Search

CN-118769296-B - Under-actuated flexible continuum mechanical arm

CN118769296BCN 118769296 BCN118769296 BCN 118769296BCN-118769296-B

Abstract

The invention relates to the technical field of flexible joint mechanical arm equipment, in particular to an underactuated flexible continuum mechanical arm which comprises a control mechanism, a visual perception module, a flexible continuum arm body and a tail end clamping jaw; the control mechanism comprises a control box, a plurality of groups of first control modules and second control modules which are arranged in the control box, a visual perception module is arranged on the end face of the control box, the flexible continuum arm body comprises a first flexible joint arranged on the end face of the control box and a second flexible joint arranged on the first flexible joint, the first flexible joint and the second flexible joint are respectively driven by the plurality of groups of control units so as to realize rotation and bending of the first flexible joint and the second flexible joint, and the tail end clamping jaw is arranged on the second flexible joint. The flexible continuous body arm body adopts an embedded double-spring structure, so that the flexible continuous body arm body of the mechanical arm is limited to stretch in the axial direction, and the movement accuracy of the mechanical arm is greatly improved.

Inventors

  • CHEN WENRUI
  • Xiao Pinggao
  • YAN CUO
  • WANG YAONAN

Assignees

  • 湖南大学

Dates

Publication Date
20260508
Application Date
20240620

Claims (8)

  1. 1. An under-actuated flexible continuum mechanical arm, characterized by comprising the following steps: the control mechanism (1) comprises a control box (1001), and a plurality of groups of first control modules and second control modules which are arranged in the control box (1001); the visual perception module (2) is arranged on the end face of the control box (1001); The flexible continuum arm body (3) comprises a first flexible joint arranged on the end face of the control box (1001) and a second flexible joint arranged on the first flexible joint, wherein the first flexible joint and the second flexible joint are respectively driven by a plurality of groups of control units so as to realize the rotation and the bending of the first flexible joint and the second flexible joint; An end clamping jaw (4) which is arranged on a second flexible joint and is driven by a second control module to grasp a target object; the first flexible joint includes: The first magnetic disk (1301) is arranged on the end face of the control box (1001), and first threading holes with the same number as the first control modules are equidistantly arranged on the surface of the first magnetic disk (1301); An extension spring (1302), one end of which is vertically installed on the end surface of the first magnetic disk (1301) and the other end of which extends to a side far away from the control box (1001); The second magnetic disk (1303) is sleeved in the middle of the extension spring (1302), and second threading holes with the same number as the first control modules are equidistantly formed in the surface of the second magnetic disk (1303); the first compression spring is sleeved on the outer ring of the extension spring (1302) between the first magnetic disk (1301) and the second magnetic disk (1303); the second flexible joint includes: the third magnetic disk (1305) is arranged on the end surface of one side, far away from the control box (1001), of the extension spring (1302), and third threading holes with the same number as the first control modules are formed in the surface of the third magnetic disk (1305) at equal intervals; And the second compression spring (1304) is sleeved on the outer ring of the extension spring (1302) between the second magnetic disk (1303) and the third magnetic disk (1305).
  2. 2. The underactuated flexible continuum manipulator of claim 1, wherein the number of first control modules is three and each first control module comprises: The first motor (1008) is arranged in the control box (1001) through a motor supporting frame (1009); A coupling pulley (1007) mounted on an output shaft of the first motor (1008); a far guide pulley block (1005) arranged on the inner wall of the control box (1001); The near-guide pulley block (1003) is arranged on the inner wall of the control box (1001) close to the wire outlet hole formed in the control box (1001); A near joint driving rope (1006), one end of which is wound in a first mounting groove formed by the coupling pulley (1007), and the other end of which is wound around the far guide pulley block (1005) and the near guide pulley block (1003) respectively and passes through the wire outlet hole, the first threading hole and the second threading hole respectively, and is finally fixed on the second magnetic disk (1303); And one end of the far joint driving rope (1002) is wound in a second mounting groove formed by the coupling pulley (1007), and the other end of the far joint driving rope is wound around the far guide pulley block (1005) and the near guide pulley block (1003) respectively and penetrates through the wire outlet hole, the first threading hole, the second threading hole and the third threading hole respectively, and finally is fixed on the third magnetic disk (1305).
  3. 3. The underactuated flexible continuum manipulator of claim 2, wherein three first threaded holes on the first disk (1301), three second threaded holes on the second disk (1303), and a third threaded hole on the third disk (1305) each correspond to and match three different first control modules.
  4. 4. The underactuated flexible continuum manipulator of claim 2, wherein the first control module further comprises: And the two decoupling springs (1004) are respectively connected to the near joint driving rope (1006) and the far joint driving rope (1002).
  5. 5. The underactuated flexible continuum robot arm according to claim 1, wherein said end jaws (4) comprise: A clamping jaw base (1404) fixedly arranged on the end surface of the side, far away from the first flexible joint, of the second flexible joint; two fingers (1406) which are respectively rotated by two clamping jaw rotating shafts (1407) and are symmetrically connected to the clamping jaw base (1404); Two torsion springs (1405) with one ends inserted into the ends of the two fingers (1406) and the other ends clamped on the clamping jaw base (1404) so that the two fingers (1406) are folded in an initial state.
  6. 6. The underactuated flexible continuum manipulator of claim 5, wherein the second control module comprises: The second motor is fixedly arranged on the inner wall of the control box (1001); A jaw drive pulley (1010) mounted on an output shaft of the second motor; A motor end driving rope (1401), one end of which is wound and fixed on the outer ring of the clamping jaw driving pulley (1010) and the other end of which is fixed on the movable pulley (1402); the clamping jaw driving rope (1403) is respectively fixed at the middle upper parts of the two fingers (1406), and the middle part is wound on the outer ring of the movable pulley (1402).
  7. 7. The underactuated flexible continuum manipulator of claim 6, wherein the jaw actuation cords (1403) each pass through a first flexible joint, a second flexible joint, and then are each secured to a middle-upper portion of two fingers (1406).
  8. 8. The underactuated flexible continuum robot arm according to any of claims 1 to 7, wherein the vision perception module (2) comprises: The camera support frame (1201) is fixedly arranged at the top of the control box (1001); the camera (1202) is clamped on the camera support frame (1201) in a posture towards the flexible continuous body arm body (3).

Description

Under-actuated flexible continuum mechanical arm Technical Field The invention relates to the technical field of flexible joint mechanical arm equipment, in particular to an underactuated flexible continuum mechanical arm. Background The traditional mechanical arm consists of a rigid chain structure, lacks passive adaptability, and is difficult to meet the requirements of work tasks in a narrow space and a complex space with barrier. The mechanical arm based on the flexible continuum arm body has the characteristics of flexible structure and continuum mechanics, has higher gesture flexibility and environmental adaptability, and is becoming the focus of research gradually. The super-redundant structure of the robotic arm provides near infinite degrees of freedom enabling flexible movement and manipulation in complex and irregular workspaces without requiring precise trajectory planning and control. The existing mechanical arm based on the flexible continuum arm body mainly has two driving modes of pneumatic and rope driving. The pneumatic continuous mechanical arm has the defects of high flexibility, deformation capability, extremely high collision tolerance, long response time, high sealing performance, extremely low load capacity and the like, the main continuous mechanical arm still mainly drives the continuous mechanical arm by ropes, but also has the problems of poor control precision and repeatability, weak load capacity, large whole volume mass, low motor effective utilization rate and the like, and the joint structure mainly comprises rigid materials, has lower collision tolerance and has potential safety hazards of damage after collision. Disclosure of Invention The invention provides an underactuated flexible continuum mechanical arm, which aims to solve the technical problems mentioned in the background art. In order to achieve the above purpose, the technical scheme of the invention is realized as follows: the invention provides an underactuated flexible continuum mechanical arm, comprising: the control mechanism comprises a control box, and a plurality of groups of first control modules and second control modules which are arranged in the control box; the visual perception module is arranged on the end face of the control box; The flexible continuum arm body comprises a first flexible joint arranged on the end face of the control box and a second flexible joint arranged on the first flexible joint, wherein the first flexible joint and the second flexible joint are respectively driven by a plurality of groups of control units so as to realize the rotation and the bending of the first flexible joint and the second flexible joint; And the tail end clamping jaw is arranged on the second flexible joint and driven by the second control module to realize the grabbing of the target object. Further, the first flexible joint includes: the first magnetic disk is arranged on the end face of the control box, and the first threading holes with the same number as the first control modules are equidistantly arranged on the surface of the first magnetic disk; one end of the extension spring is vertically arranged on the end face of the first magnetic disk, and the other end of the extension spring extends to one side far away from the control box; the second magnetic disk is sleeved in the middle of the tension spring, and second threading holes with the same number as the first control modules are formed in the surface of the second magnetic disk at equal intervals; And the first compression spring is sleeved on the outer ring of the tension spring between the first magnetic disk and the second magnetic disk. Further, the second flexible joint includes: The surface of the third magnetic disk is provided with third threading holes with the same number as the first control modules at equal intervals; and the second compression spring is sleeved on the outer ring of the tension spring between the second magnetic disk and the third magnetic disk. Further, the number of the first control modules is three, and each first control module includes: the first motor is arranged in the control box through a motor support frame; The coupling pulley is arranged on the output shaft of the first motor; The far guide pulley block is arranged on the inner wall of the control box; The near-guide pulley block is arranged on the inner wall of the control box close to the wire outlet hole formed in the control box; one end of the near joint driving rope is wound in a first mounting groove formed in the coupling pulley, the other end of the near joint driving rope is wound around the far guide pulley block and the near guide pulley block respectively and penetrates through the wire outlet hole, the first threading hole and the second threading hole respectively, and finally the near joint driving rope is fixed on the second magnetic disk; One end of the far joint driving rope is wound in a second mounting groove formed by the couplin