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A rigid-flexible extremity mechanical arm and its auxiliary operation device
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A combination of rigid-flexible and manipulator technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of rigid manipulators' poor compliance, poor environmental adaptability, and poor human-computer interaction safety, and achieve improved response Capacity and speed of operation, good compactness, and the effect of reducing the moment of inertia
Active Publication Date: 2022-04-12
SHANDONG UNIV
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[0006] The purpose of this disclosure is to address the defects in the prior art, and to provide a rigid-flexible extremity mechanical arm and its auxiliary operating device. The front end of the mechanical arm is composed of a rigid mechanical arm, and the rear end is composed of a flexible continuum. The continuum The end is equipped with mechanical claws for clamping objects; the mechanical arm combined with the rigid mechanical arm and the flexible continuum solves the problem of poor compliance and environmental adaptability of the existing rigid mechanical arm, and poor safety of human-computer interaction. question
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Embodiment 1
[0039] In a typical implementation of the present disclosure, such as Figure 1-Figure 9 As shown, a rigid-flexible outer limb manipulator is proposed.
[0040] It mainly includes winding mechanism, angle adjustment mechanism, flexible continuum and mechanical claw;
[0041]Among them, the first end of the flexible continuum is connected to the angle adjustment mechanism, and the end is connected to the mechanical claw. The flexible continuum includes multiple segments connected in series through spherical hinges. After passing through the angle adjustment mechanism and the flexible continuum, it is fixed at the end of the flexible continuum;
[0042] The winding mechanism is used to adjust the angle between adjacent segments of the flexible continuum by winding or releasing the traction cable, so as to change the bending state of the flexible continuum.
[0043] The front end of the mechanical arm is composed of a rigid mechanical arm, and the rear end is composed of a flex...
Embodiment 2
[0082] In another typical implementation of the present disclosure, as shown in the figure, an auxiliary operation device is proposed, using the rigid-flexible extremity mechanical arm as described in the first embodiment.
[0083] The rigid-flexible outer limb mechanical arms are arranged in pairs, and are respectively connected to the box of the backpack through the corresponding angle adjustment mechanism. The winding mechanism is located in the box, and the angle adjustment mechanism, flexible continuum and mechanical claw are located outside the box;
[0084] A pair of rigid-flexible extremity manipulators are respectively arranged on both sides of the box, and the angle adjustment mechanism drives the flexible continuum to perform multi-degree-of-freedom adjustment.
[0085] In this embodiment, each external limb auxiliary operation device includes two rigid-flexible external limb mechanical arms as described in Embodiment 1. For the configuration of the rigid-flexible ex...
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Abstract
The disclosure provides a rigid-flexible external limb mechanical arm and its auxiliary operating device, which relate to the field of flexible operating arms, including a winding mechanism, an angle adjustment mechanism, a flexible continuum and a mechanical claw arranged in sequence, and the head end of the flexible continuum is connected Angle adjustment mechanism, the end of which is connected with mechanical claws, the flexible continuum includes multiple segments connected in series through spherical hinges, the winding mechanism is connected to one end of a group of flexible cables, and the other end of the group of flexible cables passes through the angle adjustment mechanism, the flexible continuum in turn After being fixed at the end of the flexible continuum, the winding mechanism is used to adjust the angle between the adjacent segments of the flexible continuum by winding or releasing the traction cable. The front end of the mechanical arm is composed of a rigid mechanical arm, and the rear end is composed of a flexible continuum. The end of the continuum is equipped with mechanical claws for clamping objects; the mechanical arm combined with the rigid manipulator and the flexible continuum solves the problem of poor compliance and environmental adaptability of the existing rigid manipulator and low safety of human-computer interaction. Bad question.
Description
technical field [0001] The disclosure relates to the field of flexible operating arms, in particular to a rigid-flexible extremity mechanical arm and an auxiliary operating device thereof. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] With the development of robot technology, some progress has been made in the research of external limb assisting manipulators. Adding wearable humanoid robotic arms and extending human limbs can effectively enhance human production efficiency and skill level, enabling them to complete complex tasks with the assistance of external limb robotic arms. The outer limb robotic arm will understand the user's intentions well, and the collaboration with humans will be closer. [0004] Different from traditional exoskeleton-assisted robots, the exoskeletonrobotic arm can complete tasks independently of the user'...
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Application Information
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