Ball joint pneumatic locking type rigidity-variable soft body arm framework

A technology of pneumatic locking and ball joints, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the inability to realize motion control and environmental interaction functions at the same time, and the inability to adjust the stiffness of the manipulator

Active Publication Date: 2021-04-30
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to overcome the problem that the rigidity of the mechanical arm cannot be adjusted in the prior art, resulting in the inability to simultaneously realize the motion control and environmental interaction functions, and provides a ball joint pneumatic locking type variable stiffness soft arm skeleton, which can facilitate and quickly adjust the mechanical arm. The stiffness of the arm to meet the needs of different scenarios

Method used

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  • Ball joint pneumatic locking type rigidity-variable soft body arm framework
  • Ball joint pneumatic locking type rigidity-variable soft body arm framework
  • Ball joint pneumatic locking type rigidity-variable soft body arm framework

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0028] Such as Figure 1-5 In the shown embodiment, a ball joint pneumatic locking type variable stiffness soft arm skeleton includes a closed joint 1 at one end and several rotating assemblies connected in sequence, and the rotating assembly includes an outer shaft joint 2 and an inner shaft joint 3. The closed joint is connected to the outer shaft joint of one of the rotating assemblies, and the outer shaft joint of the rotating assembly is sleeved on the inner shaft joint of the adjacent rotating assembly, and the gap between the outer shaft joint and the inner shaft joint is Connected by a ball joint 4, the outer shaft joint includes two outer shaft joint connecting parts 21 respectively located on both sides of the ball joint, and the ball joint is provided with two outer shaft joint rotating shafts that are rotationally connected with the...

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Abstract

The invention discloses a ball joint pneumatic locking type rigidity-variable soft body arm framework, and belongs to the field of mechanical arms. The ball joint pneumatic locking type rigidity-variable soft body arm framework comprises a plurality of rotating assemblies connected in sequence, each rotating assembly comprises an outer shaft joint and an inner shaft joint, and the outer shaft joints and the inner shaft joints are connected through ball joints. Each ball joint comprises a pneumatic elastic piece, two outer shaft joint locking pieces and two inner shaft joint locking pieces. The pressure on the locking pieces can be changed through contraction of the pneumatic elastic pieces, so that the rigidity of the joints is changed, and the problem that in the prior art, a soft arm is difficult to shape is solved.

Description

technical field [0001] The invention relates to a mechanical arm structure, in particular to a ball joint pneumatic locking type variable stiffness soft arm skeleton. Background technique [0002] After more than half a century of development, the research system of rigid robots has been very mature, and its application in industry has been fully developed and promoted. Nowadays, with the improvement of human life quality, robots can be applied not only in industry, but also in daily life. However, at present, the interaction of rigid-body robots is weak, and the driving mode is mostly driven by motors, which will generate a lot of inertia when they move. When in contact with the external environment, rigid collisions will inevitably occur, resulting in certain dangers. We want robots to be able to interact directly with humans and the environment. Soft robots came into being. In recent years, scientists have designed various soft tentacle machines or continuous tentacle...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/14
CPCB25J9/06B25J9/14
Inventor 王文彪王曼溶鲍官军
Owner ZHEJIANG UNIV OF TECH
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