Variable rigidity flexible operation arm
A technology of variable stiffness and manipulators, applied in the field of flexible manipulators, can solve problems such as limited range of motion, invariable stiffness, poor flexibility, etc., and achieve strong environmental adaptability and application range, and the effect of simple, flexible and changeable structure
Active Publication Date: 2018-10-19
HARBIN INST OF TECH
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Problems solved by technology
[0002] At present, most of the existing manipulator arms are mainly designed with rigid structures, which are bulky, have limited range of motion and poor flexibility, and the rigidity cannot be changed, resulting in poor environmental adaptability.
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[0019] The present invention will be further described below in conjunction with the accompanying drawings and through specific embodiments.
[0020] see Figure 1-Figure 4 Explain that the variable stiffness flexible operating arm of this embodiment includes a control assembly 1 and a continuum; the control assembly 1 includes three motors 1-1 and an air pump; the continuum includes a hollow flexible inflatable conduit 2, a lead plate 3, and a lead wire fixing seat 4 and head holder 5;
[0021] The air pump is installed in the middle part of the head holder 5, and the head holder 5 outside the air pump is fixed with three motors 1-1 along its circumference, and the output end of each motor 1-1 is connected with a coil 6; Both ends of the inflatable conduit 2 are closed, one end of the hollow flexible inflatable conduit 2 is fixed on the head fixing seat and an air inlet and an air outlet hole connected to the air pump are arranged, and the other end of the hollow flexible in...
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The invention relates to a flexible operation arm, in particular to a variable rigidity flexible operation arm. The variable rigidity flexible operation arm comprises a control assembly and a continuous body. The control assembly comprises three motors and an air pump. The continuous body comprises a hollow flexible inflatable guide pipe, lead discs, a lead fixing disc and a head fixing base. Theair pump is arranged at the middle portion of the head fixing base. The three motors are fixed to the head fixing base on the outer side of the air pump in the circumferential direction of the head fixing base. The output end of each motor is connected with a wiring disc. The two ends of the hollow flexible inflatable guide pipe are closed, one end of the hollow flexible inflatable guide pipe is fixed to the head fixing base, an air inlet hole and an air outlet hole which are connected with the air pump are arranged, and the other end of the hollow flexible inflatable guide pipe is fixed to the lead fixing base. The variable rigidity flexible operation arm is flexible in structure, high in environment adaptation capability and wide in application range.
Description
technical field [0001] The invention relates to a flexible operating arm, in particular to an operating arm with a variable stiffness flexible continuum structure driven by a motor and pneumatic hybrid drive. Background technique [0002] At present, most of the existing manipulator arms are mainly designed with rigid structures, which are bulky, have limited range of motion and poor flexibility, and the invariable stiffness leads to poor environmental adaptability. Therefore, it is necessary to design a variable stiffness flexible manipulator. Contents of the invention [0003] In order to overcome the deficiencies of the prior art, the present invention provides a variable rigidity flexible operating arm with flexible structure, various motion forms and good environmental adaptability. [0004] The technical solution of the present invention is: a flexible operating arm with variable stiffness, including a control assembly and a continuum; the control assembly includes ...
Claims
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IPC IPC(8): B25J18/06
CPCB25J18/06
Inventor 朱延河隋东宝赵思恺赵杰
Owner HARBIN INST OF TECH