CN105150207B - Tentacle robot - Google Patents
Tentacle robot Download PDFInfo
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- CN105150207B CN105150207B CN201510648494.9A CN201510648494A CN105150207B CN 105150207 B CN105150207 B CN 105150207B CN 201510648494 A CN201510648494 A CN 201510648494A CN 105150207 B CN105150207 B CN 105150207B
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- joint
- base station
- convex portion
- longitudinal direction
- joint assembly
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Abstract
The invention provides a tentacle robot. The tentacle robot comprises a base table assembly and at least one joint assembly. The joint assemblies are in ball hinge connection to form a joint chain. The joint assembly located at the bottom of the joint chain is in ball hinge connection on the base table assembly. Bionics is adopted for the tentacle robot, so that flexible movement with the high degree of freedom is achieved.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of tentacle robot.
Background technology
The freedom of movement of robot is an important indicator for weighing robot performance, and what the free degree was represented is robot
Activity flexibility, the free degree is higher, and activity performance is higher.Industrial robot can be used in multiple fields, such as production,
Transport, even rescue and relief work etc..
General industrial robot is to realize that the multiaxis free degree is lived by the combination of various displacement carriages, whirligig
Dynamic.This robot architecture is more burdensome, and volume is more huge, and control difficulty is high.From the raising free degree, save space, letter
The angle of networked control systems, is more excellent by the tentacle formula design that robot is fabricated to similar arm or tail using bionics
The design of change, but not there is similar product in the prior art.
It is not difficult to find out, prior art also has certain defect.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of tentacle robot, realize that high-freedom degree is flexibly movable.
To achieve the above object, the present invention uses following technical scheme：
A kind of tentacle robot, including base station component and at least one section joint assembly；Between joint assembly and joint assembly
Ball pivot is connected, mutual ball pivot connection one articulated chain of composition of at least one section joint assembly, and positioned at articulated chain bottom one saves joint
Component ball pivot is connected on base station component.
Further, the base station component includes base station housing, base station core, permanent magnet, the electric module of base station and center control
Device processed；Base station housing is integrally in the form of a column, and its bottom is provided with mounting flange, and its longitudinal both sides is provided with first longitudinal direction protruding upward
Convex portion, the groove between two first longitudinal direction upper convex portions is the first transverse concave groove；Base station core is fixed on the inside of base station housing, base
The top center of platform core is provided with the ball pin for ball pivot connection；It is fixed with forever on first longitudinal direction upper convex portion and the first transverse concave groove
Magnet；The electric module of base station and central controller are located at the inside of base station housing.
Further, the joint assembly includes joint housing, joint core, permanent magnet, electromagnetism winding, the electric module in joint
And control chip；Joint housing is integrally in the form of a column, and its longitudinal both sides is provided with second longitudinal direction upper convex portion protruding upward, two second
Groove between longitudinal upper convex portion is the second transverse concave groove, and the both lateral sides of joint housing are provided with the second downwardly projecting transverse direction
Convex portion, the groove between two second horizontal lower convex portions is second longitudinal direction groove；Joint core is fixed on the inside of joint housing, closes
The top center for saving core is provided with the ball pin connected for ball pivot, and the bottom centre of joint core is provided with the ball bowl for ball pivot connection；
Permanent magnet is fixed with second longitudinal direction upper convex portion and the second transverse concave groove；Set on second horizontal lower convex portion and second longitudinal direction groove
There is electromagnetism winding；The electric module in joint and control chip are inside joint housing, and control chip passes through the electric module in joint
It is connected with electromagnetism winding, control chip is connected with central controller；
The ball bowl of joint assembly bottom is connected with the ball pin ball pivot at the top of base station component, convex under the second transverse direction of joint assembly
The first longitudinal direction upper convex portion of first transverse concave groove, the second longitudinal direction groove of joint assembly and base station component of portion and base station component it
Between be mutually twisted, and mutually leave gap；It is connected with ball pin ball pivot by ball bowl between two joint assemblies, superposed pass
The second of section component laterally the second transverse concave groove of lower convex portion and the joint assembly for being located at bottom, the joint assembly positioned at bottom
It is mutually twisted between second longitudinal direction upper convex portion and the second longitudinal direction groove of superposed joint assembly, and mutually leaves gap.
Further, the second longitudinal direction upper convex portion is provided with flexible pad with the second transverse concave groove.
Further, above-mentioned tentacle robot also includes flexible jacket；Flexible jacket sealing shroud located at whole articulated chain and
Base station component external.
Further, above-mentioned tentacle robot also includes functional module group；Functional module group is installed on a section of joint chain end
On joint assembly, and it is connected with central controller.
A kind of tentacle robot provided by the present invention, with advantages below：
Bionic design, with high-freedom degree, can complete the active actions similar to tentacle substantially；
Multiple joint assembly cooperation activities, save overall space, can be in narrow space freely activity；
The structure of joint assembly is the same, and volume production can carry out free assembling, and the length of articulated chain is substantially unlimited
System；
Functional module group is carried, possesses a variety of functions, can applied in various different fields, had a extensive future.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the overall structure diagram of tentacle robot of the present invention.
Fig. 2 is the structural representation of base station component.
Fig. 3 is the structural representation of joint assembly.
Description of reference numerals：
1st, base station component 2, joint assembly
3rd, base station housing 4, first longitudinal direction upper convex portion
5th, the first transverse concave groove 6, central controller
7th, base station core 8, ball pin
9th, permanent magnet 10, joint housing
11st, control chip 12, joint core
13rd, ball bowl 14, second longitudinal direction upper convex portion
15th, second the 16, second horizontal lower convex portion of transverse concave groove
17th, second longitudinal direction groove
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
And accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.It should be noted that described reality
It is only a part of embodiment of the invention to apply example, rather than whole embodiments.Based on the embodiment in the present invention, this area is general
The every other embodiment that logical technical staff is obtained under the premise of creative work is not made, belongs to present invention protection
Scope.
Embodiment
It should be noted that for the orientation of clear each structure of expression, used in text and vertically and horizontally orientation is described,
But actually longitudinal and transverse, top, bottom etc. are comparatively, specific limit not to be constituted to actual installation of the invention towards orientation
It is fixed.
Fig. 1 is referred to, the invention discloses a kind of tentacle robot, including base station component 1 and at least one section joint assembly
2；Ball pivot connection between joint assembly 2 and joint assembly 2, one joint of at least one section joint assembly 2 mutual ball pivot connection composition
Chain, the section ball pivot of joint assembly 2 positioned at articulated chain bottom is connected on base station component 1.
Industrial robot refers to the mechanical device with certain freedom of movement and locomitivity, can apply raw in industry
The fields such as product, life staying idle at home, rescue and relief work.General industrial robot is all to piece together one the combination of each single axial movement device
Rise, structure is complex, takes up room larger.
The present invention is that, using bionic design, each articulated chain can realize the swing of certain amplitude, multiple joint groups
The articulated chain of the composition of part 2 realizes Integral swinging just as tentacle.This design has the free degree higher, can imitate life
Most of action of thing limbs.And the space of present invention occupancy is smaller, overall structure is elongated, can shuttle in various narrow and small
Space carries out activity, and this is entirely different with common industrial robot.
Fig. 2 is referred to, preferably, the base station component 1 includes base station housing 3, base station core 7, permanent magnet 9, base station electricity
Gas module (not shown) and central controller 6；Base station housing 3 is overall to be in the form of a column, and its bottom is provided with mounting flange, its longitudinal both sides
First longitudinal direction upper convex portion 4 protruding upward is provided with, the groove between two first longitudinal direction upper convex portions 4 is the first transverse concave groove 5；Base
Platform core 7 is fixed on the inside of base station housing 3, and the top center of base station core 7 is provided with the ball pin 8 for ball pivot connection；First longitudinal direction
Permanent magnet 9 is fixed with the transverse concave groove 5 of upper convex portion 4 and first；The electric module of base station and central controller 6 are located at base station housing
3 inside.
Fig. 3 is referred to, preferably, the joint assembly 2 includes joint housing 10, joint core 12, permanent magnet 9, electromagnetism
Winding (not shown), the electric module in joint (not shown) and control chip 11；Joint housing 10 is overall to be in the form of a column, its longitudinal both sides
Second longitudinal direction upper convex portion 14 protruding upward is provided with, the groove between two second longitudinal direction upper convex portions 14 is the second transverse concave groove
15, the both lateral sides of joint housing 10 are provided with the laterally lower convex portion 16 of downwardly projecting second, two second laterally lower convex portion 16 it
Between groove be second longitudinal direction groove 17；Joint core 12 is fixed on the inside of joint housing 10, and the top center of joint core 12 sets
There is the ball pin 8 for ball pivot connection, the bottom centre of joint core 12 is provided with the ball bowl 13 for ball pivot connection；Second longitudinal direction is convex
Permanent magnet 9 is fixed with the transverse concave groove 15 of portion 14 and second；Second horizontal lower convex portion 16 and second longitudinal direction groove 17 are provided with
Electromagnetism winding；The electric module in joint and control chip 11 are inside joint housing 10, and control chip 11 is electric by joint
Module is connected with electromagnetism winding, and control chip 11 is connected with central controller 6；
The ball bowl 13 of the bottom of joint assembly 2 is connected with the ball pivot of ball pin 8 at the top of base station component 1, and the second of joint assembly 2 is horizontal
The of first transverse concave groove 5 of downward convex portion 16 and base station component 1, the second longitudinal direction groove 17 of joint assembly 2 and base station component 1
It is mutually twisted between one longitudinal upper convex portion 4, and mutually leaves gap；By ball bowl 13 and the ball of ball pin 8 between two joint assemblies 2
It is hinged, the second horizontal lower convex portion 16 of superposed joint assembly 2 is laterally recessed with second of the joint assembly 2 positioned at bottom
Groove 15, positioned at bottom joint assembly 2 second longitudinal direction upper convex portion 14 and superposed joint assembly 2 second longitudinal direction groove
It is mutually twisted between 17, and mutually leaves gap.
Base station component 1 is integrated with mounting structure and the center for overall control as the installing component of tentacle robot
Controller 6.Central controller 6 is responsible for overall command activity equivalent to the brain of whole tentacle robot.What the present invention was used
It is Magnetic Control principle, the joint assembly 2 for often saving mutual ball pivot connection can be indulged by positioned at the second horizontal lower convex portion 16 and second
Activity control is carried out to the electromagnetism winding on groove 17, the electromagnetism winding positioned at the joint assembly 2 of the section of top one is to be right against position
The permanent magnet 9 of the joint winding saved in bottom one, can be produced with permanent magnet 9 when electromagnetism winding is powered produces magnetic field and adsorbed
Active force, so that joint assembly 2 produces the swing of slight angle relatively, articulated chain passes through the swing of each joint assembly 2 then
Overall action can be caused.And why by electromagnetism around being mounted in different planes, be to reduce same section joint group
Produced between the electromagnetism winding of part 2 and influenced each other, reduce interference effect.Similarly, the Position Design of permanent magnet 9 is also such.
The generation of action is controlled by central controller 6, and the present invention uses a control system, each pass
Saving the control chip 11 of component 2 is used for the break-make of the corresponding electromagnetism winding of Partial controll, and the action of each control chip 11 is then
There is central controller 6 to command.All control chips 11 are connected with central controller 6, correspond to each control chip 11 just
Different ID are marked as, the instruction of coordination is sent to each control chip 11 by central controller 6.Each joint assembly
2 action is all separate and mutually coordinated.From for the driving force size of each joint assembly 2, the magnetic of permanent magnet 9
Induction is higher, and the power of action is bigger, it is preferred to use with the strong magnetic permanent magnet 9 compared with high magnetic flux density.Joint housing 10
Material then need hardness higher, intensity, while to avoid overall weight overweight, should as far as possible select lighter material,
The materials such as aluminium alloy, carbon fibre are all preferably to select.
Preferably, the transverse concave groove 15 of the second longitudinal direction upper convex portion 14 and second is provided with flexible pad.Due to mutually stinging
The two section joint assemblies 2 for closing are possible to contact with each other during activity, in order to avoid the rigidity between joint housing 10 connects
Touch, it is preferably scheme to be subject to buffering using flexible pad.Such design is it is possible to prevente effectively from the abrasion of joint housing 10 and old
Change, increase the service life.
As further preferably, above-mentioned tentacle robot also includes flexible jacket；Flexible jacket sealing shroud is located at whole
Outside articulated chain and base station component 1.The gap for activity must be left between each joint assembly 2 of tentacle robot, this
Undoubtedly generate the problem easily hidden dirt and easily entered by steam.Flexible jacket has whole tentacle robot sealed envelope
Effect avoids the steam or dust of outside from entering, while flexible jacket itself will not hinder the motion of tentacle robot.
Preferably, above-mentioned tentacle robot also includes functional module group；Functional module group is installed on a section of joint chain end
On joint assembly 2, and it is connected with central controller 6.Functional module group can be industrial some grippers for using, processing knife
Tool, plumb joint etc., being equipped with different functional module groups can just make the different ability of tentacle robot, on different fields
Using.
A kind of tentacle robot provided by the present invention, using bionic design, with high-freedom degree, substantially can be complete
Into the active actions similar to tentacle.The cooperation activity of multiple joint assemblies 2, saves overall space, can be in narrow space freedom
Activity, such as in small-sized passage free shuttling also can activity freely.The structure of each joint assembly 2 be it is the same,
Volume production can carry out free assembling, and the length of articulated chain is substantially unrestricted.And functional module group can be carried, possess a variety of work(
Can, can apply in various different fields, have a extensive future.
Embodiment described above only expresses one embodiment of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Shield scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (5)
1. a kind of tentacle robot, it is characterised in that：Including base station component and at least one section joint assembly；Joint assembly and joint
Ball pivot connection between component, mutual ball pivot connection one articulated chain of composition of at least one section joint assembly, positioned at articulated chain bottom
One section joint assembly ball pivot is connected on base station component；
The base station component includes base station housing, base station core, permanent magnet, the electric module of base station and central controller；Base station housing
Entirety is in the form of a column, and its bottom is provided with mounting flange, and its longitudinal both sides is provided with first longitudinal direction upper convex portion protruding upward, two first
Groove between longitudinal upper convex portion is the first transverse concave groove；Base station core is fixed on the inside of base station housing, in the top of base station core
The heart is provided with the ball pin for ball pivot connection；Permanent magnet is fixed with first longitudinal direction upper convex portion and the first transverse concave groove；Base station electricity
Gas module and central controller are located at the inside of base station housing.
2. tentacle robot according to claim 1, it is characterised in that：The joint assembly includes joint housing, joint
Core, permanent magnet, electromagnetism winding, the electric module in joint and control chip；Joint housing is integrally in the form of a column, its longitudinal both sides be provided with to
The second longitudinal direction upper convex portion for protruding above, the groove between two second longitudinal direction upper convex portions is the second transverse concave groove, joint housing
Both lateral sides are provided with the laterally lower convex portion of downwardly projecting second, and the groove between two second horizontal lower convex portions is recessed for second longitudinal direction
Groove；Joint core is fixed on the inside of joint housing, and the top center of joint core is provided with the ball pin for ball pivot connection, joint core
Bottom centre is provided with the ball bowl for ball pivot connection；Permanent magnet is fixed with second longitudinal direction upper convex portion and the second transverse concave groove；
Second horizontal lower convex portion and second longitudinal direction groove are provided with electromagnetism winding；The electric module in joint and control chip are located at joint housing
Inside, and control chip is connected by the electric module in joint with electromagnetism winding, control chip is connected with central controller；
Joint assembly bottom ball bowl be connected with the ball pin ball pivot at the top of base station component, joint assembly second laterally descend convex portion and
Phase between first transverse concave groove of base station component, the second longitudinal direction groove of joint assembly and the first longitudinal direction upper convex portion of base station component
Mutually occlusion, and mutually leave gap；It is connected with ball pin ball pivot by ball bowl between two joint assemblies, superposed joint group
The second of part laterally the second transverse concave groove of lower convex portion and the joint assembly for being located at bottom, positioned at bottom joint assembly second
It is mutually twisted between longitudinal upper convex portion and the second longitudinal direction groove of superposed joint assembly, and mutually leaves gap.
3. tentacle robot according to claim 2, it is characterised in that：The second longitudinal direction upper convex portion is laterally recessed with second
Groove is provided with flexible pad.
4. tentacle robot according to claim 1, it is characterised in that：Also include flexible jacket；Flexible jacket sealing shroud
Located at whole articulated chain and base station component external.
5. tentacle robot according to claim 1, it is characterised in that：Also include functional module group；Functional module group is installed on
On one section joint assembly of joint chain end, and it is connected with central controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510648494.9A CN105150207B (en) | 2015-10-07 | 2015-10-07 | Tentacle robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510648494.9A CN105150207B (en) | 2015-10-07 | 2015-10-07 | Tentacle robot |
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| Publication Number | Publication Date |
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| CN105150207A CN105150207A (en) | 2015-12-16 |
| CN105150207B true CN105150207B (en) | 2017-05-24 |
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|---|---|---|---|
| CN201510648494.9A Active CN105150207B (en) | 2015-10-07 | 2015-10-07 | Tentacle robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625630A (en) * | 2017-02-23 | 2017-05-10 | 佛山瑞蒙特科技有限公司 | Mechanical muscle |
| CN107263524A (en) * | 2017-08-02 | 2017-10-20 | 上海未来伙伴机器人有限公司 | A kind of joint module and robot for robot |
| CN107644130B (en) * | 2017-09-11 | 2021-08-31 | 奇瑞汽车股份有限公司 | Supporting shovel type multi-ball hinge pair end effector and simulation method thereof |
| CN109773769B (en) * | 2019-02-25 | 2020-11-10 | 清华大学深圳研究生院 | Flexible mechanical arm based on ball pin pair |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4751821A (en) * | 1985-03-29 | 1988-06-21 | Birchard William G | Digital linear actuator |
| GB0114406D0 (en) * | 2001-06-13 | 2001-08-08 | Oliver Crispin Consulting Ltd | Improvements in and relating to robotic arms |
| WO2008154408A1 (en) * | 2007-06-06 | 2008-12-18 | Tobey Wayland E | Modular hybrid snake arm |
| CN102990676A (en) * | 2012-11-23 | 2013-03-27 | 中国航空工业集团公司北京航空制造工程研究所 | Snakelike mechanical arm |
| CN103950039A (en) * | 2014-01-22 | 2014-07-30 | 南通爱慕希机械有限公司 | Mechanical arm |
| CN204954827U (en) * | 2015-10-07 | 2016-01-13 | 陈超 | Tentacle robot |
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| CN105150207A (en) | 2015-12-16 |
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xu Yingping Inventor after: Xie Xiuan Inventor after: Qiu Rongwei Inventor after: Zhuo Zhoulong Inventor after: Zhuo Liting Inventor before: Chen Chao |
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| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170424 Address after: 510660, Guangdong, Tianhe District, Pearl Village, East Cross Road, No. four, No., No. 1, A503A Applicant after: Guangzhou Xin Shan Tong Machinery Co., Ltd. Address before: 510070 Liwan District, Guangzhou, Zhongshan, No. eight road, No. two, ladder 801, 31 Applicant before: Chen Chao |
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