CN107598910B - Tendon-driven variable-scale continuous robot - Google Patents
Tendon-driven variable-scale continuous robot Download PDFInfo
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- CN107598910B CN107598910B CN201710961401.7A CN201710961401A CN107598910B CN 107598910 B CN107598910 B CN 107598910B CN 201710961401 A CN201710961401 A CN 201710961401A CN 107598910 B CN107598910 B CN 107598910B
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Abstract
The tendon-driven variable-scale continuous robot comprises a machine base, a driving device, an end effector and a plurality of elastic bodies and connecting discs which are sequentially connected in series, wherein the driving device is arranged in the machine base, a driving rope extending out of the driving device sequentially penetrates through threading holes on each connecting disc until the driving rope is fixedly connected with the end connecting disc, and the end effector is arranged on the end connecting disc to realize grabbing action; the air pump in the driving device supplies air to the air bags of the connecting discs through a plurality of air pipes respectively, and the change of the transverse dimension of the connecting disc is controlled, so that the thickness change of any part of the flexible mechanical arm is realized. The invention can operate in a non-structural task space with compact structural size, can improve the stress characteristic of the driving structure through size transformation, and can also support annular objects which are not easy to grasp by using the size transformation, thereby improving the grasping and bearing capacity of the mechanical arm.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a mechanical arm.
Background
Conventional industrial robots are mostly composed of rigid structures, can perform tasks rapidly, accurately, firmly and repeatedly, and play an important role in the fields of manufacturing, assembly, logistics and the like, but such robots usually work in a structured environment and are difficult to adapt to a dynamic, unknown and unstructured complex environment. With the development of robot technology, the next generation of robots must have the characteristics of interacting with the environment, perceiving the environment and interacting with human-computer. The continuous robot has a highly deformable structure, adapts to an unknown environment by utilizing the deformability of the structure, has the characteristic of strong environmental adaptability, and has greater advantages in the aspect of man-machine-environment interaction.
The continuous robot belongs to a super-redundancy degree-of-freedom structure body, the movement of the robot is mainly realized through elastic deformation, the movement form is multi-represented by spatial expansion and unidirectional bending transformation, the robot does not have the capability of automatically changing the geometric dimension of the structure in the operation process, the size of a matrix of the robot is not variable, and the robot is difficult to flexibly and flexibly change the structure of the robot according to the non-structural environment like a flexible living being. In 2011, the German Fei Situo company designs a 'bionic operation assistant' according to the characteristics of trunk, which can stably carry heavy load, and the principle is that each vertebra can be deeply unfolded and contracted by the compression and inflation of an air bag; in 2016, chinese patent publication No. CN205363953U discloses a pneumatic rope-controlled load type flexible mechanical arm, which is mainly formed by connecting multiple parallel mechanisms in series, and the middle of each joint is connected by a cross universal joint, so that the mechanical arm can bend towards multiple directions. At present, the flexible mechanical arm can realize the extension and the bending, but cannot realize the change of the transverse dimension of the matrix.
Disclosure of Invention
The invention aims to provide a tendon-driven variable-scale continuous robot capable of realizing the change of the size of a substrate.
The invention comprises a machine base, a driving device, an end effector, a plurality of elastic bodies and connecting discs which are connected with the machine base in series in turn, wherein the machine base is of a rectangular frame structure with hollowed four sides, one surface of the machine base is a flange-type mounting plate, the other surface of the machine base opposite to the machine base is a mounting plate, the center of the mounting plate is provided with a through hole, and the plate surface of the mounting plate is provided with 4 long-strip-shaped slotted holes which are uniformly distributed in the axial direction;
the connecting disc comprises a connecting frame, an air bag, a wire guide plate, a guide rod and a ball slideway, wherein the connecting frame is of a square block structure, a transverse through hole is formed in the center of the connecting frame, annular bosses are arranged at two ends of the connecting frame along the direction of the through hole, 4 transverse and longitudinal crossed central vent holes are formed in the center of the waist of the connecting frame, 8 transverse and longitudinal crossed through holes are formed in two sides of the central vent holes, the ball slideway is respectively arranged in the 8 through holes, the guide rod is arranged in the ball slideway, the outer end of the guide rod is fixedly connected with the wire guide plate, strip-shaped plates fixedly connected with the wire guide plate are respectively arranged at opposite angles of the wire guide plate, and threaded holes are formed in the ends of the strip-shaped plates and are used for being connected with the guide rod; an arch boss is arranged outside the wire guide plate, and a threading hole is arranged on the boss; the air bag is a corrugated pipe air bag, one end of the corrugated pipe is provided with a circular connector, the connector penetrates through a central vent hole which is transversely and longitudinally crossed at the waist of the connecting frame and is connected with the air pipe, one end of the air bag with the connector is fixedly connected with the connecting frame, and the other end of the air bag with the connector is fixedly connected with the wire guide plate; the elastic body is of a high-flexibility spring structure, the elastic body is made of spring steel, two ends of the elastic body are respectively fixedly connected with the connecting disc, and the end effector is fixed on the end connecting disc to achieve grabbing action.
The driving device comprises a driving motor, a winding shaft, an air pump, a driving rope and an air pipe, wherein 4 driving motors are fixed on a flange-type mounting plate in the machine base and are uniformly distributed around a central shaft in the circumferential direction; the output shaft of each driving motor is provided with a winding shaft, the driving ropes are wound on the winding shafts, and sequentially penetrate through the strip-shaped slotted holes of the mounting plate and the threading holes on each connecting disc until the driving ropes are fixedly connected with the tail end connecting disc, the driving motors drive the winding shafts to retract and release the driving ropes, so that the flexible mechanical arm is bent in all directions, and the strip-shaped slotted holes are used for transversely moving the driving ropes when the transverse size of the substrate is changed; the 4 air pumps are also fixed on the flange-type mounting plate in the machine base and are uniformly distributed circumferentially around the central shaft, one end of each air pump is a rubber hose, the other end of each air pump is connected with the air pump, the other end of each air pump sequentially penetrates through the through hole in the machine base mounting plate, the central transverse through hole connected with the connecting plate and the elastic body and is connected with the air bags of all stages of connecting plates, air is supplied to the air bags of all connecting plates through the air pipes to control the change of the transverse size of the connecting plate matrix, each air pump controls one-stage connecting plate, and the thickness change of any part of the flexible mechanical arm can be realized.
The machine seat, the winding shaft, the connecting frame and the wire guide plate are all made of aluminum alloy materials.
Compared with the prior art, the invention has the following advantages:
the invention can operate in a non-structural task space with compact structural size, can improve the stress characteristic of the driving structure through size transformation, and can also support annular objects which are not easy to grasp by using the size transformation, thereby improving the grasping and bearing capacity of the mechanical arm.
Drawings
FIG. 1 is a schematic diagram of the present invention.
FIG. 2 is a schematic diagram of the present invention in the widest state.
FIG. 3 is a schematic view of the finest state of the invention.
Fig. 4 is a schematic view of a driving device according to the present invention.
FIG. 5 is a schematic view of an elastomer and a land according to the present invention.
In the figure: 1-stand, 2-air pump, 3-driving motor, 4-spool, 5-trachea, 6-driving rope, 7-elastomer, 8-end effector, 9-link, 10-wire guide plate, 11-gasbag, 12-guide arm, 13-ball slide.
Detailed Description
In the schematic diagrams of the tendon driving type variable-scale continuous robot shown in fig. 1-5, a machine base 1 is of a rectangular aluminum alloy frame structure with hollowed four sides, one surface of the machine base is a flange type mounting plate, the other surface opposite to the machine base is a mounting plate, the center of the mounting plate is provided with a through hole, and the plate surface of the mounting plate is provided with 4 long-strip-shaped slotted holes which are uniformly distributed in the axial direction; the aluminum alloy connecting frame 9 in the connecting disc is of a square block structure, a transverse through hole is formed in the center of the connecting frame, annular bosses are arranged at two ends of the connecting frame along the direction of the through hole, 4 transverse and longitudinal crossed central vent holes are formed in the center of the waist of the connecting frame, 8 transverse and longitudinal crossed vertical through holes are formed in two sides of the central vent holes, ball slide ways 13 are respectively arranged in the 8 through holes, guide rods 12 are arranged in the ball slide ways, the outer ends of the guide rods are fixedly connected with the aluminum alloy wire guide plates 10, strip-shaped plates fixedly connected with the wire guide plates are respectively arranged at opposite angles of the wire guide plates, and threaded holes are formed in the end parts of the strip-shaped plates and are used for being connected with the guide rods; an arch boss is arranged outside the wire guide plate, and a threading hole is arranged on the boss; the air bag 11 is a corrugated pipe air bag, one end of the corrugated pipe is provided with a circular connector, the connector respectively penetrates through a transverse and longitudinal crossed central vent hole of the waist part of the connecting frame and is connected with the air pipe 5, one end of the air bag with the connector is fixedly connected with the connecting frame, and the other end of the air bag with the connector is fixedly connected with the wire guide plate; the elastic body 7 is of a high-flexibility spring structure, the material is spring steel, two ends of the elastic body are respectively fixedly connected with the connecting disc through welding, and the end effector 8 is fixed on the end connecting disc through bolts to achieve grabbing action.
4 driving motors 3 in the driving device are fixed on a flange-type mounting plate in the machine base and are uniformly distributed around a central shaft in the circumferential direction; an output shaft of each driving motor is provided with an aluminum alloy winding shaft 4, a driving rope 6 is wound on the winding shaft, the driving rope sequentially penetrates through the strip-shaped slotted holes of the mounting plate and the threading holes on each connecting disc until the driving rope is fixedly connected with the tail end connecting disc, the driving motor drives the winding shaft to retract and release the driving rope, the flexible mechanical arm can be bent in all directions, and the strip-shaped slotted holes are used for transversely moving the driving rope when the transverse size of the substrate changes; the 4 air pumps 2 are also fixed on the flange-type mounting plate in the machine base and are uniformly distributed circumferentially around the central shaft, the air pipes are rubber hoses, one ends of the air pipes are connected with the air pumps, the other ends of the air pipes sequentially penetrate through the through holes in the mounting plate of the machine base, the central transverse through holes of the connecting frames and the elastic bodies and are connected with the air bags of all stages of connecting discs, air is supplied to the air bags of all the connecting discs through the air pipes to control the change of the transverse size of the connecting disc matrix, and each air pump controls one-stage connecting disc, so that further, the thickness change of any part of the flexible mechanical arm can be realized.
Claims (2)
1. A tendon-driven variable-scale continuous robot is characterized in that: the device comprises a machine base, a driving device, an end effector, a plurality of elastic bodies and connecting discs which are connected with the end effector in series in sequence, wherein the machine base is of a rectangular frame structure with hollowed four sides, one surface of the machine base is a flange-type mounting plate, the other surface of the machine base opposite to the machine base is a mounting plate, the center of the mounting plate is provided with a through hole, and the plate surface of the mounting plate is provided with 4 long-strip-shaped slotted holes which are uniformly distributed in the axial direction;
the connecting disc comprises a connecting frame, an air bag, a wire guide plate, a guide rod and a ball slide way, wherein the connecting frame is of a square block structure, a transverse through hole is formed in the center of the connecting frame, annular bosses are arranged at two ends of the connecting frame along the direction of the through hole, 4 transverse and longitudinal crossed central vent holes are formed in the center of the waist of the connecting frame, 8 transverse and longitudinal crossed through holes are formed in two sides of the central vent holes, the ball slide way is respectively arranged in the 8 through holes, the guide rod is arranged in the ball slide way, the outer end of the guide rod is fixedly connected with the wire guide plate, strip-shaped plates fixedly connected with the wire guide plate are respectively arranged at opposite angles of the wire guide plate, and threaded holes are formed in the end parts of the strip-shaped plates and are used for being connected with the guide rod; an arched boss is arranged outside the wire guide plate, and a threading hole is formed in the arched boss; the air bag is a corrugated pipe air bag, one end of the corrugated pipe is provided with a circular connector, the connector penetrates through a central vent hole which is transversely and longitudinally crossed at the waist of the connecting frame and is connected with the air pipe, one end of the air bag with the connector is fixedly connected with the connecting frame, and the other end of the air bag with the connector is fixedly connected with the wire guide plate; the elastic body is of a high-flexibility spring structure, is made of spring steel, and is fixedly connected with the connecting disc at two ends, and the end effector is fixed on the end connecting disc to realize grabbing action;
the driving device comprises a driving motor, a winding shaft, an air pump, a driving rope and an air pipe, wherein 4 driving motors are fixed on a flange-type mounting plate in the machine base and are uniformly distributed around a central shaft in the circumferential direction; the output shaft of each driving motor is provided with a winding shaft, the driving ropes are wound on the winding shafts, and sequentially penetrate through the strip-shaped slotted holes on the plate surface of the mounting plate and the threading holes on each connecting plate until the driving ropes are fixedly connected with the tail end connecting plate, the driving motors drive the winding shafts to retract and release the driving ropes, so that the flexible mechanical arm can bend in all directions, and the strip-shaped slotted holes are used for transversely moving the driving ropes when the transverse size of the substrate changes; the 4 air pumps are also fixed on the flange-type mounting plate in the machine base and are uniformly distributed circumferentially around the central shaft, one end of each air pump is a rubber hose, the other end of each air pump is connected with the air pump, the other end of each air pump sequentially passes through a through hole in the machine base mounting plate, a central transverse through hole of the connecting frame and the elastic body and is connected with the air bags of all stages of connecting discs, air is supplied to the air bags of all the connecting discs through the air pipes to control the change of the transverse size of the connecting disc matrix, and each air pump controls one-stage connecting disc to realize the thickness change of any part of the flexible mechanical arm.
2. A tendon-driven type variable-scale continuous robot as claimed in claim 1, wherein: the machine seat, the winding shaft, the connecting frame and the wire guide plate are all made of aluminum alloy materials.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710961401.7A CN107598910B (en) | 2017-10-17 | 2017-10-17 | Tendon-driven variable-scale continuous robot |
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| CN201710961401.7A CN107598910B (en) | 2017-10-17 | 2017-10-17 | Tendon-driven variable-scale continuous robot |
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| CN107598910B true CN107598910B (en) | 2023-10-13 |
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| CN108393924B (en) * | 2018-02-10 | 2020-04-17 | 北京工业大学 | Line-driven telescopic bending full-flexible mechanical arm structure |
| CN108818523B (en) * | 2018-06-25 | 2021-09-10 | 江苏大学 | Multi-arm soft robot |
| CN108908319B (en) * | 2018-07-13 | 2020-07-07 | 哈尔滨工业大学（深圳） | Lightweight flexible robot |
| CN109202878B (en) * | 2018-09-14 | 2020-11-20 | 电子科技大学 | Space multi-degree-of-freedom segmented control bionic flexible arm based on metamorphic mechanism |
| CN109108953A (en) * | 2018-09-20 | 2019-01-01 | 上海大学 | Unmanned refuel of one kind uses mechanical arm system |
| CN110712196B (en) * | 2019-10-30 | 2023-01-17 | 长沙理工大学 | Snakelike arm robot capable of achieving two-degree-of-freedom bending |
| CN112847429A (en) * | 2020-12-31 | 2021-05-28 | 洛阳尚奇机器人科技有限公司 | Continuous flexible operating arm based on spring structure |
| 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 |
| CN113370198B (en) * | 2021-06-28 | 2022-05-27 | 燕山大学 | Bionic cross fishbone-shaped continuum robot mechanical arm |
| CN113911225B (en) * | 2021-10-18 | 2022-09-09 | 杭州电子科技大学 | Pipeline outer wall crawling robot and driving method thereof |
| CN113954057B (en) * | 2021-10-28 | 2022-10-04 | 杭州电子科技大学 | Tendon-driven flexible mechanical arm capable of growing and changing rigidity and flexibility and driving method thereof |
| CN114043512B (en) * | 2021-12-06 | 2023-09-22 | 北京理工大学 | Continuous grabbing robot with hidden tail end grippers and control method thereof |
| CN115741773A (en) * | 2022-12-01 | 2023-03-07 | 康荣杰 | Large torsional rigidity continuum joint |
| CN116604609A (en) * | 2023-07-20 | 2023-08-18 | 成都大学 | Multi-degree-of-freedom grabbing mechanical arm |
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