CN105690378A - Compact multi-joint-section snake arm driving mechanism easy to expand - Google Patents
Compact multi-joint-section snake arm driving mechanism easy to expand Download PDFInfo
- Publication number
- CN105690378A CN105690378A CN201610166085.XA CN201610166085A CN105690378A CN 105690378 A CN105690378 A CN 105690378A CN 201610166085 A CN201610166085 A CN 201610166085A CN 105690378 A CN105690378 A CN 105690378A
- Authority
- CN
- China
- Prior art keywords
- bearing
- fixing plate
- plate
- driving mechanism
- providing holes
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a compact multi-joint-section snake arm driving mechanism easy to expand. The mechanism comprises an upper bearing fixed plate, multiple upper flange bearings, multiple guide pulleys, multiple scrolls, multiple lower flange bearings, a lower bearing fixed plate, multiple couplings, a motor fixed plate, multiple driving motors, a baseplate and a fixed disc. The mechanism has the following advantages: the mechanism is compact in structure, and saves the space; the mechanism adopts a winding mode to realize the displacement control of driving ropes, and has the characteristics of small occupied space and easiness in expansion compared with a linear moving mode; and an annular arrangement mode of the driving motors, the couplings and the scrolls enables the driving structure to become compact and reduces the size of the mechanism. The mechanism is easy to expand: the motors are annularly arranged to reduce the size of the driving mechanism and to increase the expandability of the driving mechanism, so that the increment of joint number and the future research and application are convenient.
Description
Technical field
The invention belongs to technical field of mechanical design, particularly relate to the multi-joint section snake arms driving mechanism that a kind of compact easily extends。
Background technology
At present, traditional discrete type machine adopts rigidity joint and bar linkage structure per capita, for realizing the multifreedom motion in free space, but generally only there are due to it 5～7 degree of freedom, therefore that the environmental suitability of the limited working space such as similar fuel tanker is poor。Different from discrete type robot, the flexible structure of continuous machine artificial " without vertebra ", it adopts the structure that shape can change flexibly, and does not have joint and the connecting rod of any rigidity。This novel bio-robot has good bending property, can be submissive and change self shape neatly, therefore there is the ability that can change own form according to the situation of Environment Obstacles thing, therefore the environment of limited working space is had the adaptive capacity of uniqueness, so its application prospect is very wide, it is possible to the occasion such as diagnosis and treatment being applied to the operation in fuel tanker inspection, multi-obstacle avoidance industrial environment, crooked pipeline and the investigation subsiding in building and search and rescue, the maintenance of nuclear power station internal duct, human body diseases。
A kind of fuel tanker inspection machine people based on Continuum Structure being filed by the present applicant disclosed in Chinese invention patent the 201210218967.8th。This fuel tanker inspection machine is a kind of continuous robot artificially, and Fig. 1 is snake arms body structural representation in this robot；As shown in Figure 1, described snake arms body 16 is flexible structure, it is made up of at least five joint 20, each joint 20 has two degree of freedom, can bend to all directions, therefore snake arms body 16 at least has ten degree of freedom, and each joint 20 includes head end disk 21, end disc portion 19, multiple support disk 24, flexible support bar 26 and Duo Gen and drives rope 25；Wherein the middle part standoff distance from bottom to up of head end disk 21, multiple support disk 24 and end disc portion 19 is sleeved on flexible support bar 26, being formed with multiple via on the circumference of each head end disk 21, support disk 24 and end disc portion 19, the head end disk in a upper joint 20 is interconnected by similar joint connector 22 with the end disc portion in next joint 20；Many drive rope 25 to extend through in the via being arranged on head end disk 21, support disk 24 and end disc portion 19, and lower end is wound on a corresponding spool by a reverse wheel, and upper end is fixed on the end disc portion 19 in this joint 20。
The type of drive of this snake arms body 16 adopts line type of drive, and drive motor is placed in outside, so can alleviate the weight of snake arms body 16, increases control accuracy, and still has the suitability in inflammable and explosive environment。But there is its own shortcomings in it: the snake arms body 16 for controlling to have simple joint section is curved and rotary motion, 3 are at least needed to drive rope 25 to work in coordination, for reducing each coupling driven between rope 25 and reducing control difficulty, each joint segments needs three drive motors to control, therefore the snake arms body 16 with multi-joint section needs to use the drive motor being three times in joint hop count。The mode that the many employings of traditional drive motor are successively put is arranged, so drive motor need to occupy bigger space, and increasing with joint hop count, drive rope 25 complex with the connection of drive motor, what be therefore unfavorable for robot moves integrally the increase with joint segments, and assemble process complexity, be unfavorable for replacing and the inspection of part。
Summary of the invention
In order to solve the problems referred to above, it is an object of the invention to provide the multi-joint section snake arms driving mechanism that a kind of compact easily extends。
In order to achieve the above object, the multi-joint section snake arms driving mechanism that compact provided by the invention easily extends includes the fixing plate of upper bearing (metal), multiple upper flange bearing, multiple leading block, multiple spool, multiple lower flange bearing, the fixing plate of lower bearing, multiple shaft coupling, motor fixing plate, multiple drive motor, base plate and fixed disk；The output shaft of each drive motor sets up；Motor fixing plate utilizes and multiple is horizontally set on above base plate and drive motor at edge and the bottom column that is connected between base plate and motor fixing plate, outside is provided with multiple in the form of a ring and for running through the axle providing holes of drive motor output shaft, and each drive motor output shaft outer end connects a shaft coupling；The fixing plate of lower bearing utilizes and multiple is horizontally set on above motor fixing plate and shaft coupling at edge and the middle part column that is connected between motor fixing plate and the fixing plate of lower bearing, outside is provided with multiple bearing providing holes in the form of a ring, installs a lower flange bearing in each bearing providing holes；The lower end of each spool is inserted in the centre bore of a lower flange bearing；Fixed disk is arranged on the fixing plate surface middle part of lower bearing, it installs multiple leading blocks arranged in the form of a ring, and is formed with groove on the outer circumference surface of leading block；The fixing plate of upper bearing (metal) utilizes and multiple is horizontally set on above the fixing plate of lower bearing and leading block, spool at edge and the top column that is connected between the fixing plate of lower bearing and the fixing plate of upper bearing (metal), outside is provided with multiple flange providing holes in the form of a ring, and middle part is provided with multiple through wires hole in the form of a ring；One upper flange bearing is installed in each flange providing holes, in the centre bore of each upper flange bearing, fixes a spool upper end；The lower end of snake arms body is fixed on the fixing plate surface of upper bearing (metal) and is positioned at the position outside through wires hole, the every upper end driving rope is fixed on the end disc portion in a joint, the other end sequentially passes through downwards a via on support disk, head end disk and a through wires hole on plate fixed by upper bearing (metal), outwards changes 90 ° afterwards and be finally wrapped on a spool after a leading block upper groove。
The equivalently-sized of plate, the fixing plate of lower bearing, motor fixing plate and base plate fixed by described upper bearing (metal)。
Multiple flange providing holes on the fixing plate of described upper bearing (metal), the multiple bearing providing holes on the fixing plate of lower bearing, the multiple axle providing holes on motor fixing plate and the multiple motor providing holes on base plate are corresponding and are uniformly arranged。
40 ° of multiple axle providing holes intervals distribution on described motor fixing plate。
The multi-joint section snake arms driving mechanism that compact provided by the invention easily extends has the advantage that
(1) compact conformation, save space: adopt winding method realize to drive rope Bit andits control, have compared with rectilinear motion mode take up space little, it is easy to the feature of extension；Drive motor, shaft coupling, spool annular arrangement mode make drive compact conformation, reduce the size of mechanism。
(2) easily extension: motor annular arrangement reduces the volume of driving mechanism, and adds its extensibility, it is simple to close the increase of joint number and later studying further and application。
Accompanying drawing explanation
Fig. 1 be a kind of prior art based on snake arms body structural representation in the fuel tanker inspection machine people of Continuum Structure。
Fig. 2 is the multi-joint section snake arms driving mechanism structure axonometric chart that compact provided by the invention easily extends。
Fig. 3 is the multi-joint section snake arms driving mechanism exploded perspective view that compact provided by the invention easily extends。
Fig. 4 is reel bit architecture schematic diagram in the multi-joint section snake arms driving mechanism that the compact shown in Fig. 3 easily extends。
Fig. 5 is motor fixing plate top view in the multi-joint section snake arms driving mechanism that the compact shown in Fig. 3 easily extends。
Detailed description of the invention
Multi-joint section snake arms driving mechanism compact provided by the invention easily extended below in conjunction with the drawings and specific embodiments is described in detail。The parts identical with prior art adopt identical drawing reference numeral。
As shown in Fig. 2 Fig. 5, the multi-joint section snake arms driving mechanism that compact provided by the invention easily extends includes the fixing plate 2 of upper bearing (metal), multiple upper flange bearing 3, multiple leading block 4, multiple spool 6, multiple lower flange bearing 7, the fixing plate 8 of lower bearing, multiple shaft coupling 10, motor fixing plate 11, multiple drive motor 12, base plate 14 and fixed disk 18；The output shaft of each drive motor 12 sets up；Motor fixing plate 11 utilizes and multiple is horizontally set on above base plate 14 and drive motor 12 at edge and the bottom column 13 that is connected between base plate 14 and motor fixing plate 11, outside is provided with multiple in the form of a ring and for running through the axle providing holes 15 of drive motor 12 output shaft, and each drive motor 12 output shaft outer end connects a shaft coupling 10；The fixing plate 8 of lower bearing utilizes and multiple is horizontally set on above motor fixing plate 11 and shaft coupling 10 at edge and the middle part column 9 that is connected between motor fixing plate 11 and the fixing plate 8 of lower bearing, outside is provided with multiple bearing providing holes 17 in the form of a ring, installs a lower flange bearing 7 in each bearing providing holes 17；The lower end of each spool 6 is inserted in the centre bore of a lower flange bearing 7；Fixed disk 18 is arranged on fixing plate 8 surface middle part of lower bearing, it installs multiple leading blocks 4 arranged in the form of a ring, and is formed with groove on the outer circumference surface of leading block 4；The fixing plate 2 of upper bearing (metal) utilizes and multiple is horizontally set on above the fixing plate 8 of lower bearing and leading block 4, spool 6 at edge and the top column 5 that is connected between the fixing plate 8 of lower bearing and the fixing plate 2 of upper bearing (metal), outside is provided with multiple flange providing holes 27 in the form of a ring, and middle part is provided with multiple through wires hole 28 in the form of a ring；In each flange providing holes 27, a upper flange bearing 3 is installed, in the centre bore of each upper flange bearing 3, fixes spool 6 upper end；The lower end of snake arms body 16 is fixed on fixing plate 2 surface of upper bearing (metal) and is positioned at the position outside through wires hole 28, the every upper end driving rope 25 is fixed on the end disc portion 19 in a joint 20, the other end sequentially passes through downwards a via on support disk 24, head end disk 21 and a through wires hole 28 on plate 2 fixed by upper bearing (metal), outwards changes 90 ° afterwards and be finally wrapped on a spool 6 after leading block 4 upper groove。
The equivalently-sized of plate 2, the fixing plate 8 of lower bearing, motor fixing plate 11 and base plate 14 fixed by described upper bearing (metal)。
Multiple bearing providing holes 17 on the fixing plate 8 of multiple flange providing holes 27 on the fixing plate 2 of described upper bearing (metal), lower bearing, the multiple axle providing holes 15 on motor fixing plate 11 are corresponding and are uniformly arranged。
40 ° of multiple axle providing holes 15 intervals distribution on described motor fixing plate 11。
The multi-joint section snake arms driving mechanism operation principle now easily extended by compact provided by the invention is described below: when needing to change some length driving rope 25 to change the attitude of snake arms body 16, first the drive motor 12 driving rope 25 corresponding with these is started forward or backwards, by shaft coupling 10, moment reached spool 6, the rotation then passing through spool 6 changes the length driving rope 25, thus controls rotation and the curvature movement of snake arms body 16。
The all drive motors 12 on multi-joint section snake arms driving mechanism that compact provided by the invention easily extends are arranged on same layer ringwise, and the layout of drive motor 12 so can be made to seem compacter。If the joint hop count that need to increase on snake arms body 16, the method that can pass through to increase base plate 14 size for installing drive motor 12, thus can installing more drive motor 12, other actuating device also increases accordingly。
In order to save space and the convenient transmission driving rope 25, the present invention adopts winding method to realize driving the Bit andits control of rope 25。Compared with Linear transmission mode, such design occupies less space, and device is simple and less costly。
The diameter of spool 6 should be taken into account the rotating speed of drive motor 12 and drives the movement velocity of rope 25, unsuitable excessive or too small；When rotating speed one timing of drive motor 12, spool 6 diameter is directly proportional to the speed driving rope 25, if diameter is excessive, takes up room and can increase, and the flexible support bar 26 on snake arms body 16 can damage because deformation is too fast；Furthermore owing to driving rope 25 can be continually changing along with the motion driving rope 25 with the distance between the point of contact of spool 6 to corresponding leading block 4 when drive motor 12 rotates, if therefore diameter is too small, the driving being wrapped on spool 6 25 number of turns of restricting can increase, and so can cause the inaccuracy of control；Therefore the diameter of spool 6 should in certain scope value。
The multi-joint section snake arms driving mechanism that compact provided by the invention easily extends is the multi-joint section snake arms driving mechanism that a kind of compact easily extends, realize the rational deployment of snake arms robot driving mechanism and the spatial variations that occupies of entirety driving mechanism is little when increasing snake arms joint hop count target, the driving mechanism making snake arms robot is less by the restriction of joint hop count, it is easy to the increase and decrease of joint segments, strengthens the suitability of driving mechanism。
Claims (4)
1. the multi-joint section snake arms driving mechanism that a compact easily extends, it is characterised in that: the multi-joint section snake arms driving mechanism that described compact easily extends includes: upper bearing (metal) fixes plate (2), multiple upper flange bearing (3), multiple leading block (4), multiple spool (6), multiple lower flange bearing (7), the fixing plate (8) of lower bearing, multiple shaft coupling (10), motor fixing plate (11), multiple drive motor (12), base plate (14) and fixed disk (18)；Wherein base plate (14) is horizontally disposed with；The output shaft of each drive motor (12) sets up；Motor fixing plate (11) utilizes and multiple is positioned at edge and the bottom column (13) that is connected between base plate (14) and motor fixing plate (11) is horizontally set on base plate (14) and drive motor (12) top, outside is provided with multiple in the form of a ring and for running through the axle providing holes (15) of drive motor (12) output shaft, and each drive motor (12) output shaft outer end connects a shaft coupling (10)；Lower bearing is fixed plate (8) and is utilized and multiple be positioned at edge and the middle part column (9) that is connected between the fixing plate (8) of motor fixing plate (11) and lower bearing is horizontally set on above motor fixing plate (11) and shaft coupling (10), outside is provided with multiple bearing providing holes (17) in the form of a ring, installs a lower flange bearing (7) in each bearing providing holes (17)；The lower end of each spool (6) is inserted in the centre bore of a lower flange bearing (7)；Fixed disk (18) is arranged on fixing plate (8) surface middle part of lower bearing, it installs multiple leading blocks (4) arranged in the form of a ring, and is formed with groove on the outer circumference surface of leading block (4)；Upper bearing (metal) is fixed plate (2) and is utilized and multiple be positioned at edge and the top column (5) that is connected between the fixing plate (8) of lower bearing and the fixing plate (2) of upper bearing (metal) is horizontally set on above the fixing plate (8) of lower bearing and leading block (4), spool (6), outside is provided with multiple flange providing holes (27) in the form of a ring, and middle part is provided with multiple through wires hole (28) in the form of a ring；One upper flange bearing (3) is installed in each flange providing holes (27), in the centre bore of each upper flange bearing (3), fixes spool (6) upper end；The lower end of snake arms body (16) is fixed on the position being positioned at through wires hole (28) outside on fixing plate (2) surface of upper bearing (metal), the every upper end driving rope (25) is fixed on the end disc portion (19) of a joint (20), the other end sequentially passes through downwards a via on support disk (24), head end disk (21) and the fixing upper through wires hole (28) of plate (2) of upper bearing (metal), outwards changes 90 ° afterwards and be finally wrapped on a spool (6) after leading block (4) upper groove。
2. the multi-joint section snake arms driving mechanism that compact according to claim 1 easily extends, it is characterised in that: the equivalently-sized of plate (2), the fixing plate (8) of lower bearing, motor fixing plate (11) and base plate (14) fixed by described upper bearing (metal)。
3. the multi-joint section snake arms driving mechanism that compact according to claim 1 easily extends, it is characterised in that: the multiple bearing providing holes (17) on the multiple flange providing holes (27) on plate (2), the fixing plate (8) of lower bearing fixed by described upper bearing (metal), multiple axle providing holes (15) on motor fixing plate (11) are corresponding and are uniformly arranged。
4. the multi-joint section snake arms driving mechanism that compact according to claim 1 easily extends, it is characterised in that: the 40 ° of distributions in multiple axle providing holes (15) intervals on described motor fixing plate (11)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610166085.XA CN105690378A (en) | 2016-03-22 | 2016-03-22 | Compact multi-joint-section snake arm driving mechanism easy to expand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610166085.XA CN105690378A (en) | 2016-03-22 | 2016-03-22 | Compact multi-joint-section snake arm driving mechanism easy to expand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105690378A true CN105690378A (en) | 2016-06-22 |
Family
ID=56231610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610166085.XA Pending CN105690378A (en) | 2016-03-22 | 2016-03-22 | Compact multi-joint-section snake arm driving mechanism easy to expand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105690378A (en) |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695879A (en) * | 2016-08-09 | 2017-05-24 | 北京动力京工科技有限公司 | Ultra-elastic alloy slice mechanical arm |
| CN106737629A (en) * | 2017-02-28 | 2017-05-31 | 深圳源创智能机器人有限公司 | A kind of flexible arm linkage robot driven based on rope |
| CN107097218A (en) * | 2017-05-26 | 2017-08-29 | 天津大学 | A kind of silk traction variation rigidity mechanism based on mechanical caging |
| CN107225564A (en) * | 2017-05-17 | 2017-10-03 | 中国科学院自动化研究所 | A kind of Snakelike mechanical arm rolled up |
| WO2018041161A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible surgical instrument system |
| CN108161916A (en) * | 2017-08-24 | 2018-06-15 | 北京邮电大学 | A kind of line driving can simultaneous retractable and the flexible robot of bending |
| CN109176587A (en) * | 2018-09-18 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of more finger flexible manipulators based on scroll spring |
| CN109363772A (en) * | 2018-11-02 | 2019-02-22 | 北京邮电大学 | A kind of flexibility single hole micro-wound operation robot |
| CN109436309A (en) * | 2018-10-09 | 2019-03-08 | 南京航空航天大学 | A kind of Novel lightweight rotor flying robot |
| CN109476019A (en) * | 2016-07-26 | 2019-03-15 | Groove X 株式会社 | Articulated robot |
| CN109500806A (en) * | 2018-12-22 | 2019-03-22 | 上海交通大学 | A kind of multiple degrees of freedom multichannel auxiliary operation flexible mechanical arm system |
| CN109531561A (en) * | 2018-12-19 | 2019-03-29 | 汕头大学 | A kind of super redundant robot under Coupled Rigid-flexible rope, bar, spring immixture |
| CN110065058A (en) * | 2019-05-20 | 2019-07-30 | 浙江大学 | A kind of imitative trunk flexible mechanical arm |
| CN110575256A (en) * | 2019-08-28 | 2019-12-17 | 哈尔滨理工大学 | Robot for operation of endoscope in cavity of cavity |
| CN110723278A (en) * | 2019-09-20 | 2020-01-24 | 南京航空航天大学 | Rotor flying robot |
| CN111113390A (en) * | 2020-01-03 | 2020-05-08 | 南京航空航天大学 | Bionic snake-shaped robot and method |
| CN111195903A (en) * | 2020-01-13 | 2020-05-26 | 中南大学 | Underactuated universal flexible arm and robot |
| CN112692822A (en) * | 2021-01-05 | 2021-04-23 | 威海星空软体机器人科技有限公司 | Wire-driven soft mechanical arm capable of realizing winding motion |
| CN112720438A (en) * | 2020-12-21 | 2021-04-30 | 山东大学 | Outer limb mechanical arm with super-redundant degree of freedom and auxiliary operation device |
| WO2021089979A1 (en) * | 2019-11-08 | 2021-05-14 | Process Vision Ltd | Robotic apparatus |
| CN113183144A (en) * | 2021-05-13 | 2021-07-30 | 上海大学 | Rolling joint continuum mechanical arm driven by cable |
| CN113977562A (en) * | 2021-10-26 | 2022-01-28 | 浙江大学 | Compact snakelike arm for adverse circumstances |
| CN114099227A (en) * | 2021-10-25 | 2022-03-01 | 清华大学深圳国际研究生院 | Spinal rehabilitation robot and system thereof, and shape sensing and motion control method |
| CN114536315A (en) * | 2022-03-03 | 2022-05-27 | 哈尔滨工业大学（深圳） | Continuous multi-arm robot for on-orbit service |
| CN114619434A (en) * | 2022-04-24 | 2022-06-14 | 上海大学 | Mechanical arm |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01153292A (en) * | 1987-12-10 | 1989-06-15 | Komatsu Ltd | Overrun detector for flexible arm robot |
| CN1136988A (en) * | 1995-05-31 | 1996-12-04 | 北京航空航天大学 | Driving method and use for joint driving mechanism |
| CN102729240A (en) * | 2012-06-28 | 2012-10-17 | 中国民航大学 | Plane fuel tank inspecting robot based on connector structure and control method thereof |
| CN102744732A (en) * | 2012-06-20 | 2012-10-24 | 东莞东聚电子电讯制品有限公司 | Serpentine mechanical 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 |
| CN104552286A (en) * | 2014-12-26 | 2015-04-29 | 上海大学 | Continuous multi-joint mechanical arm device |
-
2016
- 2016-03-22 CN CN201610166085.XA patent/CN105690378A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01153292A (en) * | 1987-12-10 | 1989-06-15 | Komatsu Ltd | Overrun detector for flexible arm robot |
| CN1136988A (en) * | 1995-05-31 | 1996-12-04 | 北京航空航天大学 | Driving method and use for joint driving mechanism |
| CN102744732A (en) * | 2012-06-20 | 2012-10-24 | 东莞东聚电子电讯制品有限公司 | Serpentine mechanical arm |
| CN102729240A (en) * | 2012-06-28 | 2012-10-17 | 中国民航大学 | Plane fuel tank inspecting robot based on connector structure and control method thereof |
| 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 |
| CN104552286A (en) * | 2014-12-26 | 2015-04-29 | 上海大学 | Continuous multi-joint mechanical arm device |
Cited By (39)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109476019A (en) * | 2016-07-26 | 2019-03-15 | Groove X 株式会社 | Articulated robot |
| CN109476019B (en) * | 2016-07-26 | 2021-09-21 | Groove X 株式会社 | Multi-joint robot |
| CN106695879A (en) * | 2016-08-09 | 2017-05-24 | 北京动力京工科技有限公司 | Ultra-elastic alloy slice mechanical arm |
| WO2018041161A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible surgical instrument system |
| US11484373B2 (en) | 2016-08-31 | 2022-11-01 | Beijing Surgerii Technology Co., Ltd. | Flexible surgical instrument system |
| CN106737629B (en) * | 2017-02-28 | 2019-11-01 | 深圳源创智能机器人有限公司 | A kind of flexible arm linkage robot based on rope driving |
| CN106737629A (en) * | 2017-02-28 | 2017-05-31 | 深圳源创智能机器人有限公司 | A kind of flexible arm linkage robot driven based on rope |
| CN107225564A (en) * | 2017-05-17 | 2017-10-03 | 中国科学院自动化研究所 | A kind of Snakelike mechanical arm rolled up |
| CN107225564B (en) * | 2017-05-17 | 2020-06-16 | 中国科学院自动化研究所 | Coiled snake-shaped mechanical arm |
| CN107097218A (en) * | 2017-05-26 | 2017-08-29 | 天津大学 | A kind of silk traction variation rigidity mechanism based on mechanical caging |
| CN107097218B (en) * | 2017-05-26 | 2023-04-07 | 天津大学 | Wire traction variable-rigidity mechanism based on mechanical locking |
| CN108161916A (en) * | 2017-08-24 | 2018-06-15 | 北京邮电大学 | A kind of line driving can simultaneous retractable and the flexible robot of bending |
| CN109176587B (en) * | 2018-09-18 | 2021-11-12 | 哈尔滨工业大学（深圳） | Multi-finger flexible manipulator based on volute spiral spring |
| CN109176587A (en) * | 2018-09-18 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of more finger flexible manipulators based on scroll spring |
| WO2020057142A1 (en) * | 2018-09-18 | 2020-03-26 | 哈尔滨工业大学（深圳） | Multi-fingered flexible manipulator based on scroll spring |
| WO2020073765A1 (en) * | 2018-10-09 | 2020-04-16 | 南京航空航天大学 | Novel lightweight rotor flying robot |
| CN109436309A (en) * | 2018-10-09 | 2019-03-08 | 南京航空航天大学 | A kind of Novel lightweight rotor flying robot |
| CN109363772A (en) * | 2018-11-02 | 2019-02-22 | 北京邮电大学 | A kind of flexibility single hole micro-wound operation robot |
| CN109531561A (en) * | 2018-12-19 | 2019-03-29 | 汕头大学 | A kind of super redundant robot under Coupled Rigid-flexible rope, bar, spring immixture |
| CN109500806B (en) * | 2018-12-22 | 2020-09-29 | 上海交通大学 | Multi-freedom-degree multi-channel auxiliary operation flexible mechanical arm system |
| CN109500806A (en) * | 2018-12-22 | 2019-03-22 | 上海交通大学 | A kind of multiple degrees of freedom multichannel auxiliary operation flexible mechanical arm system |
| CN110065058A (en) * | 2019-05-20 | 2019-07-30 | 浙江大学 | A kind of imitative trunk flexible mechanical arm |
| CN110575256A (en) * | 2019-08-28 | 2019-12-17 | 哈尔滨理工大学 | Robot for operation of endoscope in cavity of cavity |
| CN110723278A (en) * | 2019-09-20 | 2020-01-24 | 南京航空航天大学 | Rotor flying robot |
| WO2021089979A1 (en) * | 2019-11-08 | 2021-05-14 | Process Vision Ltd | Robotic apparatus |
| CN111113390A (en) * | 2020-01-03 | 2020-05-08 | 南京航空航天大学 | Bionic snake-shaped robot and method |
| CN111195903A (en) * | 2020-01-13 | 2020-05-26 | 中南大学 | Underactuated universal flexible arm and robot |
| CN111195903B (en) * | 2020-01-13 | 2022-04-05 | 中南大学 | Underactuated universal flexible arm and robot |
| CN112720438A (en) * | 2020-12-21 | 2021-04-30 | 山东大学 | Outer limb mechanical arm with super-redundant degree of freedom and auxiliary operation device |
| CN112692822B (en) * | 2021-01-05 | 2022-08-02 | 威海星空软体机器人科技有限公司 | Wire-driven soft mechanical arm capable of realizing winding motion |
| CN112692822A (en) * | 2021-01-05 | 2021-04-23 | 威海星空软体机器人科技有限公司 | Wire-driven soft mechanical arm capable of realizing winding motion |
| CN113183144A (en) * | 2021-05-13 | 2021-07-30 | 上海大学 | Rolling joint continuum mechanical arm driven by cable |
| CN114099227A (en) * | 2021-10-25 | 2022-03-01 | 清华大学深圳国际研究生院 | Spinal rehabilitation robot and system thereof, and shape sensing and motion control method |
| CN114099227B (en) * | 2021-10-25 | 2023-10-10 | 清华大学深圳国际研究生院 | Spinal rehabilitation robot and system, shape sensing and motion control method thereof |
| CN113977562A (en) * | 2021-10-26 | 2022-01-28 | 浙江大学 | Compact snakelike arm for adverse circumstances |
| CN113977562B (en) * | 2021-10-26 | 2023-08-15 | 浙江大学 | Compact snake-shaped mechanical arm for severe environment |
| CN114536315A (en) * | 2022-03-03 | 2022-05-27 | 哈尔滨工业大学（深圳） | Continuous multi-arm robot for on-orbit service |
| CN114619434A (en) * | 2022-04-24 | 2022-06-14 | 上海大学 | Mechanical arm |
| CN114619434B (en) * | 2022-04-24 | 2024-05-31 | 上海大学 | Mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105690378A (en) | Compact multi-joint-section snake arm driving mechanism easy to expand | |
| CN107186707B (en) | Mechanical structure of flexible arm | |
| CN102892559B (en) | Link actuation device | |
| CN100411831C (en) | Cable arrangement for robot arm, and industrial robot utilizing the same | |
| CN111113390A (en) | Bionic snake-shaped robot and method | |
| CN201203403Y (en) | Pull rope type displacement sensor | |
| EP4180691A1 (en) | Method for actuating an actuation system | |
| CN110587589A (en) | Bending unit body and snake-shaped soft robot based on SMA drive | |
| CN101531217A (en) | Spirally driven walking robot in pipe | |
| CN110228544B (en) | Light-duty portable self-adaptation pole-climbing robot | |
| JP2018001315A (en) | Robot, control device, and robot system | |
| CN106695879A (en) | Ultra-elastic alloy slice mechanical arm | |
| CN107078494B (en) | Routing cell, rotary joint and robot | |
| CN113305827A (en) | Line-driven flexible mechanical arm suitable for underwater operation | |
| CN107717976B (en) | Rope-driven trunk bionic mechanical arm | |
| CN113942004A (en) | Snake-like soft robot based on tension structure | |
| CN106041878B (en) | A kind of full ground anthropomorphic robot universal walking mechanism | |
| CN106182080A (en) | A kind of can the rotary extension type mechanical arm of all-direction rotation | |
| CN105697928B (en) | Pipe walking robot | |
| Shoani et al. | Design and performance of a slender soft continuum manipulator for tall structure inspection | |
| CN209335647U (en) | Telescopic mechanism and mechanical arm with the structure | |
| CN209524231U (en) | A kind of screw machines people mobile in intracavitary curved surface | |
| CN110524515B (en) | Spiral contraction type mobile robot | |
| CN105171760B (en) | Robot | |
| CN109623870B (en) | Vector control rotary joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160622 |
|
| WD01 | Invention patent application deemed withdrawn after publication |