 | 2013-03-13 | 南京航空航天大学 | Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof |
| CN206393633U (en) * | 2016-12-08 | 2017-08-11 | 燕山大学 | The air articulated type flexible mechanical arm driven based on rope |
| CN207155799U (en) * | 2017-08-31 | 2018-03-30 | 南京邮电大学 | Software driver, software arm and software platform |
| CN108000552A (en) * | 2017-11-30 | 2018-05-08 | 哈尔滨工业大学 | A kind of Modular Flexible artificial-muscle joint |
| CN108621148A (en) * | 2018-05-07 | 2018-10-09 | 中国人民解放军国防科技大学 | Modularized pneumatic control type flexible mechanical arm |
| CN208289885U (en) * | 2018-05-24 | 2018-12-28 | 枣庄学院 | A kind of Bionic flexible mechanical arm |
| CN108943010A (en) * | 2018-06-29 | 2018-12-07 | 中国人民解放军国防科技大学 | Pneumatic control type rigid-flexible coupling modular soft mechanical arm |
| WO2020057142A1 (en) * | 2018-09-18 | 2020-03-26 | 哈尔滨工业大学（深圳） | Multi-fingered flexible manipulator based on scroll spring |
| CN109648550A (en) * | 2019-02-27 | 2019-04-19 | 福州大学 | A kind of the software mechanical arm module and its control method of stiffness variable |
| CN209682208U (en) * | 2019-04-10 | 2019-11-26 | 郑州大学 | Gas, line combination drive software mechanical arm |
| CN116442268A (en) * | 2023-02-24 | 2023-07-18 | 中国科学院西安光学精密机械研究所 | Self-telescopic rope-driven continuous robot |
Non-Patent Citations (2)
| Title |
|---|
| 禹禄君等: ""网络综合布线与实践"", 31 July 2003, 高等教育出版社, pages: 127 * |
| 葛震等: "热塑性聚氨酯弹性体材料", 30 April 2021, 北京理工大学出版社, pages: 114 - 115 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108972527B (en) | Rigidity-variable snakelike arm robot based on phase change material | |
| CN111761606B (en) | Pneumatic soft tentacle robot based on novel pneumatic muscles | |
| CN113104576B (en) | Soft pneumatic claw | |
| CN113601542B (en) | Variable-rigidity flexible manipulator based on bionic adhesion | |
| CN108818615A (en) | A kind of ejection type quickly grabs robot | |
| CN102090210B (en) | Multi-fruit-type fruit and vegetable picking robot and end effector thereof | |
| CN111482949A (en) | Novel flexible mechanical arm and driving method thereof | |
| CN112828870A (en) | Pneumatic soft robot for pipeline | |
| CN108555944B (en) | Soft tentacle for grabbing object by telescopic ring stretching | |
| CN111687867A (en) | Soft mechanical arm with active rigidity changing function | |
| CN110116422A (en) | A kind of double drive multimode software end attachment device | |
| CN113084852A (en) | Gas-liquid reversible flexible manipulator | |
| CN215589210U (en) | Soft mechanical arm capable of being operated in hand | |
| CN117207165A (en) | Modular telescopic soft mechanical arm of pneumatic drive-by-wire | |
| CN214643614U (en) | Pneumatic soft robot for pipeline | |
| CN113752243A (en) | Spine-imitating variable-stiffness structure based on universal joint and use method thereof | |
| CN219337769U (en) | Flexible mechanical arm with stay wire and pneumatic control | |
| CN111203864A (en) | McKibben thin-diameter soft continuous body mechanical arm based on position variable rigidity | |
| CN113650695B (en) | Rigid-flexible coupled climbing robot | |
| CN114393574A (en) | Foldable and bendable serial-parallel hybrid flexible mechanical arm | |
| CN113400288B (en) | Pneumatically-driven snake-shaped-imitating soft robot | |
| CN114083541A (en) | Flexible robot capturing device with visual feedback | |
| CN113183181B (en) | Rigid-flexible coupling mechanical arm and robot | |
| CN211806189U (en) | Universal variable-rigidity soft actuator | |
| CN114030006A (en) | Intelligent telescopic structure of mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |