CN103231388B - Flexible operating arm used for service robot - Google Patents
Flexible operating arm used for service robot Download PDFInfo
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- CN103231388B CN103231388B CN201310173918.1A CN201310173918A CN103231388B CN 103231388 B CN103231388 B CN 103231388B CN 201310173918 A CN201310173918 A CN 201310173918A CN 103231388 B CN103231388 B CN 103231388B
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Abstract
The invention discloses a flexible operating arm used for a service robot. The operating arm comprises joints and connecting rods, wherein each connecting rod is a flexible connecting rod, such as a shaped hose, which can be bent into a certain shape arbitrarily and keep a corresponding shape in a three-dimensional space; the length and the size of each connecting rod when being curved are basically steady, and each connecting rod after being curved has a certain support force. The operating arm has a small number of joints, but owns multiple joint operating arms, so that abundant working space is owned, and tasks which only can be finished by a multi-freedom operating arm can be carried out by the flexible operating arm. Furthermore, the operating arm has multiple purposes, and can multiplex the same operating arm to adapt to various environments and tasks. In addition, the operating arm has negative flexibility, and can reduce damage to external people and objects, so that safety of a service object is guaranteed. Compared with the traditional operating arm, the flexible operating arm is more flexible, lighter and safer; the cost of the flexible operating arm is reduced greatly; and the flexible operating arm is more suitable to be applied in the fields such as domestic services and medical facilities.
Description
Technical field
The present invention relates to a kind of robot arm, especially relate to the flexible robot manipulator in service field application.
Background technology
As everyone knows, motion arm is a kind of common robot mechanism.Motion arm can realize welding, the several functions such as capture and tap, therefore motion arm be widely used in automatic assembling, spray paint, carry, the field of industrial production such as welding.The current motion arm overwhelming majority is applied to industrial production, although have the advantages such as high accuracy, industrial operation arm volume is too fat to move huge, and flexibility ratio is low, and shell is hard, with high costs.And service object be the occasion of people, often wish that motion arm is more flexible, lightly, more safer, and advantage of lower cost.Therefore, common industrial operation arm cannot meet the demand in the field such as home services, medical facilities.Specifically:
Common motion arm working space is narrow and small, and flexibility is not high, and this makes motion arm critical constraints system when tasks such as execution capture and taps.For expanding the working space of motion arm and increasing the free degree of motion arm, the general method adopted is the amount of articulation increasing motion arm.Although along with the increase of joint number, the performance of motion arm end in reachable tree and flexibility all increases, but because the complexity in joint is high, and volume and weight is bigger than normal, therefore the quantity increasing joint will inevitably cause the complexity of motion arm to become large, cost increases substantially, and profile is too fat to move, sturdy.
At present, motion arm is once after completing, and just can only perform a kind of task, namely purposes is single, does not have lasting use value.Once environment and task change, the motion arm that purposes is single just cannot adapt to new environment and task, at this moment just needs the motion arm that regenerative ratio one is brand-new.Again because production operation arm needs a large amount of previous works, and fabrication cycle is long, cost is high, and production operation arm will certainly cause waste again, increases cost.
Further, mostly current motion arm is rigidity, hard, easily damages service object.Motion arm is when executing the task, once control system breaks down, hard motion arm hits bystander or valuable object most probably by mistake, causes serious injury service object, and therefore current motion arm safety coefficient is lower, and lie dormant potential safety hazard.
Summary of the invention
In view of this, the present invention seeks to solve that current industrial operation arm working space is narrow and small, purposes is single and there is the problem of potential safety hazard, provide a kind of flexible motion arm for service robot, to be applicable to the field such as home services, medical facilities.
Flexible motion arm for service robot provided by the invention, comprises joint and connecting rod, and described connecting rod is the flexible link that can bend to arbitrarily definite shape and can keep respective shapes in three-dimensional space.The concrete structure of described flexible motion arm comprises: the pedestal be connected with robot, and the first joint that pedestal is installed in turn, the first flexible link, second joint and the second flexible link, the second flexible link is provided with motion arm end.
Described flexible link is the sizing flexible pipe with style-ability.
Described flexible link that is sizing flexible pipe, in the absence of external forces, the shape of flexible link can not change; When being applied to the external force on flexible link and being greater than the holding capacity of flexible link self (flexible link self holding capacity is general between 200 n and 600n), flexible link can bend to arbitrarily definite shape can keep respective shapes in three-dimensional space, time bending length and size basicly stable.The support force of described motion arm end between 30N-50N, for realizing functions such as capturing, tap.
This motion arm is when executing the task, once the working space of motion arm can not meet the demand of current task, can according to task situation, rapid adjustment sizing flexible pipe 2, the shape namely changing motion arm, to meet mission requirements, has enriched the working space of few joint motion arm end 4.
This motion arm, when environment and task change, by changing the form of flexible link 2, adapting to new environment and task, realizing multiplexing same motion arm to complete diversified task.
Motion arm has certain flexibility, once robot control system is malfunctioning, the extraneous people of motion arm accident collision and object, the passive flexibility of sizing flexible pipe 2 can make motion arm change own form passively, thus between the extraneous people and object of motion arm and its collision, forms one cushion.
Advantage of the present invention and beneficial effect:
This motion arm adjusts the form of motion arm flexible link 2 by artificially applying external force, have adjusted the form of motion arm afterwards, can be met the motion arm form of mission requirements.In other words, owing to constantly can adjust its own shape, this motion arm adopts a small amount of joint just can obtain multi-joint motion arm just obtainable working space, namely just can complete with the motion arm of lower-mobility the task that high-freedom degree motion arm just can complete.Further, when environment and task change, do not need to make new motion arm again, directly change the form of motion arm flexible link 2 according to new environment and demand, just can complete new task, thus adapt to diversified environment.Which achieves the multiplexing of motion arm, impart the use value that motion arm is permanent, avoiding problems the waste that production operation arm straps is again come, reduce the cost of motion arm.Again because this motion arm has passive flexibility, when with extraneous things collide, flexible link 2 can change its own shape passively in impact moment, thus reduce the injury of motion arm things to external world, greatly ensure the safety of service object, for its application in the field such as home services, medical facilities is had laid a good foundation.And this flexible motion arm cost greatly reduces compared with industrial operation arm, provide possibility for robot comes into huge numbers of families.
Accompanying drawing explanation
Fig. 1 is the flexible motion arm for service robot provided by the invention.
Fig. 2 is the flexible motion arm for service robot after distortion provided by the invention.
In figure, 1 is joint, and 2 is flexible link (sizing flexible pipes), and 3 is the pedestals be connected with robot, and 4 is motion arm ends.
Detailed description of the invention
Embodiment
As shown in the figures 1 and 2, flexible motion arm for service robot provided by the invention, comprise the pedestal 3 be connected with robot, the first joint 1, first flexible link 2 that pedestal 3 is installed in turn, second joint 1 and the second flexible link 2, second flexible link 2 are provided with motion arm end 4.
First, second described flexible link that is sizing flexible pipe (can commercially buy) 2 can bend to arbitrarily definite shape and can keep respective shapes in three-dimensional space.
When being applied to the external force on sizing flexible pipe 2 and being less than flexible pipe ability to bear (200N-600N), the form trait of this sizing flexible pipe 2 is constant; When being applied to the external force on this sizing flexible pipe 2 and being greater than flexible pipe ability to bear, such as apply the external force of 700N, flexible pipe can bend to arbitrarily definite shape and can keep its shape in three-dimensional space, time bending length and size basicly stable, and after bending, bend pipe itself has certain support force.Because the application point of power is different, so the support force of motion arm end is between 30N50N.When the sizing flexible pipe 2 in connection two joints changes shape because of external force, the form of motion arm also just changes thereupon.
This motion arm is when executing the task, if motion arm cannot meet the working space that current task requires, apply an external force (as 700N) can artificially to sizing flexible pipe 2, the constantly form of adjustment motion arm, until obtain the ideal form (as shown in Figure 2) meeting mission requirements.Namely use a small amount of joint, just can obtain the working space enriched, with the motion arm of lower-mobility, complete the task that multiple degrees of freedom motion arm could perform.
When external environment and task change, do not need again to manufacture motion arm again, directly can change the form of motion arm to adapt to new environment and task, namely multiplexing same motion arm completes diversified task.And, after use sizing flexible pipe, this motion arm has passive flexibility, once robot control system is malfunctioning, the people of motion arm accident collision periphery and object, the connecting rod 2 be made up of sizing flexible pipe can change own form passively in impact moment, forms a kind of buffering between motion arm and the things collided, this buffering significantly reduces the injury of motion arm people and object to external world, has ensured the safety of service object.
Claims (4)
1. the flexible motion arm for service robot, this motion arm comprises joint and connecting rod, it is characterized in that described connecting rod is the flexible link that can bend to arbitrarily definite shape and can keep respective shapes in three-dimensional space, described flexible link is the sizing flexible pipe with style-ability.
2. the flexible motion arm for service robot according to claim 1, is characterized in that described sizing flexible pipe, and in the absence of external forces, the shape of flexible link can not change; When being applied to the external force on flexible link and being greater than the holding capacity of flexible link self, flexible link can bend to arbitrarily definite shape can keep respective shapes in three-dimensional space, time bending length and size basicly stable.
3. the flexible motion arm for service robot according to claim 1 and 2, is characterized in that the support force of described motion arm end is between 30N-50N, captures for realizing, puts touch function.
4. the flexible motion arm for service robot according to claim 1 and 2, it is characterized in that the concrete structure of described flexible motion arm comprises: the pedestal be connected with robot, the first joint that pedestal is installed in turn, the first flexible link, second joint and the second flexible link, the second flexible link is provided with motion arm end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310173918.1A CN103231388B (en) | 2013-05-10 | 2013-05-10 | Flexible operating arm used for service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310173918.1A CN103231388B (en) | 2013-05-10 | 2013-05-10 | Flexible operating arm used for service robot |
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| Publication Number | Publication Date |
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| CN103231388A CN103231388A (en) | 2013-08-07 |
| CN103231388B true CN103231388B (en) | 2015-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310173918.1A Active CN103231388B (en) | 2013-05-10 | 2013-05-10 | Flexible operating arm used for service robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228055B (en) * | 2019-05-30 | 2022-11-04 | 南方科技大学 | Multi-joint mechanical arm suitable for physical interaction in unstructured environment |
| CN112936248A (en) * | 2021-03-09 | 2021-06-11 | 辽宁工程技术大学 | Rigid-flexible coupling mechanical arm for cleaning ground coal bunker and use method thereof |
Citations (6)
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|---|---|---|---|---|
| DE4240435A1 (en) * | 1992-11-13 | 1994-05-19 | D T I Dr Trippe Ingenieurgesel | Three dimensional arm used to inspect reactor pressure vessels - comprises cylinders contg. elements connected by ball joints |
| EP1285733A2 (en) * | 2001-08-16 | 2003-02-26 | Dürr Systems GmbH | Manipulator provided with a cable arrangement connected to a working tool |
| CN2774717Y (en) * | 2005-01-17 | 2006-04-26 | 江南大学 | Snaik shape robot of multiple freedom flexible joints |
| JP2010214474A (en) * | 2009-03-13 | 2010-09-30 | Panasonic Corp | Manipulator |
| CN201909929U (en) * | 2011-01-17 | 2011-07-27 | 金闯 | Portable multipurpose photographic lamp |
| CN102257292A (en) * | 2008-12-19 | 2011-11-23 | 株式会社川渊机械技术研究所 | Linearly moving extendable mechanism and robot arm equipped with linearly moving extendable mechanism |
-
2013
- 2013-05-10 CN CN201310173918.1A patent/CN103231388B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4240435A1 (en) * | 1992-11-13 | 1994-05-19 | D T I Dr Trippe Ingenieurgesel | Three dimensional arm used to inspect reactor pressure vessels - comprises cylinders contg. elements connected by ball joints |
| EP1285733A2 (en) * | 2001-08-16 | 2003-02-26 | Dürr Systems GmbH | Manipulator provided with a cable arrangement connected to a working tool |
| CN2774717Y (en) * | 2005-01-17 | 2006-04-26 | 江南大学 | Snaik shape robot of multiple freedom flexible joints |
| CN102257292A (en) * | 2008-12-19 | 2011-11-23 | 株式会社川渊机械技术研究所 | Linearly moving extendable mechanism and robot arm equipped with linearly moving extendable mechanism |
| JP2010214474A (en) * | 2009-03-13 | 2010-09-30 | Panasonic Corp | Manipulator |
| CN201909929U (en) * | 2011-01-17 | 2011-07-27 | 金闯 | Portable multipurpose photographic lamp |
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| CN103231388A (en) | 2013-08-07 |
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