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Rigid-flexible coupling mechanical arm and robot

A rigid-flexible coupling, mechanical arm technology, applied in the field of robotics, can solve problems such as poor flexibility, and achieve the effect of high motion accuracy

Active Publication Date: 2021-07-30
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The biggest disadvantage of this solution is that it is less flexible

Method used

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  • Rigid-flexible coupling mechanical arm and robot
  • Rigid-flexible coupling mechanical arm and robot
  • Rigid-flexible coupling mechanical arm and robot

Examples

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Embodiment Construction

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0024] Such as Figure 1-4 As shown, a rigid-flexible coupling mechanical arm includes an internal skeleton 1 formed in series by several skeleton monomers 11 and several groups of pneumatic muscles 2 surrounding the internal skeleton 1 and arranged between adjacent skeleton monomers 11; the pneumatic muscles 2 Specifically, it is made of silica gel; adjacent skeleton monomers 11 are flexibly connected.

[0025] In this embodiment, a pair of connecting ears 1...

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Abstract

The invention discloses a rigid-flexible coupling mechanical arm. The rigid-flexible coupling mechanical arm comprises an inner skeleton formed by connecting a plurality of skeleton single bodies in series and a plurality of sets of pneumatic muscles surrounding the inner skeleton and arranged between the adjacent skeleton single bodies, wherein the adjacent skeleton single bodies are movably connected; a plurality of pairs of pneumatic muscle connectors are arranged in the circumferential direction of the skeleton single bodies, and each set of pneumatic muscle is correspondingly arranged on the oppositely-arranged pneumatic muscle connectors of the adjacent skeleton single bodies; the pneumatic muscle connectors oppositely arranged on the adjacent skeleton single bodies comprise sealing fixing connectors and inflation connectors for inflating the pneumatic muscles; and air pipe connectors communicated with the corresponding inflation connectors are further formed in the skeleton single bodies in the circumferential direction. The flexible pneumatic muscles are arranged on the periphery of the internal skeleton, so that the mechanical arm has the advantages of a rigid robot and a flexible robot at the same time, and meanwhile, the flexibility is high.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a rigid-flexible coupling mechanical arm and a robot. Background technique [0002] With the development and application of robots, human labor in non-industrial fields such as services, medical care, and entertainment will be increasingly replaced by robots. In many cases, traditional robots cannot fully perform the job, especially when the working position changes or the environment is unknown, it is impossible to fully design the robot's workflow in advance. Under the requirements of these special conditions and environments, light robotic arms came into being. Lightweight arms usually require light weight, compact structure, good flexibility, high load / weight ratio and good environment interaction ability. Although rigid industrial robots can exhibit a certain degree of flexibility through control methods (force control, impedance control), due to the delay in the sensor dat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00B25J9/06B25J9/10B25J17/00B25J17/02
CPCB25J18/00B25J9/06B25J17/00B25J17/0275B25J9/1075
Inventor 吴昌渠王文彪鲍官军
Owner ZHEJIANG UNIV OF TECH
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