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A bionic octopus arm secondary drive mechanism and bionic octopus arm mechanism

A driving mechanism and octopus technology, applied in the direction of claw arms, manipulators, manufacturing tools, etc., can solve the problems of low motion precision, weak expansion and bending ability, poor expansion and bending ability, etc., and achieve simple and convenient control, large driving force, highly controllable effect

Active Publication Date: 2022-03-11
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although soft robots have made great progress, there are still problems such as difficulty in making robot drivers, poor stretching and bending capabilities, and low motion accuracy.
[0003] Therefore, in order to solve the problems of difficult fabrication of actuators, weak stretching and bending capabilities, and low motion accuracy of soft robots, a bionic octopus arm secondary that can achieve more morphological changes through reconfigurability between units is proposed. The drive unit and the corresponding bionic octopus arm mechanism have important practical significance

Method used

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  • A bionic octopus arm secondary drive mechanism and bionic octopus arm mechanism
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  • A bionic octopus arm secondary drive mechanism and bionic octopus arm mechanism

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Embodiment 1

[0049] Such as Figure 1-10 As shown, the bionic octopus arm secondary drive mechanism provided in this embodiment includes a secondary telescopic unit and a secondary bending unit;

[0050] The secondary telescopic unit includes a rear plate 1 of the telescopic unit, three sleeves 2, and a front plate 3 of the telescopic unit. One end of the sleeve 2 is detachably connected to the rear plate 1 of the telescopic unit, and the other end of the sleeve 2 is inside A first-level telescopic rod 4 is sleeved, and a second-level telescopic rod 5 is sleeved inside the end of the first-level telescopic rod 4. One end of the first-level telescopic rod 4 and the second-level telescopic rod 5 can pass through the telescopic rod moving seat connected thereto. 6 move relatively axially along the inner walls of the sleeve 2 and the first-stage telescopic rod 4 respectively, and do not separate from the sleeve 2 and the first-stage telescopic rod 4 during the movement, and the ends of the sec...

Embodiment 2

[0065] A bionic octopus arm mechanism, including several bionic octopus arm secondary drive mechanisms, the bionic octopus is formed by connecting the unit connection plate 11 of the adjacent bionic octopus arm secondary drive mechanism with the secondary telescopic unit rear plate 1 through the connection mechanism arm; by electrifying and controlling the secondary drive mechanism of the bionic octopus arm, thereby controlling the movement of the entire bionic octopus arm, thereby realizing the shape change of the bionic octopus arm in different working environments.

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Abstract

The invention relates to a secondary drive mechanism of a bionic octopus arm, which includes a secondary telescopic unit and a secondary bending unit; the secondary telescopic unit includes a rear plate of the telescopic unit, three sleeves, a front plate of the telescopic unit, one end of the sleeve and the rear plate of the telescopic unit The plates are detachably connected, the other end of the sleeve is provided with a first-level telescopic rod, and the end of the first-level telescopic rod is provided with a second-level telescopic rod. Long; the secondary bending unit includes a bending unit rear plate, a bending driving spring, a bending unit connecting plate, a bending unit front plate, and a unit connecting plate; the bending unit connecting plate is located between the bending unit rear plate and the bending unit front plate, and Adjacent plates are connected by three bending driving springs; several secondary driving mechanisms are connected to form a bionic octopus arm mechanism. The invention satisfies the shape change under different working environments, can provide greater driving force and greater stroke, and has high controllability.

Description

technical field [0001] The invention belongs to the technical field of soft robots, and in particular relates to a bionic octopus arm secondary drive mechanism and a bionic octopus arm mechanism. Background technique [0002] The bionic inspiration of soft robots mainly comes from natural creatures such as elephant trunks, octopuses, and snakes in nature. The materials of soft robots are mostly flexible materials, which are mostly used in aerospace, medical treatment, exploration and other fields, and can complete more shape changes in complex environments. Although soft robots have made great progress, there are still problems such as difficulty in making robot drivers, poor stretching and bending capabilities, and low motion accuracy. [0003] Therefore, in order to solve the problems of difficult fabrication of actuators, weak stretching and bending capabilities, and low motion accuracy of soft robots, a bionic octopus arm secondary that can achieve more morphological ch...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J18/02
Inventor 王肖锋潘志杰葛为民刘军陈建恩
Owner TIANJIN UNIVERSITY OF TECHNOLOGY