Pneumatic tandem flexible manipulator
A flexible manipulator and manipulator technology, applied in the field of manipulators, can solve problems such as the difficulty of theoretical analysis and prototype development, and achieve the effects of light weight, simple structure and good softness
Active Publication Date: 2018-07-13
YANSHAN UNIV
View PDF8 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
At present, these types of manipulators are mostly in the form of parallel connection in terms of mechanism type or driving mode, which is difficult in theoretical analysis and prototype development; there are also some serial flexible manipulator configurations, the main body of which is composed of rigid components
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0015] exist figure 1 with figure 2 In the schematic diagram of the pneumatic series flexible manipulator shown, the five-level structure consists of the first-level drive unit 1, the second-level drive unit 2, the third-level drive unit 3, the fourth-level drive unit 4, and the fifth-level drive unit 5. Similarly, drive units of decreasing size are connected in series to form a mechanical arm, and the size of the drive unit is reduced by a ratio of 10% from the base to the actuator. A bellows-type flexible protective cover 8 is provided outside the mechanical arm. The base 7 is connected, and the other end is connected with the gripper 6; according to the requirements of use, a mechanical arm with more drive units can be derived, and the complex movement of the entire mechanical arm can be realized through the respective movements of each drive unit;
[0016] Such as image 3 As shown, the drive unit includes two sets of fan-shaped airbags, T-shaped connectors, connectors ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
A pneumatic series flexible mechanical arm comprises a base, an executive device and a flexible mechanical arm body, wherein the base is connected with the executive device through the flexible mechanical arm body. A plurality of driving units with the same structure and progressively decreased sizes are sequentially connected in series to form the flexible mechanical arm body, and a flexible protective cover is arranged outside the mechanical arm body. Each driving unit comprises two groups of sector air bags, a T-shaped connecting frame, a connector and pneumatic tubes, one group of sector air bags includes two folded sector air bags, opposite sides of the two sector air bags in one group are respectively fixedly connected with the T-shaped connecting frame, vent joints are arranged on the other sides of the sector air bags and inserted into through holes of the connector with a similar omega-shaped body respectively, one end of each pneumatic tube is connected onto the corresponding vent joint, the two groups of sector air bags are connected in a cross shape and in a staggered manner through the T-shaped connecting frame and the connector, and the driving units are connected in a staggered manner through the T-shaped connecting frames and the connectors. The pneumatic series flexible mechanical arm is simple in structure, light in weight, good in softness and capable of realizing multidirectional bending movement.
Description
technical field [0001] The invention belongs to the field of robots, in particular to a mechanical arm. Background technique [0002] In 1962, Unimate, the first industrial robot designed and manufactured by Unimation Corporation of the United States, was put into use in General Motors, marking the birth of the first generation of robots. In the following decades, with the development of computer technology, manufacturing technology, sensors, and control technology, the performance of robots has been greatly improved, and it has penetrated into many fields of human beings. Robots will continue to develop horizontally and vertically in the future. Horizontally, the scope of application is getting wider and wider. From the perspective of space, robots are expanding from the ground to space, deep sea, and underground. In terms of various fields, robots will go deep into industry, military, aviation, entertainment, and services; vertically, there will be more and more types of ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/14
CPCB25J9/142
Inventor 姚建涛李海利许允斗赵永生张弘
Owner YANSHAN UNIV