CN212978400U

CN212978400U - Soft mechanical arm with metal shell protection

Info

Publication number: CN212978400U
Application number: CN202021260272.2U
Authority: CN
Inventors: 陈光明; 李祥森; 胡鹏杰
Original assignee: Nanjing Agricultural University
Current assignee: Nanjing Agricultural University
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2021-04-16
Anticipated expiration: 2030-07-01

Abstract

The utility model relates to a software arm with metal casing protection, including the crooked arm of gas accuse, the flexible arm of gas accuse and air duct, the crooked arm portion of gas accuse is by outer swivel becket, outer swivel becket and inlayer iron ring connecting piece and fan-shaped air cavity soft body arm are constituteed, the flexible arm portion of gas accuse is by the inlayer iron ring, outer iron ring, the internal seal lid is constituteed with flexible arm air cavity, four fan-shaped air cavities of fan-shaped air cavity soft body equipartition all around and linear arrangement, it is crooked to make the air cavity inflation realize through the high-pressure gas effect, the flexible arm air cavity of gas accuse can freely stretch out and draw back, size through control atmospheric pressure, change the frictional force between outer swivel becket and the inlayer iron ring and then. The mechanical arm is in modular design, can be used in multiple modules or single modules, can realize bending and stretching through air pressure, changes the rigidity of the mechanical arm, and has the advantages of simple structure, stable performance and strong self-protection capability.

Description

Soft mechanical arm with metal shell protection

Technical Field

The utility model relates to the technical field of robots, especially a software arm with metal casing protection.

Background

The traditional mechanical arm is mainly composed of a servo motor and a rigid connecting rod, and although the control precision is high, the flexible movement cannot be realized, the mass is heavier, and the transportation is difficult.

In analyzing the existing soft mechanical arm technology, chinese patent application No. 201810935837.3, describes: the variable-rigidity soft mechanical arm controlled by the electrorheological fluid is characterized in that the change of the electrorheological fluid from liquid to solid to liquid is changed by changing the voltage, so that the rigidity is changed, the structure is simple, the transportability is good, but the electrorheological fluid in a variable-rigidity chamber is easy to leak and not easy to supplement under the high-voltage condition, and no protective layer is arranged outside the mechanical arm and is easy to damage. Also for example, patent No. 201810424655.X, named: "a flexible arm of modular gas pocket type software", flexible arm realizes turning to through the air pressure difference between the ripple chamber and the connection rope of ripple chamber lateral wall, and the structure is light and handy, the flexibility is high, can realize turning to and extending on a large scale through increasing module quantity, but the module increases and easily leads to the control accuracy to reduce, and the arm outside does not protect easy harm. Also for example, patent No. 201810784613.7, entitled: the pneumatic soft gripper has the advantages that one end of the driver is fixed on the designed clamp, the free end can bend towards the direction of the circle center under the action of air pressure, the control is simple, the cost is low, the specific bending degree and the effect are difficult to control, and the outside of the mechanical arm is not protected and is easy to damage.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems that the precision of the soft mechanical arm is poor, the mechanical arm is not provided with a protective layer outside, and the bending degree is not easy to control, the utility model provides a soft mechanical arm with a metal shell for protection, which solves the problems.

The utility model provides a technical scheme does:

the utility model provides a software arm with metal casing protection, includes the flexible arm of gas accuse, the flexible arm of gas accuse and air duct, and the flexible arm of gas accuse lower extreme and gas accuse is connected, comprises outer rotating ring, outer rotating ring and inlayer iron ring connecting piece and fan-shaped air cavity soft body arm, and the flexible arm part of gas accuse comprises inlayer iron ring, outer iron ring, interior sealed lid and flexible arm air cavity, and the lower extreme inserts the air duct

Furthermore, the center of the soft arm of the fan-shaped air cavity is provided with a through hole which is hermetically connected with the air duct, four air cavities are uniformly distributed around the soft arm and are linearly arranged, each row is provided with four mutually independent air cavities which are separated by a partition plate, the outside of the air cavities is contacted with the outer rotating ring, the center of the air cavity of the pneumatic control telescopic mechanical arm is provided with a through hole, and the outer arm is bonded with the outer iron ring and the inner iron ring.

Furthermore, the outer rotating ring is in a round-corner W shape, is lapped with each other and keeps rotating, and the lowest end of the outer rotating ring is connected with the inner layer iron ring connecting piece.

Further, outer iron ring and inlayer iron ring divide into two-layerly, are the annular, and inlayer iron ring is direct to be connected with the flexible arm air cavity of gas accuse, leaves the clearance between two adjacent inlayer iron rings, and outer iron ring passes through glue and is connected with the flexible arm air cavity of gas accuse in clearance department, and inlayer iron ring and outer iron ring can slide each other.

Furthermore, the air duct is fan-shaped, and vertically open has the gas pocket unanimous with the fan-shaped air cavity interval of fan-shaped air cavity soft body arm, and the air duct passes sealing connection between flexible arm air cavity and the fan-shaped air cavity, makes fan-shaped air cavity produce the not interact power of equidimension and direction in changing the air duct, and then adjusts arm bending angle, flexible length and arm rigidity.

Compared with the prior art, the utility model discloses a have following beneficial effect:

1. the utility model provides a software arm with metal casing protection, constitute by crooked arm and flexible arm modularization, the size through control atmospheric pressure goes to adjust the effort between the mutual fan-shaped air cavity, and then adjust bending angle, the deformation degree of going to control flexible arm air cavity through the size of adjusting atmospheric pressure, and then adjust arm length, also can increase the atmospheric pressure of four air ducts and flexible arm air cavity simultaneously, increase the holistic rigidity of arm, the problem that software arm outer end is not protected in the past has been solved, traditional arm weight and quality are big, the drive end does not relate to the circuit problem, can extensively be used for underwater operation, and need not consider electrically conductive and the problem that produces, do not worry the external environment and make the air cavity of flexible material preparation receive destruction.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic cross-sectional view of the present invention;

FIG. 3 is a schematic view of the structure of the airway tube of the present invention;

FIG. 4 is a schematic structural view of the soft arm with fan-shaped air cavity of the present invention;

illustration of the drawings: 1: an air duct, 2: gas accuse telescopic mechanical arm, 201: telescopic mechanical arm air cavity, 202: inner layer iron ring, 203: outer iron ring, 204: inner sealing cover, 3: air-controlled bending mechanical arm, 301: sector air cavity soft arm, 302: outer rotating ring, 303: connecting piece for outer rotating ring and inner layer iron ring

Detailed Description

As shown in the attached drawing, the soft mechanical arm comprises an air duct 1, an air control telescopic mechanical arm 2 and an air control bending mechanical arm 3, wherein the air control telescopic mechanical arm 2 comprises an inner iron ring 202, an outer iron ring 203 and an inner sealing cover 204 of a telescopic mechanical arm air cavity 201, the air control bending mechanical arm 3 comprises a fan-shaped air cavity soft arm 301, an outer rotating ring 302, an outer rotating ring and an inner iron ring connecting piece 303, the upper end of the fan-shaped air cavity soft arm is connected with the air control telescopic mechanical arm 4, and the lower end of the fan-shaped air cavity soft arm is.

Fan-shaped air cavity soft body arm 301 adopts flexible material, is enclosed by four the same fan-shaped air cavities all around, and the centre is equipped with the baffle and separates fan-shaped air cavity, and the center is the through-hole, and is sealed with four air ducts, and outside is surrounded by outer swivel 302, and outer swivel is fillet W form, and quantity fine selection is 6, and mutual overlap joint between them keeps rotating, and accessible stamping forming's mode is made, and lower extreme and outer swivel and inlayer iron ring connecting piece 303 overlap joint.

The telescopic mechanical arm air cavity 201 is a hollow flexible cylinder, a through hole is formed in the center, the lower end of the telescopic mechanical arm air cavity is sealed through the inner sealing cover 204, the outer wall of the telescopic mechanical arm air cavity is adhered to the inner iron ring 202, a gap is reserved between every two inner iron rings, the outer iron ring 203 is adhered to the outer wall of the telescopic mechanical arm air cavity through the gap, the inner iron ring 202 and the outer iron ring 203 can slide mutually and are circular, the number is preferably 2, and the telescopic mechanical arm air cavity can be increased according to the size requirement of the mechanical arm.

The air duct 1 is fan-shaped, and vertically open has the gas pocket corresponding with the isolation sleeve, and the gas pocket will align with fan-shaped air cavity soft body arm 301 during the installation, through the atmospheric pressure that changes 4 air ducts, makes the fan-shaped air cavity of fan-shaped air cavity soft body arm 301 produce the interact power of different size and direction, and then adjustment arm bending angle and flexible length.

When the air pressure in the four fan-shaped air cavities is increased, the outer rotating ring 302 is extruded, so that the mutual friction force is increased, the rigidity of the pneumatic control bending mechanical arm 3 is increased, the larger the air pressure is, the higher the rigidity and stability of the mechanical arm are, and when the air pressure in the four fan-shaped air cavities is reduced, the rigidity of the pneumatic control bending mechanical arm 3 is reduced, and the smaller the air pressure is, the smaller the rigidity and stability of the mechanical arm are; when the air pressure in the air cavity of the telescopic mechanical arm is increased, the friction force between the inner-layer iron ring 202 and the outer-layer iron ring 203 is increased, the rigidity and the stability of the mechanical arm are increased, when the air pressure is reduced, the rigidity of the pneumatic control telescopic mechanical arm 2 is reduced, the smaller the air pressure is, the smaller the rigidity and the stability of the mechanical arm are, the pneumatic control telescopic mechanical arm and the pneumatic control bending mechanical arm are both in modular design, and the number of the pneumatic control telescopic mechanical.

Claims

1. The utility model provides a software arm with metal casing protection, its characterized in that includes the crooked arm of gas accuse, the flexible arm of gas accuse and air duct, the crooked arm lower extreme of gas accuse is connected with the flexible arm of gas accuse, comprises outer swivel becket, outer swivel becket and inlayer iron ring connecting piece and fan-shaped air cavity soft body arm, the flexible arm part of gas accuse comprises inlayer iron ring, outer iron ring, interior sealed lid and flexible arm air cavity, and the lower extreme inserts the air duct.

2. The soft mechanical arm with metal shell protection of claim 1, wherein: the center of the soft arm of the fan-shaped air cavity is provided with a through hole which is hermetically connected with the air duct, four air cavities are uniformly distributed around the soft arm and are linearly arranged, each row is provided with four mutually independent air cavities, the air cavities are separated by a partition plate, the outside of the air cavities is contacted with the outer rotating ring, the center of the air cavity of the pneumatic control telescopic mechanical arm is provided with a through hole, and the outer arm is bonded with the outer iron ring and the inner iron ring.

3. The soft mechanical arm with metal shell protection of claim 1, wherein: the outer rotating ring is in a round angle W shape, is in lap joint with each other and keeps rotating, and the lowest end of the outer rotating ring is connected with the inner layer iron ring connecting piece.

4. The soft mechanical arm with metal shell protection of claim 2, wherein: outer iron ring and inlayer iron ring divide into two-layerly, are the annular, inlayer iron ring is direct to be connected with the flexible arm air cavity of gas accuse, leaves the clearance between two adjacent inlayer iron rings, outer iron ring passes through glue and is connected with the flexible arm air cavity of gas accuse in clearance department, and inlayer iron ring and outer iron ring can slide each other.

5. The soft mechanical arm with metal shell protection of claim 4, wherein: the air duct is fan-shaped, and is vertically provided with air holes with the same interval as the fan-shaped air cavities of the fan-shaped air cavity soft body arms, and the air duct penetrates through the telescopic mechanical arm air cavity and is in sealing connection with the fan-shaped air cavities.