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Rotary fully-flexible mechanical arm

A flexible manipulator, manipulator technology, applied in manipulators, program-controlled manipulators, claw arms, etc., to achieve the effect of broad application prospects and improved flexibility

Inactive Publication Date: 2019-01-01
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing flexible manipulator can only bend in a limited number of directions, the present invention provides a new rotatable fully flexible manipulator for soft robots

Method used

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  • Rotary fully-flexible mechanical arm

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Experimental program
Comparison scheme
Effect test

Embodiment approach

[0027] The joint silicone tube 8 of the present invention is connected to negative pressure, and the side curved surface 11 positively twists to drive the flexible joint 1 to rotate, and the lower bottom surface of the joint connection module 9 of the flexible joint 1 and the upper bottom surface 4 of the mechanical arm connection module 4 of the flexible mechanical arm 2 move synchronously , to drive the flexible manipulator 2 to rotate, and then bend to different directions by controlling the flexible manipulator 2 to receive positive pressure and negative pressure. The combination of the flexible joint 1 and the flexible manipulator 2 makes the motion of the flexible manipulator 2 change from a planar two-dimensional motion to a three-dimensional motion in space, which improves the range of motion and flexibility of the manipulator.

[0028] Such as Figure 5 As shown, after the silicone tube 3 of the manipulator is connected to the positive pressure, the main body 6 of the...

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Abstract

The invention discloses a rotary fully-flexible mechanical arm. A flexible joint and a flexible mechanical arm are connected. The lateral curved face of the flexible joint is sealed and connected between the upper bottom face and the lower bottom face in a wrapped mode, so that the whole flexible joint forms an airtight air chamber, an external air source injects air into the air chamber or exhausts air in the air chamber, and the height of the flexible joint is changed while the flexible joint rotates. The outer side of a mechanical arm body is of a rack-shaped structure arranged in the extension direction of the flexible joint. A small hollow air chamber is formed inside each tooth of the rack-shaped structure. The small air chambers at the teeth communicate with one another through communication cavities inside the middle of the mechanical arm body in a penetrating mode so that the integral mechanical arm airtight air chamber can be formed. One end of a mechanical arm silicone tubeis connected with the mechanical arm airtight air chamber, and the other end of the mechanical arm silicone tube is connected to the external air source. A node silicone tube is connected with negative pressure. The flexible joint drives the flexible mechanical arm to rotate, and the flexible mechanical arm is bent in different directions. According to the rotary fully-flexible mechanical arm, themechanical arm bending direction can be changed and adjusted, the flexibility of the flexible mechanical arm is greatly improved, and the application prospects are broad.

Description

technical field [0001] The invention relates to a structural part of a soft robot, in particular to a rotatable fully flexible mechanical arm. Background technique [0002] The traditional rigid manipulator may cause harm to people due to misuse during human-computer interaction, while the fully flexible manipulator will change its shape when it touches people or other objects during work, which greatly improves the work of the manipulator. security at the time. However, the existing flexible manipulators can only bend in a limited number of directions, which limits their flexibility. Contents of the invention [0003] In order to solve the problem that the existing flexible manipulator can only bend in a limited number of directions, the present invention provides a novel rotatable fully flexible manipulator for soft robots. The invention combines the flexible joint and the flexible mechanical arm to improve the range of motion of the mechanical arm. [0004] The techn...

Claims

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Application Information

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IPC IPC(8): B25J9/14B25J18/00
CPCB25J9/142B25J18/00
Inventor 邹俊焦中栋
Owner ZHEJIANG UNIV
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