Pneumatic flexible arm and flexible intelligent pneumatic manipulator

Abstract

The utility model relates to a pneumatic flexible arm and a flexible intelligent pneumatic manipulator, which solve the technical problems that the existing pneumatic flexible manipulator is slow in response speed, the motion stability needs to be improved, and the load capacity needs to be improved, and comprises an inner side body, a corrugated outer side body and a joint, the left side of the inner side body is provided with a plurality of left side corrugated parts, and the right side of the inner side body is provided with a plurality of right side corrugated parts; a plurality of left corrugated parts are arranged on the left side of the inner side body, a plurality of right corrugated parts are arranged on the right side of the inner side body, the left corrugated parts and the right corrugated parts are oppositely arranged, the width of the inner side body is gradually reduced from the rear end to the front end to the rear end, a gas channel is formed in the top of the corrugated outer side body, and the corrugated outer side body is provided with a plurality of arc-shaped corrugated parts. The corrugated outer side body is provided with a plurality of semicircular deformation air chambers. The manipulator can be widely applied to grabbing objects.

Description

TECHNICAL FIELD

[0001] The utility model relates to soft body mechanical arm technical field, specifically, relate to a pneumatic flexible arm and flexible intelligent pneumatic manipulator. BACKGROUND

[0002] Mechanical arm as the product of mechanism, cybernetics, electronic technology and computer and many modern science synthesis, has been the research hotspot of engineering and scientific community. At the same time, mechanical arm is a very complex dynamics system, and its dynamics equation has the characteristics of nonlinearity, strong coupling and real variation, so the research on mechanical arm has always been a big challenge, and the design scheme of mechanical arm is endless for different application scenarios.

[0003] Traditional rigid mechanical arm has high bearing capacity and control precision, and is widely used in manufacturing, industrial production, medical rehabilitation and other fields. The factory moves, classifies goods, and surgical knives used in surgical operations begin to use the assistance of mechanical arm. These application scenarios have higher requirements for the flexibility and safety of mechanical arm. However, for complex space and narrow environment, rigid mechanical arm has the disadvantages of poor adaptability and limited flexibility, while soft body mechanical arm is different from traditional rigid mechanical arm in material composition, which is made of soft material and has the characteristics of high degree of freedom and strong adaptability.

[0004] As a kind of soft body mechanical arm, pneumatic soft body mechanical arm has the characteristics of lighter weight and flexibility, and can play a good role in search and rescue and other situations that need to explore narrow or irregular space. The structure of the common pneumatic soft body mechanical arm in the prior art can refer to the utility model patent with the patent name of "variable distance pneumatic inclined cavity soft body manipulator" and the authorization announcement number CN222079306U. However, the common pneumatic soft body mechanical arm mainly has the following technical defects: (1) when the square cavity is pumped into gas, the gas cannot fill the whole cavity smoothly, resulting in a certain delay in the response of the mechanical arm and slow response speed; (2) the motion stability of the mechanical arm needs to be improved; (3) the load capacity needs to be improved. SUMMARY

[0005] The utility model just in order to solve the existing pneumatic soft body mechanical arm response speed is slow, motion stability needs to be improved, load capacity needs to be improved technical problem, provides a kind of response speed fast, motion stability, load capacity higher pneumatic flexible arm and flexible intelligent pneumatic manipulator.

[0006] The utility model provides a kind of pneumatic flexible arm, including inside body, corrugated outside body and joint;The left side of inside body is equipped with several left side corrugated parts, the right side of inside body is equipped with several right side corrugated parts, left side corrugated part and right side corrugated part are oppositely arranged, the width of inside body gradually decreases from its rear end to front end;

[0007] The top of corrugated outside body is equipped with gas passage, gas passage is distributed along the length direction of corrugated outside body, corrugated outside body is equipped with several arc corrugated parts, several arc corrugated parts are arranged in a line along the length direction of corrugated outside body, the included angle between arc corrugated part and the axis of corrugated outside body is 90 °, corrugated outside body is equipped with several semicircular deformation gas chambers, several semicircular deformation gas chambers are arranged in a line along the length direction of corrugated outside body, the included angle between semicircular deformation gas chamber and the axis of corrugated outside body is 90 °, the number of semicircular deformation gas chamber is same with the number of arc corrugated part, one semicircular deformation gas chamber corresponds to one arc corrugated part, semicircular deformation gas chamber extends from the top of corrugated outside body to arc corrugated part, and several semicircular deformation gas chambers are all communicated with gas passage;From the rear end to front end of corrugated outside body, the width of several arc corrugated parts gradually decreases, the thickness of corrugated outside body gradually decreases, the width of several semicircular deformation gas chambers gradually decreases, and the depth of several semicircular deformation gas chambers gradually decreases;

[0008] Joint is connected with the rear end of corrugated outside body, and joint is communicated with gas passage.

[0009] Inside body is connected with the top of corrugated outside body, the left side corrugated part of inside body corresponds to the left side of arc corrugated part of corrugated outside body, and the right side corrugated part corresponds to the right side of arc corrugated part of corrugated outside body.

[0010] The material of inside body is flexible material, and the material of corrugated outside body is flexible material.

[0011] Preferably, the joint is a luer joint.

[0012] Preferably, the material of inside body is silica gel, and the material of corrugated outside body is silica gel.

[0013] Preferably, the width of gas passage gradually increases from the rear end to front end of corrugated outside body.

[0014] Preferably, the joint is embedded into the rear end of corrugated outside body.

[0015] Preferably, inside body and the top of corrugated outside body are connected by integral molding.

[0016] The utility model further provides a flexible intelligent pneumatic manipulator, including support and at least two above -mentioned any one pneumatic flexible arm, at least two pneumatic flexible arms are connected on the support.

[0017] Preferably, the number of pneumatic flexible arms is three.

[0018] The utility model discloses the beneficial effect is, response speed is fast, and load capacity is strong.

[0019] The structure of the semicircular deformation air chamber not only makes the inflow of gas smoother, but also enables the gas to fill the entire cavity more quickly, thereby achieving faster response speed. The width of the plurality of arc-shaped corrugated portions gradually decreases, the width of the plurality of semicircular deformation air chambers gradually decreases, the depth of the plurality of semicircular deformation air chambers gradually decreases, and the thickness of the corrugated outer body gradually decreases. The gas flow design from wide to narrow enables the gas to flow into each cavity more quickly and uniformly, so that the gas fills each semicircular deformation air chamber more quickly, thereby further improving the response speed of the mechanical arm and further improving the motion stability, achieving better control requirements.

[0020] The further features and aspects of the utility model will be clearly recorded in the following specific embodiment description with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is the structure schematic diagram of pneumatic flexible arm;

[0022] Figure 2 is Figure 1 the front view of the pneumatic flexible arm shown in the figure;

[0023] Figure 3 is the structure schematic diagram of inner body;

[0024] Figure 4 is Figure 3 the top view of the inner body shown in the figure;

[0025] Figure 5 is Figure 1 the structure schematic diagram of corrugated outer body in the pneumatic flexible arm shown in the figure;

[0026] Figure 6 is Figure 5 the top view of the structure shown in the figure;

[0027] Figure 7 is Figure 5 the front view of the structure shown in the figure;

[0028] Figure 8 is Figure 1 the sectional view of the pneumatic flexible arm shown in the figure;

[0029] Figure 9 yes Figure 1 The isometric view of the pneumatic flexible arm shown.

[0030] Figure 10 yes Figure 1 The diagram shows the state of the pneumatic flexible arm after it has been bent.

[0031] Figure 11 This is a schematic diagram of the structure of a flexible intelligent pneumatic manipulator.

[0032] Explanation of symbols in the diagram:

[0033] 1. Inner body, 1-1. Left corrugated part, 1-2. Right corrugated part; 2. Corrugated outer body, 2-1. Arc-shaped corrugated part, 2-2. Semi-circular gas chamber, 2-3. Gas passage; 4. Luer connector. Detailed Implementation

[0034] Example 1

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] like Figure 1 and 2 As shown, the pneumatic flexible arm includes an inner body 1, a corrugated outer body 2, and a Luer connector 4. The inner body 1 is connected to the corrugated outer body 2, and the Luer connector 4 is connected to the rear end of the corrugated outer body 2. The front end of the corrugated outer body 2 and the front end of the inner body 1 together form the free end of the pneumatic flexible arm.

[0037] The inner body 1 is made of flexible material, and the corrugated outer body 2 is also made of flexible material.

[0038] like Figure 3 and 4 As shown, the left side of the inner body 1 is provided with several left-side corrugated portions 1-1, and the right side of the inner body 1 is provided with several right-side corrugated portions 1-2, with one left-side corrugated portion 1-1 and one right-side corrugated portion 1-2 arranged opposite to each other. Figure 4 As shown, the left end of the inner body 1 is the front end of the inner body 1, and the right end of the inner body 1 is its rear end. As can be seen from the figure, the width of the inner body 1 gradually decreases from the rear end to the front end.

[0039] like Figure 5 , 6As shown in Figs. 7, the top of the corrugated outer body 2 is provided with a gas passage 2-3 which is distributed along the length direction of the corrugated outer body 2. The corrugated outer body 2 is provided with a plurality of circular-arc corrugated portions 2-1 which are arranged in line along the length direction of the corrugated outer body 2, and the included angle between the circular-arc corrugated portions 2-1 and the axis of the corrugated outer body 2 is 90°. The corrugated outer body 2 is also provided with a plurality of semicircular deformation chambers 2-2 which are arranged in line along the length direction of the corrugated outer body 2, and the included angle between the semicircular deformation chambers 2-2 and the axis of the corrugated outer body 2 is 90°. The number of the semicircular deformation chambers 2-2 is the same as that of the circular-arc corrugated portions 2-1, and one semicircular deformation chamber 2-2 corresponds to one circular-arc corrugated portion 2-1. The semicircular deformation chambers 2-2 extend downward from the top of the corrugated outer body 2 to the circular-arc corrugated portions 2-1. The gas passage 2-3 is in communication with each semicircular deformation chamber 2-2. As can be seen from the figure, from the rear end to the front end, the width of the corrugated outer body 2 gradually decreases, that is, the width of the circular-arc corrugated portions 2-1 gradually decreases. Since the semicircular deformation chambers 2-2 are matched with the circular-arc corrugated portions 2-1, the width of the semicircular deformation chambers 2-2 also gradually decreases. In addition, from the rear end to the front end, the thickness of the corrugated outer body 2 gradually decreases. Since the thickness of the corrugated outer body 2 gradually decreases, the depth of the semicircular deformation chambers 2-2 gradually decreases.

[0040] The Luer joint 4 is connected to the rear end of the corrugated outer body 2, and the Luer joint 4 is in communication with the gas passage 2-3.

[0041] Reference Figure 1 、 2 As shown in Figs. 8 and 9, the inner body 1 is connected to the top of the corrugated outer body 2, and the left corrugated portion 1-1 of the inner body 1 corresponds to the left side of the circular-arc corrugated portion 2-1 of the corrugated outer body 2, and the right corrugated portion 1-2 corresponds to the right side of the circular-arc corrugated portion 2-1 of the corrugated outer body 2. That is, a group of the left corrugated portion 1-1 and the right corrugated portion 1-2 corresponds to one circular-arc corrugated portion 2-1.

[0042] It should be noted that the Luer joint 4 is a preferred mode, and other joints known or capable of achieving ventilation can also be used.

[0043] When the gas passage 2-3 is filled with gas through the Luer joint 4, the gas in the gas passage 2-3 enters each semicircular deformation chamber 2-2, so that the semicircular deformation chamber 2-2 is inflated and deformed. The inflation and deformation of each semicircular deformation chamber 2-2 can make the corrugated outer body 2 as a whole bend and deform toward the inner body 1, and finally the inner body 1 is bent and deformed, as shown in Fig. 10. Figure 10As shown. In the state of bending deformation of the pneumatic flexible arm, the pneumatic flexible arm can be restored to the initial state by deflating through the luer joint 4.

[0044] The manufacturing method of the above-mentioned pneumatic flexible arm is described below:

[0045] Firstly, place the luer joint 4 in the first mold for manufacturing the corrugated outer body 2, pour the silica gel stock solution into the first mold, then go through a series of fine processing such as bubble extraction and feeding, and wait for natural forming to manufacture the integrally formed corrugated outer body 2, and the luer joint 4 is embedded in the end of the corrugated outer body 2. Secondly, pour the silica gel stock solution into the second mold for manufacturing the inner body 1, and also go through fine processing. Then, the shaped corrugated outer body 2 which has not been demolded is inverted on the second mold filled with unformed silica gel, and the unformed silica gel in the second mold is required to be closely attached to the formed silica gel in the first mold, and the left corrugated part 1-1 and the right corrugated part 1-2 of the inner body 1 correspond to and match the circular arc corrugated part 2-1. Finally, after waiting for natural forming, demolding is performed, and the preparation of the entire flexible arm is completed, while ensuring that the air tightness meets the requirements.

[0046] The working process of using the above-mentioned pneumatic flexible arm is introduced below:

[0047] Using the above-mentioned pneumatic flexible arm, some simple-shaped objects such as apples, bananas, and water cups with small volume and light weight can be grasped. The specific operation process is as follows. First, determine the position of the existing object, move the pneumatic flexible arm to the side of the target object, and align the inner body 1 with the position on the target object that needs to be grasped; then use the inflation device to inflate the inside of the pneumatic flexible arm through the luer joint 4, and the gas can be filled into each semicircular deformation gas chamber 2-2 through the gas channel 2-3, so that the semicircular deformation gas chamber 2-2 expands and deforms, and then the corrugated outer body 2 deforms in the direction of the inner body 1 due to the deformation of the semicircular deformation gas chamber 2-2, and the degree of bending deformation increases with the increase of the volume of the filled gas; finally, the inflated gas makes the inner body 1 of the flexible arm form a bend that can wrap around the position on the target object that needs to be grasped, and contact and wrap the target object, thereby realizing the grasping of simple-shaped objects.

[0048] It can be seen that the flexible arm can more gently realize the grasping of objects, and basically will not cause damage to the objects. The load capacity is strong.

[0049] It should be noted that the length of the gas channel 2-3 and the number of semicircular deformation gas chambers 2-2 are not limited to the length and number in the drawings, and the specific number can be set according to the actual application situation.

[0050] It can be seen that the pneumatic flexible arm disclosed by the utility model, the semicircular deformation air chamber 2-2 is semicircular, not only makes the inflow of gas more smooth, but also enables the gas to fill the whole cavity more quickly, thereby realizing faster response speed.

[0051] The design is that the width of the plurality of circular-arc-shaped corrugated portions 2-1 gradually decreases, the width of the plurality of semicircular deformation air chambers 2-2 gradually decreases, the depth of the plurality of semicircular deformation air chambers 2-2 gradually decreases, and the thickness of the corrugated outer body 2 gradually decreases, so that the gas path design from wide to narrow can make the gas flow into each cavity more quickly and uniformly, make the gas fill each semicircular deformation air chamber 2-2 more quickly, and further improve the response speed of the mechanical arm, so as to achieve better control requirements. The stability of the mechanical arm movement is further improved.

[0052] It should be noted that, from Figure 6 It can be seen that the width of the gas channel 2-3 gradually increases from right to left, which is a preferred means and is not limited thereto. Referring to Figure 6 From right to left, the 1st semicircular deformation air chamber 2-2, the 2nd semicircular deformation air chamber 2-2, the 3rd semicircular deformation air chamber 2-2, the 10th semicircular deformation air chamber 2-2 are arranged and distributed, since the gas input from the luer joint 4 enters the 1st semicircular deformation air chamber 2-2, the 2nd semicircular deformation air chamber 2-2, the 3rd semicircular deformation air chamber 2-2, the 10th semicircular deformation air chamber 2-2 in turn, so the 1st semicircular deformation air chamber 2-2 first expands and deforms, then the 2nd semicircular deformation air chamber 2-2 expands and deforms, and so on until the 10th semicircular deformation air chamber expands and deforms; that is, the gas first gathers in the front several semicircular deformation air chambers. In order to avoid the small deformation of the gas in the rear several semicircular deformation air chambers, ensure the overall deformation of the corrugated outer body 2, and make other gases reach the rear several semicircular deformation air chambers as quickly as possible, the gas channel 2-3 is designed to have a width gradually increasing from right to left.

[0053] Embodiment 2

[0054] This embodiment uses the pneumatic flexible arm in the foregoing embodiment 1, and adopts a multi-parallel design in structure. As shown in Figure 11 Three pneumatic flexible arms are adopted to constitute a flexible intelligent pneumatic manipulator, the three pneumatic flexible arms are installed on a support, and the flexible intelligent pneumatic manipulator can grasp irregular objects with complex shapes, large volumes and heavy weights, such as stone blocks, dolls and the like.

[0055] Specific operation as follows, first, the three pneumatic flexible arm is fixed, make its in each two adjacent unit between the angle is 120 ° (namely three pneumatic flexible arm is along the circumferential direction is distributed), facilitate stable to grab target object. Subsequently, the three pneumatic flexible arm's luer joint 3 is connected to three independent inflation device respectively, by controlling each inflation device can individually adjust the bending movement of each pneumatic flexible arm, to realize the synchronous or asynchronous bending of three pneumatic flexible arm. The bending process of single pneumatic flexible arm is same with embodiment 1, by filling air to its inside, promote the corrugated outside body 2 twist expansion, to drive the pneumatic flexible arm to the inside body 1 direction bending deformation. Finally, according to the shape and mass of target object, calculate the pneumatic flexible arm needs the inflation amount, realize the stable to grab object by adjusting inflation device.

[0056] It should be noted that the number of parallel pneumatic flexible arms is not limited to three, and the angle between adjacent units is not limited to 120 °. The specific parameters can be adjusted flexibly according to the actual use requirements to meet the requirements of different grabbing scenarios.

[0057] The above description is only for the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can be variously changed and modified. Any modification, equivalent replacement, improvement, etc. within the scope of the claims of the present application shall be within the scope of the present application.

Claims

1. A pneumatic flexible arm, characterized by, The gas dynamic flexible arm comprises an inner body, a corrugated outer body and a joint; a plurality of left corrugated portions are arranged on the left side of the inner body, and a plurality of right corrugated portions are arranged on the right side of the inner body, the left corrugated portions are arranged opposite to the right corrugated portions, and the width of the inner body gradually decreases from the rear end to the front end; The top of the corrugated outer body is provided with a gas channel, the gas channel is distributed along the length direction of the corrugated outer body, the corrugated outer body is provided with a plurality of circular-arc corrugated portions, the circular-arc corrugated portions are arranged in a line along the length direction of the corrugated outer body, the included angle between the circular-arc corrugated portions and the axis of the corrugated outer body is 90°, the corrugated outer body is provided with a plurality of semicircular deformation gas chambers, the semicircular deformation gas chambers are arranged in a line along the length direction of the corrugated outer body, the included angle between the semicircular deformation gas chambers and the axis of the corrugated outer body is 90°, the number of the semicircular deformation gas chambers is the same as that of the circular-arc corrugated portions, one semicircular deformation gas chamber corresponds to one circular-arc corrugated portion, the semicircular deformation gas chambers extend downward from the top of the corrugated outer body to the circular-arc corrugated portions, and the plurality of semicircular deformation gas chambers are in communication with the gas channel; from the rear end to the front end of the corrugated outer body, the width of the circular-arc corrugated portions gradually decreases, the thickness of the corrugated outer body gradually decreases, the width of the semicircular deformation gas chambers gradually decreases, and the depth of the semicircular deformation gas chambers gradually decreases; The joint is connected with the rear end of the corrugated outer body, and the joint is in communication with the gas channel; The inner body is connected with the top of the corrugated outer body, the left corrugated portions of the inner body correspond to the left sides of the circular-arc corrugated portions of the corrugated outer body, and the right corrugated portions of the inner body correspond to the right sides of the circular-arc corrugated portions of the corrugated outer body; The material of the inner body is a flexible material, and the material of the corrugated outer body is a flexible material.

2. The pneumatic flexible arm of claim 1, wherein, The joint is a luer joint.

3. Pneumatic flexible arm according to claim 1 or 2, characterized in that, The material of the inner body is silica gel, and the material of the corrugated outer body is silica gel.

4. The pneumatic flexible arm according to claim 1 or 2, characterized in that, From the rear end to the front end of the corrugated outer body, the width of the gas channel gradually increases.

5. The pneumatic flexible arm according to claim 1 or 2, characterized in that, The joint is embedded in the rear end of the corrugated outer body.

6. The pneumatic flexible arm according to claim 1 or 2, characterized in that, The inner body and the top of the corrugated outer body are connected by an integral molding mode.

7. A flexible intelligent pneumatic manipulator, characterized by The gas dynamic flexible arm comprises a support and at least two gas dynamic flexible arms according to any one of claims 1-6, and the at least two gas dynamic flexible arms are connected to the support.

8. The flexible intelligent pneumatic manipulator of claim 7, wherein, The number of the gas dynamic flexible arms is three.

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