Joint driving device of flexible manipulator and flexible manipulator thereof

Abstract

The present invention discloses a joint driving device of flexible manipulator. The joint driving device comprises a cylindrical elastic shell and a hydraulic driver. One end of cylindrical elastic shell is provided with a through hole which is communicated with the outlet of hydraulic driver. The through-hole end of cylindrical elastic casing is fixedly connected with the fixed end of joint, andthe other end is movably connected with the movable end of joint. The invention uses the novel flexible hydraulic driving component for forming a driving ring and a driving chain which can drive the joint of manipulator for causing that the machine has better flexibility and accuracy. Simultaneously the manipulator wrist has a real-time self-locking capability for ensuring the accuracy and stability of movement position. Furthermore, a plan of driving ring of wrist space settles the flexible driving of wrist joint from the angle of space.

Description

technical field [0001] The invention relates to a joint driving device of a flexible manipulator and a flexible manipulator using the joint driving device. Background technique [0002] The manipulator is an automatic technical equipment that can simulate the functions of the upper limbs of the human body and realize the completion of on-site operations by the hand according to the predetermined requirements. From the structural point of view, the manipulator is divided into parts such as the base, the large and small arms, the wrist and the hand gripper, which constitute the body structure of the manipulator. The arm is mainly used to realize the spatial positioning of the hand gripper, while the wrist is mainly used to complete the spatial orientation of the hand gripper. In order to adapt to various complex operations on the industrial site, the wrist mechanism of the manipulator is generally required to have three degrees of freedom in order to meet the requirements for...

AI Technical Summary

Problems solved by technology

[0004] The above-mentioned flexible manipulator has the following technical disadvantages: due to the complex structure of force transmission between joints, each joint needs to be driven by a motor, which makes the weight of the manipulator heavy, so that the position control is difficult to meet the requirements

[0005] (1) The load pressure value of general artificial muscles is not very large;

[0006] (2) The bending angle of the joint is not large enough, which affects the working performance of the robot;

[0007] (3) The manipulator does not have the function of developing redundant degrees of freedom in the later stage, and it is difficult to process;

[0008] (4) The driving theories described are all considered from the plane, and the steering shaft in the corresponding direction is not analyzed (very important);

[0009] (5) Traditional manipulator joints do not have good flexibility;

[0010] (6) The stroke of the pneumatic artificial muscle is small (the pneumatic artificial muscle can reach 20% when it is unloaded, and it can only reach 10% when it is loaded; while some traditional cylinders can reach 40%); the deformation of the pneumatic artificial muscle is a nonlinear link, It is time-varying, which makes it very difficult to accurately control its displacement; during the working process, the temperature of the pneumatic artificial muscle itself will change, and as the temperature changes, its performance will also change, which brings difficulties to high-precision control

Images