Rigidity-variable soft mechanical arm

A soft-body machine and variable-stiffness technology, applied in manipulators, claw arms, manufacturing tools, etc., can solve the problems of reducing the load capacity of the manipulator and restricting the application of the software manipulator, and achieve the effect of good flexibility and good interactive security.

Pending Publication Date: 2022-05-20
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The current pneumatic soft manipulator is completely made of flexible materials, the use of flexible materials reduces the load capacity of the manipulator, which restricts the application of the soft manipulator

Method used

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  • Rigidity-variable soft mechanical arm
  • Rigidity-variable soft mechanical arm
  • Rigidity-variable soft mechanical arm

Examples

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Embodiment 1

[0033] This embodiment provides a variable stiffness soft manipulator, such as Figure 1-6 As shown, it includes two connecting seats 100 and three bellows modules 200 arranged between the two connecting seats 100, wherein the three bellows modules 200 are arranged in parallel, and the three bellows modules 200 are spaced at intervals of 120 ° way parallel connection between the two connecting seats 100.

[0034] In this embodiment, one of the bellows modules 200 is taken as an example to illustrate its structure. The bellows module 200 includes an inner bellows 210, an outer bellows 220, and a variable stiffness body 230, wherein the inner bellows 210 forms a main ventilation cavity. The body 240 forms a variable stiffness cavity 250 between the inner corrugated tube 210 and the outer corrugated tube 220, and the variable stiffness body 230 is arranged in the variable stiffness cavity 250;

[0035] Further, the variable stiffness main body 230 has three hard particle layers ...

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Abstract

The invention provides a rigidity-variable soft mechanical arm which comprises two connecting seats and a plurality of corrugated pipe modules arranged between the two connecting seats, the corrugated pipe modules are arranged in parallel, each corrugated pipe module comprises an inner-layer corrugated pipe, an outer-layer corrugated pipe and a rigidity-variable body, a main ventilation cavity is formed in the inner-layer corrugated pipe, and a main ventilation cavity is formed in the outer-layer corrugated pipe. A variable-stiffness cavity is formed between the inner-layer corrugated pipe and the outer-layer corrugated pipe, and the variable-stiffness main body is arranged in the variable-stiffness cavity; the variable stiffness main body is provided with two or more than two hard particle layers, each hard particle layer comprises a flexible connecting layer and a plurality of hard particles uniformly arranged on the flexible connecting layer, and the adjacent hard particle layers are connected together; the hard particle layer located on the inner side is connected to the outer wall of the inner-layer corrugated pipe. The overall rigidity of the mechanical arm can be actively adjusted, the load capacity of the mechanical arm is improved, and the application occasion of the mechanical arm is expanded.

Description

technical field [0001] The invention belongs to the technical field, and in particular relates to a variable stiffness soft mechanical arm. Background technique [0002] Nowadays, traditional rigid manipulators occupy the mainstream of the robot market. These rigid manipulators have problems such as high structural density and safety in interacting with the working environment; more and more complicated. Therefore, higher requirements must be put forward for the adaptability and safety of robots. [0003] Unlike traditional robotic arms made of rigid hard materials, soft robotic arms are mainly made of flexible materials with large deformation characteristics. The robotic arms made of such materials have greater deformability and elasticity, and can be used in It realizes deformation in a complex environment and is more flexible. Even if it collides with external objects, its own compliance will play a certain buffering role, increasing the safety of interaction, and openi...

Claims

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Application Information

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IPC IPC(8): B25J18/00
CPCB25J18/00
Inventor 黄海林龚国强李兵
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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