CN105729458A - Rigid-flexible coupled trunk-shaped continuous robot - Google Patents

Rigid-flexible coupled trunk-shaped continuous robot Download PDF

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Publication number
CN105729458A
CN105729458A CN201610173284.3A CN201610173284A CN105729458A CN 105729458 A CN105729458 A CN 105729458A CN 201610173284 A CN201610173284 A CN 201610173284A CN 105729458 A CN105729458 A CN 105729458A
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CN
China
Prior art keywords
rigid
platform
fixed platform
joint
robot
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
Application number
CN201610173284.3A
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Chinese (zh)
Inventor
李彬
赵新华
王收军
葛为民
丁跃达
张会义
戴旻
刘小龙
张海康
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tianjin University of Technology
China Automobile Industry Engineering Co Ltd
Original Assignee
Tianjin University of Technology
China Automobile Industry Engineering Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tianjin University of Technology, China Automobile Industry Engineering Co Ltd filed Critical Tianjin University of Technology
Priority to CN201610173284.3A priority Critical patent/CN105729458A/en
Publication of CN105729458A publication Critical patent/CN105729458A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/06Programme-controlled manipulators characterised by multi-articulated arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/06Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065Snake robots

Abstract

The invention discloses a rigid-flexible coupled trunk-shaped continuous robot, and relates to the technical fields of robots and advanced manufacturing. The robot comprises a control box and a group of joints which are mounted on one side of the control box, have completely the same structure and are connected end to end, wherein each joint comprises a movable platform, a fixed platform, and a supporting rod and three driving ropes which connect the movable platform and the fixed platform; one end of the supporting rod is fixedly connected with the fixed platform vertically, and the other end of the supporting rod is connected with the movable platform through a ball pair; one ends of the three driving ropes are fixedly connected with three endpoints of the movable platform respectively, and the other ends of the three driving ropes penetrate through three endpoints of the fixed platform to be connected with the ropes in the control box; and the ropes are connected with a motor through a speed reducer. According to the rigid-flexible coupled trunk-shaped continuous robot, working platforms of each joint can achieve motion output of three-dimensional rotation under a cartesian coordinate system; and the motion output of each movable platform is achieved through transmission of the rigid supporting rod and the three driving ropes, so that the rigid-flexible coupled motion characteristic is achieved.

Description

A kind of Coupled Rigid-flexible trunk type sequential machine people
[technical field]
The present invention relates to robot mechanism and advanced manufacturing technology field, particularly to a kind of Coupled Rigid-flexible trunk type sequential machine people.
[background technology]
Robotics is that all round computer, cybernetics, theory of mechanisms, information and sensing technology, artificial intelligence, bionics etc. are multidisciplinary and the new and high technology that formed, and very active in research in the present age, application is increasingly extensive.Except the discrete type robots such as traditional apery operation industrial robot, continuous robot receives the concern of domestic and international numerous scholars with the compliance of its excellence.Sequential machine people's Inspiration Sources is in animal organs such as big trunk, Octopus tentacles.Such animal organ does not have specific skeleton or cartilage structure, but has surprising operational capacity.Relative to conventional discrete humanoid robot, continuous robot is lacking on the basis in rigidity joint, can imitate above-mentioned animal organ operation.Such as, elephant utilizes nose to win leaves from tree, from picking up the operations such as large-scale branch on the ground.The available winding method of sequential machine people captures large scale, shape object unknown, frangible, it is possible to realize the search and rescue aid under non-structural circumstances not known.But, relative to conventional industrial robot, sequential machine people no matter structural design or in theoretical research equal immaturity.
In presently relevant document, existing trunk type sequential machine is that the mode adopting Pneumatic flexible realizes per capita, namely the trunk type sequential machine people based on Pneumatic flexible actuator is constructed by the pneumatic joint such as Pneumatic flexible ball joint, bending joint, there is the shortcomings such as control technical sophistication, motion underaction and process and assemble are complicated in such robot.
[summary of the invention]
The present invention seeks to solve the problems referred to above that existing trunk type sequential machine people exists at present, a kind of Coupled Rigid-flexible trunk type sequential machine people is provided, the motion of bionical trunk is simulated by the mode that rope drives by this robot, there is simple in construction, manufacture, installation easy, transmission accuracy and the speed of service are high, cost is low, and the feature such as work space is bigger.
The technical solution adopted in the present invention
A kind of Coupled Rigid-flexible trunk type sequential machine people, this robot is that the one group of completely identical in structure joint installed by control chamber and control chamber side joins end to end a kind of Coupled Rigid-flexible trunk type sequential machine people being serially connected and formed, each described joint by motion platform (1), fixed platform (2), couple a support bar (3) of above-mentioned two platforms and three drive rope (L1, L2, L3) to form;Wherein, one end of described support bar (3) is vertical with fixed platform to be connected, and the other end is connected with motion platform (1) by ball secondary (S1);One end of three described driving ropes is fixing with three end points of motion platform respectively to be connected, and the other end is connected through three end points of fixed platform with the rope sheave in control chamber, and described rope sheave is connected with motor respectively through reductor.
Described rope sheave, reductor and motor are all positioned in the control chamber being connected with fixed platform (4).
Advantages of the present invention and providing the benefit that:
1, robot can realize the continuous movement output of simulation trunk.
2, the driving device of mechanism is fully seated on fixed platform, greatly reduces the motional inertia that mechanism is overall, such that it is able to realize the high-speed motion of mechanism.
3, by concatenating a clamping device on end movement platform, can be applicable to the occasion of high-speed picking-up.
[accompanying drawing explanation]
Fig. 1 is a kind of Coupled Rigid-flexible trunk type sequential machine people's structural representation of the present invention.
Fig. 2 is one Coupled Rigid-flexible trunk type sequential machine person joint's structural representation of the present invention.
Fig. 3 is one Coupled Rigid-flexible trunk type sequential machine people's embodiment schematic diagram of the present invention.
[detailed description of the invention]
Embodiment
As Figure 1-3, a kind of Coupled Rigid-flexible trunk type sequential machine people provided by the invention includes a control chamber 4, control chamber side is provided with one group of (n) completely identical in structure joint, and each joint joins end to end to be serially connected and forms a kind of Coupled Rigid-flexible trunk type sequential machine people.
As in figure 2 it is shown, each described joint is by motion platform 1, fixed platform 2, the support bar 3 coupling above-mentioned two platforms and three driving rope (L1, L2, L3) compositions.Wherein: one end of described support bar 3 is vertical with fixed platform to be connected, the other end is connected with motion platform 1 by ball secondary (S1);
One end of three described driving ropes is fixing with three end points of motion platform respectively to be connected, and the other end is connected through three end points of fixed platform with the rope sheave in control chamber 4, and described rope sheave is connected () respectively through reductor with motor in figure slightly.
Described rope sheave, reductor and motor are all positioned in control chamber 4.
The fixed platform in described first joint and control chamber side are fixed together, described fixed platform and motion platform can do a circular or circular part such as triangle, three summits on platform can be located on same circumference, or the three of triangle mountains, summit.
As shown in Figure 1, 2, rope sheave is driven to drive the motion in each joint by motor and speed reducer, it is achieved motion platform does Three dimensional rotation motion in work space.Move successively in each joint, thus realizing the continuous motion mode (as shown in Figure 3) of simulation trunk.

Claims (1)

1. a Coupled Rigid-flexible trunk type sequential machine people, it is characterized in that this robot is that the one group of completely identical in structure joint installed by control chamber and control chamber side joins end to end a kind of Coupled Rigid-flexible trunk type sequential machine people being serially connected and formed, each described joint by triangular motion platform (1), triangle fixed platform (2), couple a support bar (3) of above-mentioned two platforms and three drive rope (L1, L2, L3) to form;
Wherein:
One end of described support bar (3) is vertical with fixed platform to be connected, and the other end is connected with motion platform (1) by ball secondary (S1);
One end of three described driving ropes is fixing with three end points of motion platform respectively to be connected, and the other end is connected through three end points of fixed platform with the rope sheave in control chamber, and described rope sheave is connected with motor respectively through reductor;
Described rope sheave, reductor and motor are all positioned in the control chamber (4) being connected with fixed platform.
CN201610173284.3A 2016-03-24 2016-03-24 Rigid-flexible coupled trunk-shaped continuous robot Pending CN105729458A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610173284.3A CN105729458A (en) 2016-03-24 2016-03-24 Rigid-flexible coupled trunk-shaped continuous robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610173284.3A CN105729458A (en) 2016-03-24 2016-03-24 Rigid-flexible coupled trunk-shaped continuous robot

Publications (1)

Publication Number Publication Date
CN105729458A true CN105729458A (en) 2016-07-06

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CN (1) CN105729458A (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106313028A (en) * 2016-09-23 2017-01-11 天津理工大学 Unit module of software module robot
CN106346464A (en) * 2016-11-10 2017-01-25 燕山大学 Rigid-flexible series-parallel transverse zooming-type flexible manipulator
CN109107170A (en) * 2018-08-02 2019-01-01 海宁哈工联新投资合伙企业(有限合伙) A kind of bionical trunk mechanism and the amusement facility using it
CN109176474A (en) * 2018-10-25 2019-01-11 汕头大学 A kind of super redundant robot of rope bar combination drive
CN109262603A (en) * 2018-10-29 2019-01-25 燕山大学 Rope driving manipulator refers to and its manipulator
CN109414816A (en) * 2016-07-13 2019-03-01 佳能株式会社 The amending method of non-individual body robot and its kinematics model and its control method
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
WO2020082723A1 (en) * 2018-10-24 2020-04-30 哈尔滨工业大学(深圳) Rope-driven flexible claw and robot
CN111230845A (en) * 2020-02-24 2020-06-05 西安交通大学 Stretch bending type continuum robot unit and robot
CN111300385A (en) * 2020-04-01 2020-06-19 大连理工大学 Multi-degree-of-freedom continuous robot with function of flexibly grabbing target

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CN101863018A (en) * 2010-04-29 2010-10-20 汕头大学 Three-rotational-freedom parallel mechanism driven by rope
WO2012059791A1 (en) * 2010-11-05 2012-05-10 Rīgas Tehniskā Universitāte Robotic snake-like movement device
CN103203754A (en) * 2013-04-11 2013-07-17 上海大学 Mechanism capable of simulating human neck motions
CN103895005A (en) * 2014-04-10 2014-07-02 东南大学 Humanoid-neck parallel robot and control method thereof
CN104552286A (en) * 2014-12-26 2015-04-29 上海大学 Continuous multi-joint mechanical arm device
AT514914A4 (en) * 2013-09-30 2015-05-15 Lungenschmid Dieter Dr Curving device, in particular robotic arm

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Publication number Priority date Publication date Assignee Title
CN101229641A (en) * 2008-02-27 2008-07-30 哈尔滨工业大学 Line driven ultra-redundant degree of freedom robot
CN101746237A (en) * 2008-12-19 2010-06-23 中国科学院沈阳自动化研究所 Amphibious snake-like robot
CN101863018A (en) * 2010-04-29 2010-10-20 汕头大学 Three-rotational-freedom parallel mechanism driven by rope
WO2012059791A1 (en) * 2010-11-05 2012-05-10 Rīgas Tehniskā Universitāte Robotic snake-like movement device
CN103203754A (en) * 2013-04-11 2013-07-17 上海大学 Mechanism capable of simulating human neck motions
AT514914A4 (en) * 2013-09-30 2015-05-15 Lungenschmid Dieter Dr Curving device, in particular robotic arm
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CN104552286A (en) * 2014-12-26 2015-04-29 上海大学 Continuous multi-joint mechanical arm device

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109414816A (en) * 2016-07-13 2019-03-01 佳能株式会社 The amending method of non-individual body robot and its kinematics model and its control method
CN106313028A (en) * 2016-09-23 2017-01-11 天津理工大学 Unit module of software module robot
CN106346464A (en) * 2016-11-10 2017-01-25 燕山大学 Rigid-flexible series-parallel transverse zooming-type flexible manipulator
CN109107170A (en) * 2018-08-02 2019-01-01 海宁哈工联新投资合伙企业(有限合伙) A kind of bionical trunk mechanism and the amusement facility using it
WO2020082723A1 (en) * 2018-10-24 2020-04-30 哈尔滨工业大学(深圳) Rope-driven flexible claw and robot
CN109176474A (en) * 2018-10-25 2019-01-11 汕头大学 A kind of super redundant robot of rope bar combination drive
CN109176474B (en) * 2018-10-25 2020-10-09 汕头大学 Rope and rod hybrid drive super-redundancy robot
CN109262603A (en) * 2018-10-29 2019-01-25 燕山大学 Rope driving manipulator refers to and its manipulator
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
CN111230845A (en) * 2020-02-24 2020-06-05 西安交通大学 Stretch bending type continuum robot unit and robot
CN111230845B (en) * 2020-02-24 2021-04-20 西安交通大学 Stretch bending type continuum robot unit and robot
CN111300385A (en) * 2020-04-01 2020-06-19 大连理工大学 Multi-degree-of-freedom continuous robot with function of flexibly grabbing target

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