CN108393876A - A kind of line driving non-individual body robot - Google Patents
A kind of line driving non-individual body robot Download PDFInfo
- Publication number
- CN108393876A CN108393876A CN201710545682.8A CN201710545682A CN108393876A CN 108393876 A CN108393876 A CN 108393876A CN 201710545682 A CN201710545682 A CN 201710545682A CN 108393876 A CN108393876 A CN 108393876A
- Authority
- CN
- China
- Prior art keywords
- harness
- robot
- individual body
- line driving
- drive module
- 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.)
- Withdrawn
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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
- B25J9/06—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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to field of special robots, a kind of specifically line driving non-individual body robot, including mechanical arm, driving device and a plurality of harness, wherein mechanical arm is equipped with m segment, and it is equipped with the cradle head portion with Hooke's hinge between two segments of arbitrary neighborhood, each cradle head portion is pulled by n harness, it is total to have m × n harness, m × n the drive module to connect one to one with the m × n harness is equipped in the driving device, the mobile connection plate connected with corresponding harness is equipped in each drive module, and the harness moves control traction force by the mobile connection plate.The drive module of the present invention, to mechanical arm passing power, is driven mechanical arm flexible bending, can be mounted in different mobile devices, adapt to a variety of spatial movements by harness.
Description
Technical field
The present invention relates to field of special robots, specifically a kind of line driving non-individual body robot.
Background technology
Application with robot in fields such as industry, aerospace, medical treatment, services is increasingly extensive, the operation faced
Environment more sophisticated and height are unstructured, such as the processing operation in the narrow environment of aircraft rib compartment, nuclear power plant reactor
The Minimally Invasive Surgery etc. of the organs such as the upkeep operation of cooling line, the search and rescue of earthquake field trapped person and patient's alimentary canal.By
It is narrow and there are the influence of the factors such as numerous restriction of obstacle, traditional discrete joint types being made of rigid member in working space
Robot is difficult to complete this generic task, this also becomes a technical bottleneck of above application field robot development, there is an urgent need to
Novel robot motion's mechanism and mode of operation are studied for solving relevant issues.
The conventional industrial robot constituted from by discrete single-DOF-joint and rigid link is different, non-individual body robot
Can submissive bending, can flexibly change own form, realize the submissive of the evacuation of multi-obstacle avoidance and special shape object in environment
Crawl, it is narrow to working space and unstructured with very strong adaptability.The artificial non-knot of height of this kind of novel bionic machine
The robot manipulating task in structure space provides a kind of new approaches, and the exploitation of continuous humanoid robot is also becoming the emerging machine in the world
The forward position of the main development point and scientific and technical innovation of people.
Invention content
The purpose of the present invention is to provide a kind of line driving non-individual body robot, drive module is passed by harness to mechanical arm
Graduating power drives mechanical arm flexible bending, and the present invention can be mounted in different mobile devices, such as rectilinear orbit, industrial machine
People, AGV etc. adapt to a variety of spatial movements.
The purpose of the present invention is achieved through the following technical solutions：
A kind of line driving non-individual body robot, including mechanical arm, driving device and harness, wherein mechanical arm are equipped with m section
Section, and the cradle head portion with Hooke's hinge is equipped between two segments of arbitrary neighborhood, each cradle head portion passes through n harness
Drawing, it is total to have m × n harness, it is equipped in the driving device and the one-to-one m × n drive of the m × n harness
Dynamic model block is equipped with the mobile connection plate connected with corresponding harness in each drive module, and harness passes through mobile connection plate
Mobile control traction force.
The abutting end of two segments of the arbitrary neighborhood is equipped with guide flange, Hooke's hinge and leading on the different segment of both sides
It is connected to form the cradle head portion to flange, harness is solid with one after two guide flanges in corresponding cradle head portion
Determine ring to be connected.
The threading hole passed through for harness is circumferentially evenly equipped on the guide flange.
Miniature bearing is housed in the threading hole.
The m segment includes flexible arm end piece, rigid arm connector and multiple flexible arm connectors, wherein described rigid
Property arm connector one end and driving device be connected, the other end is connected by Hooke's hinge with a flexible arm connector, the multiple
Flexible arm connector passes sequentially through Hooke's hinge and is connected, and a flexible arm connector farthest apart from the rigid arm connector passes through
Hooke's hinge is connected with the flexible arm end piece.
The flexible arm connector includes the first flexible arm connector and the second flexible arm connector, and the first flexible arm connects
Fitting is shorter in length than the second flexible arm connector.
The driving device includes driving supporting rack and drive module, and mechanical arm is connected with the driving supporting rack, and edge
The axial direction for the driving supporting rack is looked, and each drive module is annularly distributed in the driving supporting rack.
Upper and lower side in the driving supporting rack is respectively provided with a positioning disk, is circumferentially evenly distributed on each positioning disk
There are multiple locating slots, each drive module upper and lower ends fixed by corresponding locating slot on two positioning disks up and down respectively
Position.
The drive module includes pedestal, mobile connection plate, leading screw and Power Component, and the leading screw is mounted on the pedestal
On, the mobile connection plate is slidably connected with the pedestal, the leading screw be equipped with a screw, the mobile connection plate with it is described
Screw is connected, and the leading screw is driven by the Power Component and rotated.
Mobile connection plate free end is equipped with a connecting plate threading hole, and harness is right again after the connecting plate threading hole
Catadioptric that top tight pieces are equipped in the connecting plate threading hole to via, the top tight pieces compress harness by holding screw.
Advantages of the present invention is with good effect：
1, the drive module in the present invention transmits movement and power by harness to mechanical arm, drives the latter's flexible bending,
It can be mounted in different mobile devices, adapt to a variety of spatial movements.
2, structure of the invention is compact and flexible height, has stronger anti-interference ability, can accurately realize more barriers in environment
Hinder the complaisant grasping of the evacuation and special shape object of object.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention,
Fig. 2 is the mechanical arm schematic diagram in Fig. 1,
Fig. 3 is the Hooke's hinge schematic diagram in Fig. 2,
Fig. 4 is the driving device schematic diagram in Fig. 1,
Fig. 5 is the drive module schematic diagram in Fig. 4,
Fig. 6 is the mobile connection plate lower end sectional view in Fig. 5,
Fig. 7 is that the cradle head portion harness on mechanical arm fixes schematic diagram.
Wherein, 1 is mechanical arm, and 2 be driving device, and 3 be flexible arm end piece, and 4 be the first connector of flexible arm, and 5 be to lead
To flange, 6 be the second connector of flexible arm, and 7 be Hooke's hinge, and 8 be rigid arm connector, and axis centered on 9,10 be free bearing, and 11 are
Miniature bearing, 12 be driving supporting rack, and 13 be drive module, and 14 is drive positioning disk, and 15 be the first support end, and 16 lead for straight line
Rail, 17 be mobile connection plate, and 18 be leading screw, and 19 be the second support end, and 20 be shaft coupling, and 21 be Power Component, and 22 be harness, 23
It is top tight pieces for holding screw, 24,25 be fixed ring, and 26 be pedestal.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Fig. 1~7, the present invention includes mechanical arm 1, driving device 2 and a plurality of harness 22, and wherein mechanical arm 1 is equipped with m
A segment, and it is equipped with cradle head portion between two segments of arbitrary neighborhood, Hooke's hinge 7 is equipped in the cradle head portion,
There are two rotational freedoms for the tool of the Hooke's hinge 7, two adjacent sections section can be made to realize yaw motion, each cradle head portion passes through
N harness 22 pulls control action posture, total to have m × n harness 22, is equipped with and the m × n in the driving device 2
M × n the drive module 13 that harness 22 connects one to one, is equipped in each drive module 13 and corresponding harness 22 connects
The mobile connection plate 17 connect, and the harness 22 moves control traction force by the mobile connection plate 17.
As shown in Fig. 2, m segment of the mechanical arm 1 includes flexible arm end piece 3, rigid arm connector 8 and multiple soft
Property arm connector, wherein described 8 one end of rigid arm connector and driving device 2 are connected, the other end is soft by Hooke's hinge 7 and one
Property arm connector be connected, the multiple flexible arm connector pass sequentially through Hooke's hinge 7 be connected, apart from the rigid arm connector 8
A farthest flexible arm connector is connected by Hooke's hinge 7 with the flexible arm end piece 3.
As shown in figures 2-3, flexible arm connector both ends are equipped with guide flange 5, the rigid arm connector 8 with
One end that the connected one end of flexible arm connector and the flexible arm end piece 3 are connected with flexible arm connector is also equipped with guiding
Flange 5, each Hooke's hinge 7 connect a cradle head for forming mechanical arm 1 with the guide flange 5 on the difference component of both sides
Portion.
As shown in Figure 3 and Figure 7, multiple threading holes are circumferentially evenly equipped with for driving in 5 outer rim of the guide flange
Harness 22 passes through, and in order to reduce friction, miniature bearing 11 is respectively arranged in each threading hole.
As shown in figure 3, in the present embodiment, the Hooke's hinge 7 includes central shaft 9 and free bearing 10, and the central shaft 9 is around free bearing
10 centre bore rotation, loads, the central shaft 9 is designed to hollow form to mitigate weight and accommodating.
As shown in Fig. 2, the flexible arm connector includes the first flexible arm connector 4 and the second flexible arm connector 6, two
Person is shorter in length than the second flexible arm connector 6 difference lies in the first flexible arm connector 4, the first flexible arm connector 4 with
The flexible arm end piece 3 is connected.In addition the rigid arm connector 8 itself cannot be bent, and play 1 length of prolonged mechanical arm
Effect.
Mobile connection plate 17 in each drive module 13 passes through the cradle head corresponding on mechanical arm 1 of harness 22 portion phase
Even, as shown in fig. 7, each cradle head portion includes two guide flanges for belonging to different components 5 on mechanical arm 1, and it is described
Harness 22 sequentially passes through to be connected after corresponding threading hole with a fixed ring 25 on described two guide flanges 5, the fixed ring
25 be stuck on guide flange 5 realize the harness 22 fix.
In the present embodiment, the mechanical arm 1 is equipped with 12 cradle head portions, and each cradle head portion passes through 3 harness
22 drawing controls, as shown in fig. 7,3 harness 22 are uniformly distributed along the circumferencial direction of guide flange 5, mutual position folder
Angle is 120 degree, total in this way to have 36 22 control machinery arm of harness, 1 movement postures, and 36 are correspondingly provided in driving device 2
Drive module 13, which corresponds, controls 36 drawings of harness 22.When mechanism works, the driving pair of drive module 13 in driving device 2
The harness 22 answered has certain pretightning force, so that mechanical arm 1 realizes corresponding movement posture.
As shown in figure 4, the driving device 2 includes driving supporting rack 12, drive module 13 and driving positioning disk 14, machinery
Arm 1 is connected with the driving supporting rack 12, looks along the axial direction of the driving supporting rack 12, each drive module 13 is annular in shape
It is distributed in the driving supporting rack 12, a positioning disk 14 is respectively provided in the 12 inside upper and lower side of driving supporting rack, every
14 outer rim of a positioning disk is circumferentially evenly equipped with multiple locating slots, and 13 upper and lower ends of each drive module pass through up and down respectively
Corresponding locating slot realizes positioning on two positioning disks 14.
As shown in figure 5, the drive module 13 includes pedestal 26, mobile connection plate 17, leading screw 18 and Power Component 21, institute
It states 26 both ends of pedestal and is respectively equipped with the first support end 15 and the second support end 19,18 both ends of the leading screw are supported by bearing and installed
On described two support ends, the mobile connection plate 17 is slidably connected with the pedestal 26, wherein being set on the pedestal 26
There is the linear guide 16, be equipped with the sliding block that coordinates with the linear guide 16 on the mobile connection plate 17, on the leading screw 18
Equipped with a screw, the mobile connection plate 17 is connected with the screw, and the Power Component 21 passes through a shaft coupling 20 and institute
It states leading screw 18 to be connected and the leading screw 18 is driven to rotate, and then the mobile connection plate 17 is driven to move linearly.
As shown in fig. 6,17 free end of mobile connection plate is connect with harness 22, in 17 free end of mobile connection plate
Equipped with a connecting plate threading hole, harness 22 passes through the reversed via of doubling again after the connecting plate threading hole, increasing friction force, in addition
Top tight pieces 24 are equipped in the connecting plate threading hole, the top tight pieces 24 are fixed harness by the effect of holding screw 23
22, prevent harness 22 from sliding.
The operation principle of the present invention is that：
As shown in Fig. 1~7, the mechanical arm 1 is equipped with m segment, and is equipped with cradle head between two neighboring segment
Portion, there are two rotational freedoms for the tool of Hooke's hinge 7 in each cradle head portion, and connected two parts can be made to realize deflection fortune
It is dynamic.When the present invention works, by the n drawing control of harness 22, amounting to has m × n harness 22 in each cradle head portion, and every
Harness 22 provides certain drawing pretightning force by the control of corresponding drive module 13 in driving device 2, to keep mechanical arm 1 real
Now corresponding movement posture.
Claims (10)
1. a kind of line driving non-individual body robot, it is characterised in that：Including mechanical arm (1), driving device (2) and harness (22),
Wherein mechanical arm (1) is equipped with m segment, and is equipped with the cradle head portion with Hooke's hinge (7) between two segments of arbitrary neighborhood,
Each cradle head portion is pulled by n harness (22), total to have m × n harness (22), is set in the driving device (2)
Have with the one-to-one m × n drive module (13) of the m × n harness (22), be equipped in each drive module (13)
The mobile connection plate (17) connected with corresponding harness (22), and harness (22) passes through the mobile control drawing of mobile connection plate (17)
Power.
2. line driving non-individual body according to claim 1 robot, it is characterised in that：Two segments of the arbitrary neighborhood
Abutting end is equipped with guide flange (5), and Hooke's hinge (7) is connected to form described turn with the guide flange (5) on the different segment of both sides
Movable joint portion, harness (22) pass through two guide flanges (5) in corresponding cradle head portion to be connected afterwards with a fixed ring (25).
3. line driving non-individual body according to claim 2 robot, it is characterised in that：On the guide flange (5) along
Circumferencial direction is evenly equipped with the threading hole passed through for harness (22).
4. line driving non-individual body according to claim 3 robot, it is characterised in that：Equipped with miniature in the threading hole
Bearing (11).
5. line driving non-individual body according to claim 1 or 2 robot, it is characterised in that：The m segment includes flexibility
Arm end piece (3), rigid arm connector (8) and multiple flexible arm connectors, wherein described rigid arm connector (8) one end and drive
Dynamic device (2) is connected, and the other end is connected by Hooke's hinge (7) with a flexible arm connector, the multiple flexible arm connector
It passes sequentially through Hooke's hinge (7) to be connected, a flexible arm connector farthest apart from the rigid arm connector (8) passes through Hooke's hinge
(7) it is connected with the flexible arm end piece (3).
6. line driving non-individual body according to claim 5 robot, it is characterised in that：The flexible arm connector includes the
One flexible arm connector (4) and the second flexible arm connector (6), and the first flexible arm connector (4) is shorter in length than the second flexibility
Arm connector (6).
7. line driving non-individual body according to claim 1 robot, it is characterised in that：The driving device (2) includes driving
Dynamic supporting rack (12) and drive module (13), mechanical arm (1) are connected with the driving supporting rack (12), and along driving branch
The axial direction of support (12) is looked, and each drive module (13) is annularly distributed in the driving supporting rack (12).
8. line driving non-individual body according to claim 7 robot, it is characterised in that：In the driving supporting rack (12)
Upper and lower side is respectively provided with a positioning disk (14), is circumferentially evenly equipped with multiple locating slots on each positioning disk (14), each
Drive module (13) upper and lower ends pass through corresponding locating slot positioning on two positioning disks (14) up and down respectively.
9. line driving non-individual body according to claim 1 or claim 7 robot, it is characterised in that：Drive module (13) packet
Pedestal (26), mobile connection plate (17), leading screw (18) and Power Component (21) are included, the leading screw (18) is mounted on the pedestal
(26) on, the mobile connection plate (17) is slidably connected with the pedestal (26), and the leading screw (18) is equipped with a screw, described
Mobile connection plate (17) is connected with the screw, and the leading screw (18) is driven by the Power Component (21) and rotated.
10. line driving non-individual body according to claim 1 robot, it is characterised in that：The mobile connection plate (17) is certainly
One connecting plate threading hole is equipped with by end, harness (22) passes through the reversed via of doubling again after the connecting plate threading hole, in the company
Top tight pieces (24) are equipped in fishplate bar threading hole, the top tight pieces (24) compress harness (22) by holding screw (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710545682.8A CN108393876A (en) | 2017-07-06 | 2017-07-06 | A kind of line driving non-individual body robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710545682.8A CN108393876A (en) | 2017-07-06 | 2017-07-06 | A kind of line driving non-individual body robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108393876A true CN108393876A (en) | 2018-08-14 |
Family
ID=63094410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710545682.8A Withdrawn CN108393876A (en) | 2017-07-06 | 2017-07-06 | A kind of line driving non-individual body robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108393876A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329979A (en) * | 2019-08-02 | 2019-10-15 | 广州市双枪智能科技有限公司 | Snakelike arm oiling robot apparatus and system |
| CN110561401A (en) * | 2019-08-14 | 2019-12-13 | 哈尔滨工业大学（深圳） | Super-redundancy linkage flexible mechanical arm based on closed-loop driving rope |
| CN110900588A (en) * | 2019-12-04 | 2020-03-24 | 北京航空航天大学 | Flexible structure based on reed and snake-shaped arm with same |
| CN111551205A (en) * | 2020-04-23 | 2020-08-18 | 国网宁夏电力有限公司电力科学研究院 | A detection robot and its system |
| CN111745684A (en) * | 2020-06-18 | 2020-10-09 | 北京精密机电控制设备研究所 | Under-actuated equal-bending linkage joint group and continuous mechanical arm |
| CN111776891A (en) * | 2020-08-11 | 2020-10-16 | 上海联影医疗科技有限公司 | Wire take-up device |
| CN112720561A (en) * | 2020-12-30 | 2021-04-30 | 沈阳新松机器人自动化股份有限公司 | Square modular force position double-closed-loop control super-redundant rope driving robot |
| CN113084830A (en) * | 2021-04-06 | 2021-07-09 | 山东建筑大学 | Investigation mobile robot based on continuum mechanism |
| CN113208737A (en) * | 2021-06-08 | 2021-08-06 | 山东大学 | Restricted continuum capable of being used for single-hole surgical robot |
| CN113733067A (en) * | 2021-09-23 | 2021-12-03 | 湖南大学 | Large-load long-distance radiation-resistant high-precision snake-shaped arm |
| DE102023108492A1 (en) | 2023-04-03 | 2024-10-10 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Robotic actuator |
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| CN105150219A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Super-redundant flexible mechanical arm based on rope driving |
| CN105729498A (en) * | 2016-04-27 | 2016-07-06 | 上海交通大学 | Modularized cord-driven continuum mechanical arm |
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| CN106737628A (en) * | 2017-02-14 | 2017-05-31 | 深圳源创智能机器人有限公司 | A kind of flexible charging robot driven based on rope |
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| US4685349A (en) * | 1985-12-20 | 1987-08-11 | Agency Of Industrial Science And Technology | Flexibly foldable 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 |
| CN206154311U (en) * | 2015-07-28 | 2017-05-10 | 上海交通大学 | Rope drive non -individual body arm and robot of motion decoupling zero |
| CN105150219A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Super-redundant flexible mechanical arm based on rope driving |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329979A (en) * | 2019-08-02 | 2019-10-15 | 广州市双枪智能科技有限公司 | Snakelike arm oiling robot apparatus and system |
| CN110561401B (en) * | 2019-08-14 | 2021-03-30 | 哈尔滨工业大学（深圳） | Hyper-redundant linkage flexible manipulator based on closed-loop drive rope |
| CN110561401A (en) * | 2019-08-14 | 2019-12-13 | 哈尔滨工业大学（深圳） | Super-redundancy linkage flexible mechanical arm based on closed-loop driving rope |
| CN110900588A (en) * | 2019-12-04 | 2020-03-24 | 北京航空航天大学 | Flexible structure based on reed and snake-shaped arm with same |
| CN110900588B (en) * | 2019-12-04 | 2021-05-28 | 北京航空航天大学 | Reed-based flexible structure and its serpentine arms |
| CN111551205A (en) * | 2020-04-23 | 2020-08-18 | 国网宁夏电力有限公司电力科学研究院 | A detection robot and its system |
| CN111745684A (en) * | 2020-06-18 | 2020-10-09 | 北京精密机电控制设备研究所 | Under-actuated equal-bending linkage joint group and continuous mechanical arm |
| CN111776891A (en) * | 2020-08-11 | 2020-10-16 | 上海联影医疗科技有限公司 | Wire take-up device |
| CN112720561A (en) * | 2020-12-30 | 2021-04-30 | 沈阳新松机器人自动化股份有限公司 | Square modular force position double-closed-loop control super-redundant rope driving robot |
| CN112720561B (en) * | 2020-12-30 | 2024-03-12 | 沈阳新松机器人自动化股份有限公司 | Super-redundancy rope-driven robot with square modularized force-position double closed-loop control |
| CN113084830A (en) * | 2021-04-06 | 2021-07-09 | 山东建筑大学 | Investigation mobile robot based on continuum mechanism |
| CN113208737A (en) * | 2021-06-08 | 2021-08-06 | 山东大学 | Restricted continuum capable of being used for single-hole surgical robot |
| CN113733067A (en) * | 2021-09-23 | 2021-12-03 | 湖南大学 | Large-load long-distance radiation-resistant high-precision snake-shaped arm |
| WO2023045647A1 (en) * | 2021-09-23 | 2023-03-30 | 湖南大学 | Large-load long-distance radiation-resistant high-precision snakelike arm |
| DE102023108492A1 (en) | 2023-04-03 | 2024-10-10 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Robotic actuator |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180814 |
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