Rope-driven elephant trunk bionic robotic arm

Abstract

The invention discloses a rope transmission elephant trunk biomimetic mechanical arm which comprises a base, a base table, a corrugated pipe, an extension table, a pinion, a rocker arm motor, a rotaryshaft motor, two couplings, five rotary tables, a driving shaft, a transmission rope, three bevel gears and two rotary table bearings. The corresponding rotary table bearing is mounted between the base and the base table, and every two adjacent rotary tables constitute a rotary pair; the corresponding rotary table bearing is mounted between the extension table and the central bevel gear, and theleft bevel gear and the right bevel gear are both engaged with the central bevel gear in a gear tooth mode; the driving shaft is made of a flexible material capable of transmitting torque, the lower end of the driving shaft is connected with an output shaft of the rotary shaft motor, and the upper end of the driving shaft is connected with the central bevel gear; six threaded holes are formed in the upper end of the extension table, and different executing mechanisms can be mounted; one end of the transmission rope is fixed to the left bevel gear, and the other end of the transmission rope isfixed to the right bevel gear and winds on rope sheaves at the lower ends of all the rotary tables in sequence; and the rocker arm motor controls rotation of the mechanical arm, and the rotary shaft motor controls bending of the mechanical arm.

Description

technical field [0001] The invention relates to a mechanical arm, in particular to a rope-driven elephant trunk bionic mechanical arm. Background technique [0002] Nature has always been an inexhaustible and inexhaustible source of inspiration for human inventors and engineers. Computer-controlled robotic arms are becoming more and more complex and dexterous, and gradually begin to develop in the direction of stretchability and flexibility, and research on robots inspired by biology is in full swing. [0003] Inspired by the claws of an octopus, the tentacles of a squid, and the trunk of an elephant, the present invention is primarily a similar flexible continuum robotic arm. Octopuses make full use of the flexibility of their arms and claws when hunting and grabbing food. But when feeding it, it can bend its tentacles to form joints similar to those of a human arm. The elephant trunk is the limb structure that elephants mainly rely on when eating. It is similar to a hum...

AI Technical Summary

Problems solved by technology

[0005] In summary, there have been some achievements in imitating elephant trunk manipulators, which are mainly realized by pneumatic means. Due to the large volume of the air compressor, the entire system occupies a large area; in addition, the structure of the device is complex and expensive; Sexuality and other issues, energy consumption is also high

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