Mechanical arm based on electromagnetic driving

Abstract

The invention belongs to the technical field of simulative mechanical arm driving, and particularly relates to a mechanical arm based on electromagnetic driving. The mechanical arm comprises three auxiliary fingers, a main finger, power units, execution units, liquid medium guide pipes, mechanical finger reset springs and the like, wherein the power units are connected with the execution units at the joints of the mechanical fingers through the liquid medium guide pipes. As the electromagnetic structures in the power units and power-unit magnetic bottom covers are attracted and repelled, pressure and suction on liquid media are generated, and the aims of controlling the length of the execution units and driving moving variation of the mechanical arm are achieved; and in addition, each mechanical finger is provided with three execution units driven by one power unit, pressures of the liquid media in the execution units are same, and it can be guaranteed that the mechanical arm can better adapt to appearances of grabbed objects. According to the mechanical arm, pressure is transmitted through the guide pipes, arrangement of the execution units is convenient, the structure of the mechanical arm can be greatly simplified, and the mechanical arm has good practical prospects.

Description

Technical field [0001] The invention belongs to the technical field of simulation manipulator drive, in particular to a manipulator based on electromagnetic drive. Background technique [0002] At present, the driving methods of manipulators mostly use servo motor drive, steel wire drive, hydraulic drive, etc., and a small part of them use artificial muscle drive; among them, artificial muscle drive, although the drive method is advanced, but the manufacturing cost is currently very high, and hydraulic drive requires powerful power. For hydraulic oil pressurized drive, it will increase the weight of the equipment and require higher technical maturity, so the cost is also higher; then, servo motor drive and wire drive are more common in the simulation manipulator drive, and the servo motor drive is used in each Install a servo motor on the joint, which will make the mechanism on the manipulator very unsightly. The size and shape of the servo motor will determine the shape and...

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Problems solved by technology

[0002] At present, the driving methods of manipulators mostly use servo motor drive, steel wire drive, hydraulic drive, etc., and a small part of them use artificial muscle drive; among them, artificial muscle drive, although the drive method is advanced, but the manufacturing cost is currently very high, and hydraulic drive requires powerful power. For hydraulic oil pressurized drive, it will increase the weight of the equipment and require higher technical maturity, so the cost is also higher; then, servo motor drive and wire drive are more common in the simulation manipulator drive, and the servo motor drive is used in each Install a servo motor on the joint, which will make the mechanism on the manipulator very unsightly. The size and shape of the servo motor will determine the shape and function of the manipulator; currently the most used and the lowest cost is to use steel wire drive to centrally install the servo motors At the arm, the mechanism of the manipulator and fingers is relatively simple, and the control is relatively easy. However, in the wire drive, it is easy to cause inaccurate positioning of the mechanical designation and swinging of fingers. Therefore, it is very important to design a low-cost and conveniently arranged drive method. necessary

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