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Rigid-soft coupling mechanical arm

A mechanical arm, rigid and soft technology, applied in the direction of manipulators, claw arms, manufacturing tools, etc.

Pending Publication Date: 2022-06-10
BEIJING SOFT ROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a rigid-flexible coupling mechanical arm, which is used to solve the problems of high cost of the existing mechanical arm system, low end rigidity, and small weight of the grasped items. question

Method used

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  • Rigid-soft coupling mechanical arm
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  • Rigid-soft coupling mechanical arm

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Embodiment Construction

[0023] In some embodiments of the present invention, the airbag 5 includes a bellows structure airbag, an origami structure airbag and a fabric airbag. In this embodiment, the airbag 5 adopts a bellows structure, and of course the airbag 5 may also be an airbag of other structures.

[0024] In some embodiments of the present invention, the shape of the airbag 5 includes fan shape, circle shape and ellipse shape. In this embodiment, the shape of the airbag 5 is oval, but of course the airbag 5 can also be in other shapes.

[0025] In some embodiments of the present invention, the airbags 5 are arranged in a circular array on the end surface of the support plate 4 . In this embodiment, there are four airbags 5 on each end surface, and the airbags 5 are arranged in a circular array on the end surface of the support plate 4 .

[0026] In some embodiments of the present invention, the substance filled in the airbag 5 includes gas or fluid. In this embodiment, the filled substanc...

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PUM

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Abstract

The invention provides a rigid-flexible coupling mechanical arm. The mechanical arm comprises a plurality of driving units which are connected in series, a connecting part and an end effector, each driving unit comprises a supporting disc, at least three air bags and a hinge mechanism, the at least three air bags are fixed to the end face of the supporting disc, each air bag is used for providing pressure based on inflated substances, the air bags generate deformation such as extension, contraction and bending, and the end effector is connected with the connecting part. The hinging mechanism is used for hinging the two driving units; a driving unit at the tail end of the mechanical arm is hinged to a connecting part, and the connecting part is used for being detachably connected with an end effector. According to the rigid-soft coupling mechanical arm, the supporting disc and the hinge mechanism are used for providing the rigid supporting function, the air bag is used for providing the driving function, and therefore the cost can be reduced while the performance of the mechanical arm in the aspects of rigidity, control force and the like can be ensured.

Description

technical field [0002] The invention relates to the field of robots, in particular to a rigid-soft coupling mechanical arm. Background technique [0004] The robotic arm is a very important device in industrial production. Through the programming of the host computer, the robotic arm drives the end effector to move accurately to various positions in the space, and bridges the two to complete various tasks. [0005] Traditional rigid robotic arms are generally made of pure metal materials, making the entire system very bulky and expensive. Therefore, the researchers invented the flexible robotic arm, using silicone rubber and other materials that are easy to stretch and elastic. Therefore, the entire robotic arm system is very light and the production cost is low. However, the rigidity of the purely flexible material manipulator is very small, and the stability of the gripper at the control end is poor, so that the quality of the objects that can be grasped is relatively s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00B25J19/00
CPCB25J18/00B25J19/00
Inventor 谷建峰鲍磊赵鑫高少龙单雪梅
Owner BEIJING SOFT ROBOT TECH CO LTD