CN108481307B - Continuous robot for large load bearing - Google Patents
Continuous robot for large load bearing Download PDFInfo
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- CN108481307B CN108481307B CN201810268925.2A CN201810268925A CN108481307B CN 108481307 B CN108481307 B CN 108481307B CN 201810268925 A CN201810268925 A CN 201810268925A CN 108481307 B CN108481307 B CN 108481307B
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- control panel
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- connecting disc
- driving rope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
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- 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
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- 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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Abstract
The utility model provides a towards big continuous type robot that bears, its mainly includes frame, flexible arm, actuating mechanism and end effector and driving rope, wherein, frame one side links to each other with actuating mechanism, and the opposite side links to each other with flexible arm and end effector, and actuating mechanism passes through the driving rope with flexible arm and links to each other. The flexible mechanical arm mainly comprises an elastic body, a tail end connecting disc, a middle connecting disc and a spring; the driving mechanism comprises an end control panel, a middle control panel and an electric push rod. The invention not only contains the comprehensive performance of the common continuous robot, but also has the excellent characteristic of large bearing capacity; the driving mechanism can operate in a non-structural task space in a compact structural size, improve the stress characteristic of a driving structure and adapt to the task requirement of heavy bearing.
Description
Technical Field
The present invention relates to a robot.
Background
The traditional industrial robots are mostly composed of rigid structures, can quickly, accurately and repeatedly execute tasks, and play an important role in the fields of manufacturing, assembly, logistics and the like, and generally, the robots grab objects through mechanical claws and then move to target positions to realize work, so that the robots are difficult to adapt to unstructured complex environments. With the development of the robot technology, the next generation of robots will have better flexibility. The continuous robot has a highly deformable structure, can adapt to an unstructured environment by utilizing the deformability of the structure, and has the characteristic of strong environmental adaptability.
The continuous robot belongs to a super-redundant degree of freedom structure, the motion of the continuous robot is mainly realized through elastic deformation, and the motion forms are mostly expressed as space expansion and contraction and all-directional bending transformation. In 2011, German Fisher company designs a bionic operation assistant according to the characteristics of trunk, which can stably roll up a heavy object by utilizing a self arm body and has the principle that each vertebra can be deeply expanded and contracted by compressing and inflating an air bag; in 2016, chinese patent CN105150219A discloses a super-redundant flexible mechanical arm based on rope driving, wherein the mechanical arm module includes a plurality of joints connected in series, at least three driving ropes are fixed to the joints, and the driving ropes can move independently under the driving of the driving module. The flexible mechanical arm has high flexibility, flexibility and man-machine safety, but continuous robots are limited by factors such as flexibility, self structures and the like, and are often difficult to meet the use requirements when facing a large bearing task.
Disclosure of Invention
The invention aims to provide a continuous robot which is driven in parallel, is drawn by multiple ropes and can meet the requirement of a large bearing task and is oriented to large bearing. The invention mainly fixes a driving mechanism on one side of a frame, fixes a flexible mechanical arm and an end effector on the other side, and the driving mechanism is connected with the flexible mechanical arm through a driving rope.
The invention mainly comprises a frame, a flexible mechanical arm, a driving mechanism, an end effector and a driving rope.
The main body of the frame is of an inverted T-shaped structure, two sides of the frame are respectively provided with a cylindrical boss, a through hole which is used for a driving rope to pass through and penetrates through the two bosses is processed on the bosses, the center of the cylindrical boss on one side of the frame is provided with a central boss, an inner screw hole is arranged on the central boss, the inner screw hole is in threaded connection with one end of the elastic body, and the periphery of the central boss is provided with a coaxial annular boss used for fixing the spring; and a rotating pair for installing an electric push rod is arranged on the cylindrical boss on the other side of the rack.
The flexible mechanical arm mainly comprises: elastomer, end connection pad, intermediate connection pad and spring. The tail end connecting disc is of a disc-shaped structure, a central boss is arranged in the center of one side of the tail end connecting disc, an inner threaded hole is formed in the center of the tail end connecting disc and is in threaded connection with one end of the elastic body, a coaxial annular boss for fixing the spring is arranged on the periphery of the central boss, and a tail end actuator such as a paw is arranged on the other side of the tail end disc. The middle connecting disc is of a disc-shaped structure, and both sides of the middle connecting disc are provided with a central boss which is used for fixing the elastic body and is internally provided with a screw hole and a coaxial annular boss which is arranged at the periphery of the middle connecting disc and is used for fixing the spring. And a through hole for the driving rope to pass through is formed in the part, close to the outer peripheral surface, of the middle connecting disc. The number of the springs is N +1, and two ends of the springs are respectively arranged on two adjacent connecting disc (or frame) circular lug bosses. The elastic bodies are of cylindrical structures and are N +1 in total, the elastic bodies are made of nickel-titanium alloy, two ends of the elastic bodies are respectively in threaded connection with screw holes of central bosses of two adjacent connecting discs (or racks), and the elastic bodies can be bent in all directions and are not easy to deform axially.
The driving mechanism mainly comprises: end control panel, middle control panel and electric putter. The tail end control disc is a disc, one side of the disc is connected with 3 spherical hinges uniformly distributed on the disc, each spherical hinge is connected with one end of an electric push rod, and the other end of the electric push rod is connected with the middle control disc or the rack through a revolute pair. The number of the middle control panels is N, and the number of the middle control panels is the same as that of the middle connecting discs. The middle control panel is of a disc-shaped structure, 3 spherical hinges are arranged on one side of the middle control panel, 3 revolute pairs corresponding to the spherical hinges are arranged on the other side of the middle control panel, one end of each electric push rod is installed on one control panel through the spherical hinges, the other side of each electric push rod is installed on an adjacent control panel (or a rack) through the revolute pairs, and each control panel and the 3 electric push rods form a 3-RPS parallel platform. 3 connecting points of each control panel correspond to the connecting points of the electric push rods on the cylindrical bosses of the rack.
One end of a group of M evenly distributed tail end driving ropes is fixed on the part, close to the outer peripheral surface, of the tail end control disc, and the group of driving ropes sequentially penetrate through corresponding through holes in each middle control disc, the rack and each middle connecting disc and are finally fixed on the tail end connecting disc. The middle control panel adjacent to the tail end control panel is a first middle control panel, the middle control panel adjacent to the first middle control panel is a second middle control panel, and so on, and the last middle control panel adjacent to the rack is an Nth middle control panel; similarly, the middle connecting disc adjacent to the tail end connecting disc is a first middle connecting disc, the middle connecting disc adjacent to the first middle connecting disc is a second middle connecting disc, and by analogy, the last middle connecting disc adjacent to the rack is an Nth middle connecting disc. One end of a first middle driving rope is fixed near each through hole through which the tail end driving rope passes on the first middle control disc, and the other end of the first middle driving rope is fixed near each through hole through which the tail end driving rope passes on the first middle connection disc and is on the same radius with the through holes; similarly, one end of the Nth intermediate driving rope is fixed near each through hole through which the tail end driving rope passes on the Nth intermediate control disc, the other end of the Nth intermediate driving rope is fixed near each through hole through which the tail end driving rope passes on the Nth intermediate connection disc, and preferably, the fixed point of the Nth intermediate driving rope and the center of the through hole through which the tail end driving rope passes are on the same radius of the intermediate control (or connection) disc. The driving ropes are all steel wire ropes.
The working process of the invention is roughly as follows: when the device works, 3 electric push rods in a single-layer 3-RPS parallel platform containing a middle control panel in the driving mechanism are jointly driven, so that the middle control panel can realize two-to-one movement, and M middle driving ropes fixedly connected on the middle control panel drive corresponding middle connecting discs to correspondingly move, so that all-directional bending is realized. The other middle control discs in the driving mechanism drive the corresponding middle connecting discs through the middle driving ropes, and the end control discs drive the end connecting discs through the end driving ropes, and the movement principle is the same. The control discs can move independently and can also move in coordination with each other, so that unidirectional bending and multidirectional bending movement of the flexible mechanical arm can be realized.
Compared with the prior art, the invention has the following advantages: the design of the continuous robot is introduced into the design of the parallel platform, and the flexible mechanical arm is driven by controlling the plurality of traction ropes through the parallel platform, so that the continuous robot has higher bearing capacity. The large-bearing continuous robot not only comprises the comprehensive performance of the common continuous robot, but also has the excellent characteristic of large bearing capacity; the driving mechanism can operate in a non-structural task space in a compact structural size, improve the stress characteristic of a driving structure and adapt to the task requirement of heavy bearing.
Drawings
Fig. 1 is a schematic perspective view of the present invention in an initial state.
Fig. 2 is a schematic perspective view of the unidirectional bending motion of the present invention.
Fig. 3 is a schematic perspective view of the multi-directional bending motion of the present invention.
Fig. 4 is a partially enlarged schematic perspective view of a driving portion of the present invention.
Fig. 5 is a schematic partially enlarged perspective view of the intermediate land a of the present invention.
FIG. 6 is a schematic partially enlarged perspective view of an intermediate plate B of the present invention
In the figure: 1-end control disc, 2-first middle control disc, 3-second middle control disc, 4-electric push rod, 5-frame, 6-second middle connecting disc, 7-first middle connecting disc, 8-end connecting disc, 9-end paw, 10-end driving rope, 11-first middle driving rope, 12-second middle driving rope, 13-elastic body and 14-spring.
Detailed Description
In the schematic three-dimensional diagrams of the continuous robot facing the large load shown in fig. 1, fig. 2 and fig. 3, the main body of the frame 5 is in an inverted T-shaped structure, two cylindrical bosses are respectively arranged on two sides of the frame, through holes penetrating through the two bosses are processed on the bosses, a central boss is arranged at the center of the cylindrical boss on one side of the frame, an internal screw hole is arranged on the central boss, the internal screw hole is in threaded connection with one end of an elastic body 13, the other end of the elastic body is in threaded connection with a screw hole arranged in the central boss on one side of the second intermediate connection plate 6, a coaxial circular boss is arranged on the periphery of the central boss of the frame, the circular boss is connected with one end of a spring 14, and the other end. A screw hole arranged in a center boss at the other side of the second intermediate connecting disc is in threaded connection with one end of a second elastic body, the other end of the second elastic body is in threaded connection with a screw hole arranged in a center boss at one side of the first intermediate connecting disc 7, a coaxial annular boss is arranged at the periphery of the center boss of the second intermediate connecting disc and is connected with one end of a spring, and the other end of the spring is connected with the first intermediate connecting disc. The screw hole arranged in the center boss at the other side of the first middle connecting disc is in threaded connection with one end of a third elastic body, the other end of the third elastic body is in threaded connection with the screw hole arranged in the center boss at one side of the tail end connecting disc 8, a coaxial ring-shaped boss is arranged on the periphery of the center boss of the first middle connecting disc and is connected with one end of a spring, and the other end of the spring is connected with the tail end connecting disc. The other end of the end connecting disc is provided with an end paw 9. 3 revolute pairs are uniformly distributed on the columnar boss on the other side of the rack, each revolute pair is connected with one end of an electric push rod 4, the other end of each electric push rod is connected with 3 spherical hinges on one side of the control panel 3 in the middle of the second, and the positions of the 3 spherical hinges correspond to the positions of the 3 revolute pairs. The other side of the second control panel is provided with 3 revolute pairs corresponding to the spherical hinge positions, each revolute pair is connected with one end of an electric push rod, the other ends of the 3 electric push rods are connected with 3 spherical hinges on one side of the first middle control panel 2, and the positions of the 3 spherical hinges correspond to the positions of the 3 revolute pairs. The other side of the first control panel is provided with 3 revolute pairs corresponding to the spherical hinge positions, each revolute pair is connected with one end of an electric push rod, the other ends of the 3 electric push rods are connected with 3 spherical hinges on one side of the tail end control panel 1, and the positions of the 3 spherical hinges correspond to the positions of the 3 revolute pairs.
And a group of 8 uniformly distributed driving ropes 10 is fixed on the part of the tail end control disc close to the peripheral surface, and the group of driving ropes sequentially passes through corresponding through holes on each middle control disc, the machine frame and each middle connecting disc and is finally fixed on the tail end connecting disc. The middle control panel adjacent to the end control panel is a first middle control panel, as shown in fig. 4, one end of a first middle driving rope 11 is fixed to each through hole through which the end driving rope 10 passes on the first middle control panel 2, the other end of the first middle driving rope is fixed to the first middle connection panel near each through hole through which the end driving rope passes, as shown in fig. 6, and the fixing point of the first middle driving rope and the center of the through hole through which the end driving rope passes are both on the same radius of the middle control (or connection) panel. One end of the second intermediate driving rope 12 is fixed to each through hole through which the end driving rope passes on the second intermediate control disc adjacent to the first control disc, and the other end of the second intermediate driving rope is fixed to the vicinity of each through hole through which the end driving rope passes on the second intermediate connection disc adjacent to the first intermediate connection disc, as shown in fig. 5, the fixed point of the second intermediate driving rope and the center of the through hole through which the end driving rope passes are both on the same radius of the intermediate control (or connection) disc. The driving ropes are all steel wire ropes.
Claims (5)
1. The utility model provides a towards big continuous type robot that bears, its mainly includes frame, flexible arm, actuating mechanism and end effector and driving rope, its characterized in that:
the main body of the frame is in an inverted T-shaped structure, two sides of the frame are respectively provided with a cylindrical boss, through holes penetrating through the two bosses are processed on the bosses, the center of the cylindrical boss on one side of the frame is provided with a central boss, an inner screw hole is arranged on the central boss and is in threaded connection with one end of the elastic body, and the periphery of the central boss is provided with a coaxial annular boss; a cylindrical boss at the other side of the rack is provided with a revolute pair for mounting an electric push rod;
the flexible mechanical arm is characterized in that a tail end connecting disc of the flexible mechanical arm is of a disc-shaped structure, a central boss is arranged in the center of one side of the flexible mechanical arm and provided with an inner screw hole, the inner screw hole is in threaded connection with one end of an elastic body, a coaxial annular boss is arranged on the periphery of the central boss, a tail end actuator is arranged on the other side of the tail end disc, N middle connecting discs are provided, the middle connecting discs are of the disc-shaped structure, the two sides of each middle connecting disc are provided with the central boss with a screw hole inside and the coaxial annular boss arranged on the periphery of the middle connecting disc, through holes are formed in the parts, close to the outer peripheral surface, of the middle connecting discs, the number of the springs is N +1, the two ends of the springs are respectively arranged on the two adjacent connecting;
the end control panel of the driving mechanism is a disc, one side of the end control panel is connected with 3 spherical hinges uniformly distributed on the end control panel, each spherical hinge is connected with one end of an electric push rod, the other end of the electric push rod is connected with a middle control panel or a rack through a revolute pair, the number of the middle control panels is N, the number of the middle control panels is the same as that of the middle connection panels, each middle control panel is of a disc-shaped structure, one side of each middle control panel is provided with 3 spherical hinges, the other side of each middle control panel is provided with 3 revolute pairs corresponding to the positions of the spherical hinges, one end of the electric push rod is arranged on one control panel through a spherical hinge, the other side of the electric push rod is arranged on an adjacent control panel or rack through a revolute pair, each control panel and 3 electric push rods form a 3-RPS parallel platform;
one end of a group of M evenly distributed tail end driving ropes is fixed on the part, close to the outer peripheral surface, of the tail end control disc, and the group of driving ropes sequentially penetrate through corresponding through holes in each middle control disc, the rack and each middle connecting disc and are finally fixed on the tail end connecting disc.
2. The continuum robot oriented to a large load according to claim 1, wherein: the middle control panel adjacent to the tail end control panel is a first middle control panel, the middle control panel adjacent to the first middle control panel is a second middle control panel, and so on, and the last middle control panel adjacent to the rack is an Nth middle control panel; similarly, the middle connecting disc adjacent to the tail end connecting disc is a first middle connecting disc, the middle connecting disc adjacent to the first middle connecting disc is a second middle connecting disc, and the like, and the last middle connecting disc adjacent to the rack is an Nth middle connecting disc; one end of a first middle driving rope is fixed near each through hole through which the tail end driving rope passes on the first middle control disc, and the other end of the first middle driving rope is fixed near each through hole through which the tail end driving rope passes on the first middle connection disc and is on the same radius with the through holes; similarly, one end of the nth intermediate driving rope is fixed to the nth intermediate control disc near each through hole through which the end driving rope passes, and the other end of the nth intermediate driving rope is fixed to the nth intermediate control disc near each through hole through which the end driving rope passes.
3. The continuum robot oriented to a large load according to claim 2, wherein: the fixed point of the Nth middle driving rope and the center of the through hole through which the tail end driving rope passes are both on the same radius of the middle control or connecting disc.
4. The continuum robot oriented to a large load according to claim 2 or 3, wherein: the driving ropes are all steel wire ropes.
5. The continuum robot oriented to a large load according to claim 1, wherein: the elastic body is made of nickel-titanium alloy.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810268925.2A CN108481307B (en) | 2018-03-29 | 2018-03-29 | Continuous robot for large load bearing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810268925.2A CN108481307B (en) | 2018-03-29 | 2018-03-29 | Continuous robot for large load bearing |
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| CN108481307A CN108481307A (en) | 2018-09-04 |
| CN108481307B true CN108481307B (en) | 2021-01-08 |
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Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111317571B (en) * | 2018-12-13 | 2021-10-15 | 中国科学院沈阳自动化研究所 | Framework nested controllable continuous deformation mechanism |
| CN111317570B (en) * | 2018-12-13 | 2022-01-25 | 中国科学院沈阳自动化研究所 | Deformation link gear |
| CN109760103B (en) * | 2019-01-30 | 2022-03-11 | 天津理工大学 | Bionic octopus arm two-stage driving mechanism and bionic octopus arm mechanism |
| CN110193827B (en) * | 2019-03-28 | 2021-11-16 | 南京航空航天大学 | Drive compensation method for rope-driven continuum robot |
| CN110125978B (en) * | 2019-05-20 | 2020-10-23 | 燕山大学 | Rope traction robot based on parallel platform drive |
| CN110154009B (en) * | 2019-06-14 | 2020-09-15 | 泉州市中知信息科技有限公司 | Bionical snake-shaped robot |
| CN110497384A (en) * | 2019-08-05 | 2019-11-26 | 上海大学 | A kind of flexible mechanical arm towards assembly manipulation |
| CN110497396B (en) * | 2019-08-29 | 2024-04-05 | 南京理工大学 | Variable-rigidity enhanced pneumatic soft driver |
| CN111136647A (en) * | 2019-12-26 | 2020-05-12 | 上海航天控制技术研究所 | Cable-driven flexible robot |
| WO2022001185A1 (en) * | 2020-06-30 | 2022-01-06 | 北京术锐技术有限公司 | Continuum instrument and surgical robot |
| US20230225758A1 (en) * | 2020-06-30 | 2023-07-20 | Beijing Surgerii Technology Co., Ltd. | Continuum instrument and surgical robot |
| CN113183178B (en) * | 2021-05-10 | 2022-09-30 | 中山大学 | Flexible joint and robot |
| CN114505867B (en) * | 2022-01-28 | 2023-04-25 | 哈尔滨工业大学（威海） | Air bag type soft robot capable of penetrating through inner cavity with different diameters |
| CN114986534B (en) * | 2022-06-28 | 2024-06-25 | 北京工业大学 | Integrated rigid-flexible coupling manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004337474A (en) * | 2003-05-16 | 2004-12-02 | Univ Waseda | Medical guiding manipulator |
| CN201693552U (en) * | 2010-06-13 | 2011-01-05 | 汕头大学 | Three-degree-of-rotation-freedom parallel robot |
| KR102025125B1 (en) * | 2012-04-02 | 2019-11-04 | 삼성전자주식회사 | Driving device usable with robot arm and robot arm |
| CN102935639B (en) * | 2012-10-17 | 2015-04-08 | 燕山大学 | Triple-claw 3 SPR+3RPS type series-parallel robot |
| JP5975129B1 (en) * | 2015-03-02 | 2016-08-23 | 株式会社安川電機 | robot |
| US10315309B2 (en) * | 2016-03-15 | 2019-06-11 | Lon Radin | Modular snake arm with articulated drive shaft |
| CN105835086B (en) * | 2016-05-11 | 2017-12-01 | 华南理工大学 | A kind of series parallel type 6DOF force feedback manipulator |
| CN106989152B (en) * | 2017-04-18 | 2019-02-12 | 中国科学技术大学 | A kind of high-precision wire drive |
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