Soft self-locking mechanical arm

Abstract

The invention belongs to the technical field of mechanical arms, and particularly relates to a soft self-locking mechanical arm. The soft self-locking mechanical arm comprises mechanical arm joints, ajoint accommodating bin and a base, wherein the plurality of mechanical arm joints are sequentially connected end to end in a hinging mode to form a joint chain. The mechanical arm joints comprise joint bodies, bonding devices, fillers, coating layers and air pipes, wherein the hinged portions of the two joint bodies are provided with the coating layers. Extrusion surfaces are formed by the lateral sides, close to hinging rods, of the joint bodies. Two cavities of which the volumes change along with the rotating of the joint bodies are formed by the extrusion surfaces and the coating layers and are internally provided with the fillers correspondingly. The coating layers are connected with the air pipes. When a ceramic jar is grabbed, the joint chain can automatically adapt to the surfacecurve of the ceramic jar. After a grabbing structure with the lower end bunched is formed by the joint chain, extra pressure on the ceramic jar is avoided, and the shape of the joint chain is locked,so that the ceramic jar is grabbed. Meanwhile, due to the combination of the adaptability of a flexible mechanical arm and the strength of a rigid mechanical arm, grabbing of the ceramic jar is realized.

Description

technical field [0001] The invention belongs to the technical field of manipulators, in particular to a software self-locking manipulator. Background technique [0002] Existing flexible manipulators usually use an air cavity inside the deformable material, and multiple drive chambers are set on one side of the air cavity. After the air source is introduced, the drive chamber expands to stretch the side wall of one side of the flexible manipulator. The manipulator bends to the other side. Because it uses flexible and bendable materials for grasping, it can grasp soft and fragile objects, but there are two problems with this type of manipulator: 1. The bending curve is fixed, for example, "a bow-shaped CN108381534 "flexible manipulator with continuous curved inner cavity. After the air source is introduced, the manipulator bends to achieve grasping, but the curved curve cannot adapt to the surface curve of the clay pot, and the point contact with the pottery pot makes the gra...

AI Technical Summary

Problems solved by technology

[0002] Existing flexible manipulators usually use an air cavity inside the deformable material, and multiple drive chambers are set on one side of the air cavity. After the air source is introduced, the drive chamber expands to stretch the side wall of one side of the flexible manipulator. The manipulator bends to the other side. Because it uses flexible and bendable materials for grasping, it can grasp soft and fragile objects, but there are two problems with this type of manipulator: 1. The bending curve is fixed, for example, "a bow-shaped CN108381534 "flexible manipulator with continuous curved inner cavity. After the air source is introduced, the manipulator bends to achieve grasping, but the curved curve cannot adapt to the surface curve of the clay pot, and the point contact with the pottery pot makes the grasping unstable; 2. The strength itself is not enough. In order to complete the bending, the manipulator uses flexible materials, which are easily deformed when subjected to external forces, resulting in unstable grasping;

[0003] Since the handmade clay pots are fragile, the external curves of each pot are different, and the manipulators in the prior art cannot complete the grasping of the pots in the production of pots

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