CN111230852A - Multi-arm manipulator and robot - Google Patents

Multi-arm manipulator and robot Download PDF

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Publication number
CN111230852A
CN111230852A CN202010047938.4A CN202010047938A CN111230852A CN 111230852 A CN111230852 A CN 111230852A CN 202010047938 A CN202010047938 A CN 202010047938A CN 111230852 A CN111230852 A CN 111230852A
Authority
CN
China
Prior art keywords
driving
arm
pulley
base
rope
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
CN202010047938.4A
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Chinese (zh)
Inventor
袁晗
李钻
陈鑫杰
徐文福
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.)
Shenzhen Graduate School Harbin Institute of Technology
Original Assignee
Shenzhen Graduate School Harbin Institute of Technology
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 Shenzhen Graduate School Harbin Institute of Technology filed Critical Shenzhen Graduate School Harbin Institute of Technology
Priority to CN202010047938.4A priority Critical patent/CN111230852A/en
Publication of CN111230852A publication Critical patent/CN111230852A/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
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type

Abstract

The invention discloses a multi-arm manipulator and a robot, wherein the multi-arm manipulator comprises a fixed seat, an operating arm and a first driving part, the operating arm is fixedly arranged on the fixed seat and comprises a flexible central framework and a plurality of arm sections, each arm section comprises a plurality of joint units and a plurality of driving ropes, the central framework sequentially penetrates through the joint units in each arm section, the driving ropes in each arm section are arranged on the joint units in the corresponding arm section in a penetrating manner, and the first driving part is used for driving the driving ropes to move so as to bend the arm sections; the robot comprises the multi-arm robot. The multi-arm manipulator disclosed by the invention can execute a catching task through the cooperative work of the multiple operating arms, and each arm section can be bent under the driving of the corresponding driving rope, so that each operating arm has multiple degrees of freedom, the self-adaptive capacity of the operating arms is improved, target objects with different shapes and sizes can be caught in a self-adaptive flexible manner through the cooperative work of the multiple operating arms, and the catching reliability is high.

Description

Multi-arm manipulator and robot
Technical Field
The invention relates to the technical field of robots, in particular to a multi-arm manipulator and a robot.
Background
With the development of space technology and the continuous deepening of space exploration, some space garbage is inevitably generated in the space, the space garbage can cause huge threats to a spacecraft, the space garbage belongs to non-cooperative targets which are not controlled manually, and the non-cooperative targets need to be grabbed to clean the space garbage and provide an optimized operation environment for the spacecraft.
The mechanical arm of the traditional space robot has low flexibility and tolerance, poor self-adaptive capacity to a target object, difficulty in executing a corresponding capture task in an unstructured environment and incapability of meeting the capture requirement of a non-cooperative target in the space environment.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a multi-arm manipulator and a robot, which can improve the flexibility and the self-adaptive capacity of the manipulator and can execute the capture task in a space environment.
In a first aspect, an embodiment of the present invention provides a multi-arm manipulator, comprising:
a fixed seat;
the operating arms are fixedly arranged on the fixed seat and comprise flexible central frameworks and a plurality of arm sections, each arm section comprises a plurality of joint units and a plurality of driving ropes, the central frameworks sequentially penetrate through the joint units in each arm section, and the driving ropes in each arm section penetrate through the joint units in the corresponding arm section;
the first driving part is connected with each driving rope and used for driving the driving ropes to move so as to bend the arm sections.
The multi-arm manipulator in the embodiment of the invention has at least the following beneficial effects:
the multi-arm manipulator in the embodiment of the invention can execute the catching task through the cooperative work of the plurality of operating arms, each operating arm is internally provided with a plurality of arm sections, and each arm section can be bent under the driving of the corresponding driving rope, so each operating arm has a plurality of degrees of freedom, the self-adaptive capacity of the operating arm is improved, the target objects with different shapes and sizes can be caught flexibly and adaptively through the cooperative work of the plurality of operating arms, and the catching reliability is high.
According to the multi-arm robot of further embodiments of the present invention, the driving rope in the arm segment located at the rear end of the operating arm sequentially passes through the joint units in the arm segment connected to the front end of the arm segment.
According to other embodiments of the present invention, the first driving part includes a plurality of first driving members and a plurality of pulley blocks, the driving rope in each arm segment is wound in one of the pulley blocks, and the first driving members drive the pulley blocks to move, so that the driving rope wound in the pulley blocks moves.
According to the multi-arm manipulator of other embodiments of the present invention, two ends of the driving rope are respectively fixed to the fixing base and the joint unit, the pulley block includes a first pulley and a second pulley, the driving rope is wound around the first pulley and the second pulley, and the first pulley is driven by the first driving element to move and drives the second pulley to rotate.
According to the multi-arm manipulator of other embodiments of the present invention, the first driving part further includes a plurality of pulley mounting brackets, at least one of the second pulleys is mounted on the pulley mounting brackets, the pulley mounting brackets are fixedly mounted on the fixed base, and the extending direction of the driving rope wound from the second pulley is parallel to the moving direction of the first pulley.
According to the multi-arm manipulator of other embodiments of the present invention, the fixing base is provided with a first rope hole for the driving rope to pass through, the joint unit is provided with a second rope hole for the driving rope to pass through, and the first rope hole and the second rope hole for the driving rope to pass through are coaxial.
According to other embodiments of the present invention, the multi-arm manipulator further includes a second driving portion, where the second driving portion includes a second driving element and a first base, the first base is connected to the fixing base, and the second driving element can drive the first base to move, so that the fixing base drives the operating arm to translate along the extending direction of the operating arm.
According to the multi-arm manipulator of other embodiments of the present invention, the second driving part further includes a guide post, the guide post is supported between the base and the fixing seat, and the first base and the fixing seat are driven by the second driving part to move along the guide post.
According to other embodiments of the present invention, the multi-arm manipulator further includes a third driving unit, the third driving unit includes a third driving element and a second base, the fixing base is fixed above the second base, and the third driving element drives the second base to rotate, so that the fixing base drives the operating arm to rotate around the extending direction of the operating arm.
In a second aspect, an embodiment of the invention provides a robot comprising a multi-arm manipulator as described above.
The robot in the embodiment of the invention at least has the following beneficial effects:
the flexible envelope capture can be carried out on the non-cooperative target object through the cooperative work among the plurality of operation arms, the degree of freedom of the robot is increased, the self-adaptive capacity of the robot and the flexibility of the target physical capture are improved, and the flexible envelope capture robot has a wide application prospect in the field of space non-cooperative target capture.
Drawings
FIG. 1 is a schematic structural view of one embodiment of a multi-arm robot;
FIG. 2 is a schematic diagram of the construction of one embodiment of the operating arm;
FIG. 3 is a schematic structural diagram of an embodiment of the first driving part;
FIG. 4 is a schematic view of the first driving portion shown in FIG. 3 after a hidden portion of the first driving portion is configured;
FIG. 5 is a schematic structural view of one embodiment of the first drive member;
FIG. 6 is a schematic view of the installation of one embodiment of the first sheave;
FIG. 7 is a schematic structural view of one embodiment of a pulley mount;
FIG. 8 is a schematic view with portions of the pulley mount hidden;
fig. 9 is a combined schematic view of the second driving part and the second driving part;
FIG. 10 is a schematic structural view of the second driving part;
fig. 11 is a schematic structural view of the third driving portion.
Detailed Description
The concept and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments to fully understand the objects, features and effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention.
In the description of the embodiments of the present invention, if an orientation description is referred to, for example, the orientations or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the embodiments of the present invention, if a feature is referred to as being "disposed", "fixed", "connected", or "mounted" to another feature, it may be directly disposed, fixed, or connected to the other feature or may be indirectly disposed, fixed, connected, or mounted to the other feature. In the description of the embodiments of the present invention, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.
Fig. 1 is a schematic structural view showing an embodiment of a multi-arm robot, fig. 2 is a schematic structural view showing an embodiment of an operating arm 100, and referring to fig. 1 and 2, the multi-arm robot in this embodiment includes a holder 300, an operating arm 100 and a first driving part 200, the operating arm 100 is fixed on the holder 300, the first driving part 200 is used for driving the operating arm 100 to bend, and a capturing task can be performed when the operating arm 100 bends. Specifically, the plurality of operation arms 100 are provided, the plurality of operation arms 100 can cooperatively perform the capturing action, each operation arm 100 includes a flexible central skeleton 110 and a plurality of arm sections 120, the arm sections 120 in each operation arm 100 are sequentially connected, each arm section 120 includes a plurality of joint units 121 and a plurality of driving ropes 122, the central skeleton 110 sequentially passes through the joint units 121 in each arm section 120, the operation arms 100 can be bent in different directions by arranging the flexible central skeleton 110, the operation arms have high operation flexibility, the driving ropes 122 in each arm section 120 are respectively inserted into the joint units 121 in the arm sections 120, each driving rope 122 is connected with the first driving part 200, the first driving part 200 can drive the driving ropes 122 to move, and the driving ropes 122 can drive the corresponding arm sections 120 to bend in the moving process.
The multi-arm manipulator in the embodiment can execute the capturing task through the cooperative work of the plurality of operating arms 100, each operating arm 100 is internally provided with the plurality of arm sections 120, and each arm section 120 can be bent under the driving of the corresponding driving rope 122, so that each operating arm 100 has a plurality of degrees of freedom, the self-adaptive capacity of the operating arms 100 is improved, target objects with different shapes and sizes can be captured flexibly and adaptively through the cooperative work of the plurality of operating arms 100, and the capturing reliability is high.
In the embodiment, three operation arms 100 are provided, three arm segments 120 are provided in each operation arm 100, three driving ropes 122 are respectively provided on the joint units 121 in each arm segment 120, when the lengths of the driving ropes 122 are changed, each arm segment 120 can have two bending degrees of freedom, each operation arm 100 has 6 degrees of freedom, the operation arms 100 can be bent according to specific conditions of a target object, the operation arms 100 can adapt to the shape of the target object, and the grabbing of the operation arms 100 is improved and stabilized. The number of the operation arms 100, the number of the arm sections 120 in each operation arm 100, and the number of the driving ropes 122 penetrating through each arm section 120 can be reasonably changed according to actual requirements. In order to make each arm segment 120 have two directions of bending freedom and ensure the bending flexibility of each arm segment 120, in this embodiment, the triangle formed by connecting the positions of the driving ropes 122 penetrating through the joint units 121 in each arm segment 120 is an equilateral triangle. The central frame 110 has superelasticity, so that the central frame 110 deforms under the action of an external force, and can recover to the original state after the external force is removed, so as to ensure the capturing flexibility of the operating arm 100; the central skeleton 110 in this embodiment may be made of nitinol.
The lower part of fig. 2 is used as the front end, the upper part of fig. 2 is used as the rear end, the front end of the operation arm 100 is connected with the fixing base 300, the arm segment 120 at the rear end in each operation arm 100 is sequentially connected with the rear side of the arm segment 120 at the front end of the arm segment 120 through the central framework 110, and thus the complete operation arm 100 is formed by combination. In this embodiment, each driving rope 122 located in the arm segment 120 at the rear end of the operating arm 100 passes through the joint units 121 connected to the arm segments 120 at the front ends of the arm segments 120 in sequence, and the driving rope 122 penetrates out from the front end of the operating arm 100 and is connected to the first driving portion 200, so that each driving rope 122 is connected to the first driving portion 200, and unstable transmission caused by external arrangement of the driving rope 122 is avoided. Taking the joint unit 121 in the foremost arm segment 120 of the operating arm 100 as an example, 9 driving ropes 122 are inserted into the joint unit 121 because the driving ropes 122 in all the arm segments 120 need to pass through the joint unit 121.
The front end of each operating arm 100 is further provided with a fixing section 130, the fixing section 130 is fixedly arranged on the fixing seat 300, and the fixing section 130 is arranged, so that the moving space of the operating arm 100 is increased, and the capturing action of the operating arm 100 is more convenient. A tension sensor for measuring the tension of the driving rope 122 is further arranged in the first driving part 200, and the control of the bending strength and the capturing strength of the operating arm 100 is realized by measuring and feeding back the tension of the driving rope 122 through the tension sensor.
Referring to fig. 3 and 4, the first driving part 200 includes a plurality of first driving members 210 and a plurality of pulley blocks 220, the driving rope 122 is wound on the pulley blocks 220, the first driving members 210 drive the pulley blocks 220 to move, and the driving rope 122 is driven to move during the movement of the pulley blocks 220, so that the length of the driving rope 122 is changed, and the bending of the operating arm 100 is further achieved. Specifically, the first driving part 200 includes a first mounting plate 231, one end of the driving rope 122 is fixedly disposed on the first mounting plate 231, and the other end of the driving rope 122 is wound on the pulley block 220, and then passes through the fixing base 300 and the joint unit 121, and finally is fixed on the joint unit 121 at the rearmost end in a certain arm segment 120, so that the length of the driving rope 122 is changed by the movement of the pulley block 220, and further, the position of the joint unit 121 in each arm segment 120 is changed under the pulling action of the driving rope 122, thereby realizing the bending of each arm segment 120.
Each pulley block 220 drives one driving rope 122 to move, each pulley block 220 comprises a first pulley 221 and a second pulley 222, the driving ropes 122 are respectively wound on the first pulley 221 and the second pulley 222, the first pulley 221 is driven by the first driving piece 210 to move, the first pulley 221 rotates under the influence of the pulling of the driving rope 122 in the moving process, the driving rope 122 moves along the second pulley 222 along with the rotation of the first pulley 221, and the length change of the driving rope 122 is realized. In this embodiment, the first pulley 221 is a movable pulley, and the second pulley 222 is a fixed pulley, so as to ensure that the driving rope 122 is driven to move in the moving process of the first pulley 221.
First drive division 200 still includes a plurality of pulley mount pads 223, first pulley 221 rotates to be connected on pulley mount pad 223, first drive division 200 still includes second mounting panel 232, first guide rail 240 has set firmly between first mounting panel 231 and the second mounting panel 232, sliding connection has first slider 250 on first guide rail 240, pulley mount pad 223 sets firmly on first slider 250, pulley mount pad 223 follows first slider 250 and moves along first guide rail 240, and then drives first pulley 221 and remove.
First driving piece 210 is arranged below second mounting panel 232, still is connected with the lead screw structure on first driving piece 210, sets firmly on first mounting panel 231 after the one end of lead screw passes second mounting panel 232, lead screw nut and pulley mount 223 fixed connection, and first driving piece 210 drive lead screw structure motion, and lead screw nut drives pulley mount 223 when moving along the lead screw and removes.
Referring to fig. 5, in the embodiment, the first driving element 210 employs the driving motor 211 and the motor driver 212, and the motor driver 212 can adjust the angular displacement of the driving motor 211, so as to accurately position the displacement of the screw structure, thereby accurately adjusting the length change of the driving rope 122 and realizing the real-time adjustment of the bending degree of the operating arm 100. The first driving part 200 is provided with a third mounting plate 233 below the second mounting plate 232, and the driving motor 211 is mounted below the third mounting plate 233, in order to save space and improve the integration of the robot, in the embodiment, the motor driver 212 is mounted below the third mounting plate 233, and the motor drivers 212 are aggregated with each other, so that the driving motor 211 and the motor driver 212 are both mounted on the third mounting plate 233. Referring to fig. 6, the screw structure and the first pulley 221 are accommodated between the first mounting plate 231 and the second mounting plate 232, so as to further improve the integration of the robot.
It should be noted that the number of the first driving member 210, the pulley block 220, and the screw structure is 9, and the positions of the first driving member 210, the pulley block 220, and the screw structure correspond to each other, so as to transmit power from the first driving member 210 to the screw structure and the pulley block 220.
Referring to fig. 2, 7 and 8, the fixing seat 300 is provided with a first rope hole 310 through which the driving rope 122 passes, and the joint unit 121 is provided with a second rope hole 1211 through which the driving rope 122 passes or connects, so that the first rope hole 310 and the second rope hole 1211, which are coaxially arranged on the same driving rope 122, are coaxially arranged to ensure smooth movement of the driving rope 122 and reduce friction between the driving rope 122 and the first rope hole 310 and between the driving rope 122 and the second rope hole 1211, thereby improving the force transmission efficiency of the first driving part 200 to the driving rope 122.
The first driving unit 200 includes a pulley mounting bracket 224 therein, the second pulley 222 is mounted on the pulley mounting bracket 224, the pulley mounting bracket 224 is fixed below the fixing base 300, and 9 pulley mounting brackets 224 are provided in this embodiment to correspond to the number of the driving ropes 122. In order to ensure the control precision of the driving rope 122 and make the moving direction of the first pulley 221 parallel to the extending direction of the driving rope 122, so as to reduce the friction force applied to the driving rope 122 during the transmission process, and avoid the mutual interference between the first pulley 221 and the second pulley 222, in this embodiment, three sets of pulley mounting brackets 224 with different heights are provided, the pulley mounting brackets 224 in each set have the same height, and the driving rope 122 wound on the second pulley 222 mounted on the pulley mounting brackets 224 in the same set is connected with the same arm section 120 in the operating arm 100; on the premise of ensuring that the extending direction of the driving rope 122 is the same as the moving direction of the first pulley 221, the number of the first pulleys 221 mounted on the pulley mounting brackets 224 of different groups may be different, taking the pulley mounting bracket 224 shown in fig. 8 as an example, two second pulleys 222 are mounted on the pulley mounting bracket 224, and the driving rope 122 wound from the first pulley 221 may be sequentially wound on the two second pulleys 222 and wound from the second pulleys 222; the number of the second pulleys 222 on the pulley mounting rack 224 and the mounting positions of the second pulleys 222 can be flexibly set according to actual requirements.
Referring to fig. 9 and 10, the multi-arm manipulator further includes a second driving portion 400, the second driving portion 400 includes a second driving member 410, a first base 420, and a fixing bracket 430, the fixing base 300 is accommodated in the fixing bracket 430, the fixing bracket 430 is disposed above the first base 420 and connected to the first base 420, and when the second driving member 410 drives the first base 420 to move, the fixing bracket 430 moves along the first base 420, so that the fixing base 300 moves, and the operating arm 100 is driven to translate along the extending direction of the operating arm 100, thereby increasing the degree of freedom of the operating arm 100, and improving the adaptive capability and the capturing flexibility of the operating arm 100.
The second driving part 400 further includes a first fixing plate 440 and a second fixing plate 450, the second driving part 400 also includes a screw structure, the second driving element 410 is mounted on the second fixing plate 450, and the second driving element 410 is connected with the screw structure and drives the screw structure to move; the lead screw sequentially passes through the first fixing plate 440 and the first base 420, and in order to avoid interference between the upper end of the lead screw and components in the first driving part 200, the upper end of the lead screw is suspended between the fixing bracket 430 and the first base 420; screw nut and first base 420 fixed connection among the lead screw structure, when second driving piece 410 drive lead screw and remove, first base 420 moves along with screw nut, and then drives fixed bolster 430 and remove, realizes the translation of operation arm 100.
In order to improve the connection strength between the fixing bracket 430 and the first base 420 and the power transmission efficiency from the first base 420 to the fixing bracket 430, a supporting plate 460 and a plurality of supporting columns 470 are arranged between the fixing bracket 430 and the first base 420, the supporting columns 470 are uniformly distributed along the circumferential direction of the fixing bracket 430, and the supporting columns 470 penetrate through the supporting plate 460 and are fixedly connected with the fixing bracket 430 and the first base 420.
Two guide columns 480 are symmetrically arranged on two sides of the first base 420, the second driving part 400 further comprises a third fixing plate 490, two ends of the guide column 480 are respectively fixedly connected with the third fixing plate 490 and the first base 420, the guide column 480 penetrates through the supporting plate 460, a linear bearing 481 is installed at the supporting plate 460 of the guide column 480, and the first base 420 and the fixing support 430 can be driven by the second driving part 410 to translate along the guide column 480; by arranging the guide column 480 and the linear bearing 481, the rigidity and the stability of the operating arm 100 in the translation process are improved.
Referring to fig. 9 and 10, the multi-arm manipulator further includes a third driving portion 500, the third driving portion 500 includes a third driving member 510 and a second base 520, the fixing base 300 is fixedly disposed above the second base 520, and when the third driving member 510 drives the second base 520 to rotate, the fixing base 300 rotates along with the second base 520, so that the fixing base 300 drives the operation arm 100 to rotate around the extending direction of the operation arm 100, thereby increasing the rotational freedom of the operation arm 100, further improving the flexibility of the operation arm 100, and ensuring the smooth implementation of the capturing task of the operation arm 100.
The second base 520 is disposed above the first base 420, the third driving member 510 is mounted on the first base 420, the third driving member 510 further includes a driving wheel 530, the driving wheel 530 is driven by the third driving member 510 to rotate, the third driving member 510 also includes a motor driver 212 and a driving motor 211 to precisely adjust the rotation angle and the rotation speed of the driving wheel 530. The outer surface of the driving wheel 530 contacts the second base 520 and can drive the second base 520 to rotate, so as to transmit power from the second base 520 to the fixing base 300. In this embodiment, the driving wheel 530 has certain elasticity and is tightly abutted against the second base 520, so that pre-pressure exists between the driving wheel 530 and the second base 520, and stable power transmission from the driving wheel 530 to the second base 520 is ensured; in this embodiment, the driving wheel 530 is configured as a rubber wheel, so that the outer surface of the second base 520 provides sufficient friction force for the driving wheel 530, and the rubber wheel has certain elasticity, thereby ensuring pre-tightening between the driving wheel 530 and the second base 520.
Bearings 540 are arranged between the fixed seat 300 and the fixed support 430 and between the second base 520 and the first base 420, the fixed support 430 is fixedly connected with the first base 420, the fixed seat 300 is fixedly connected with the second base 520, and by arranging the bearings 540, when the third driving member 510 drives the second base 520 to rotate, the fixed seat 300 and the second base 520 can simultaneously rotate relative to the fixed support 430 and the first base 420, so that the rotation of the operating arm 100 has higher stability.
Referring to fig. 10, in the embodiment, the first base 420, the fixing bracket 430 and the third fixing plate 490 are provided with notches, so that the first base 420, the fixing bracket 430 and the third fixing plate 490 can avoid installation and movement of other structures, connection of the structures in the manipulator is more compact, interference between components can be avoided, and the manipulator is more lightweight.
The invention also provides a robot which comprises the multi-arm manipulator, the non-cooperative target object can be captured in a flexible envelope manner through the cooperative work among the plurality of operating arms 100, the degree of freedom of the robot is increased, the self-adaptive capacity of the robot and the flexibility of target physical capture are improved, and the robot has a wide application prospect in the field of space non-cooperative target capture.
The robot can be a mechanical arm robot, an articulated robot and other intelligent robots.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.

Claims (10)

1. A multi-arm manipulator, comprising:
a fixed seat;
the operating arms are fixedly arranged on the fixed seat and comprise flexible central frameworks and a plurality of arm sections, each arm section comprises a plurality of joint units and a plurality of driving ropes, the central frameworks sequentially penetrate through the joint units in each arm section, and the driving ropes in each arm section penetrate through the joint units in the corresponding arm section;
the first driving part is connected with each driving rope and used for driving the driving ropes to move so as to bend the arm sections.
2. The multi-arm manipulator of claim 1, wherein a drive rope in said arm segment at the rear end of said manipulator arm passes sequentially through said articulation units in said arm segment connected to the front end of said arm segment.
3. The multi-arm manipulator of claim 1, wherein said first drive portion includes a plurality of first drive members and a plurality of pulley blocks, said drive rope in each of said arm segments being routed within one of said pulley blocks, said first drive members moving said pulley blocks to move said drive rope routed within said pulley blocks.
4. The dobby manipulator of claim 3, wherein both ends of the driving rope are fixed to the fixing base and the joint unit, respectively, the pulley block comprises a first pulley and a second pulley, the driving rope is wound around the first pulley and the second pulley, and the first pulley is driven by the first driving member to move and drive the second pulley to rotate.
5. The dobby robot of claim 4, wherein said first drive portion further comprises a plurality of pulley mounts, at least one of said second pulleys being mounted on said pulley mounts, said pulley mounts being secured to said fixed base, and wherein said drive cords extending from said second pulleys are oriented parallel to the direction of travel of said first pulleys.
6. The dobby manipulator of claim 1, wherein the fixing seat is provided with a first rope hole for the driving rope to pass through, the joint unit is provided with a second rope hole for the driving rope to pass through, and the first rope hole and the second rope hole for the same driving rope to pass through are coaxial.
7. The multi-arm manipulator of claim 1, further comprising a second driving unit, wherein the second driving unit includes a second driving member and a first base, the first base is connected to the fixing base, and the second driving member can drive the first base to move, so that the fixing base drives the operating arm to translate along the extending direction of the operating arm.
8. The multi-arm manipulator of claim 7, wherein the second driving portion further comprises a guide post supported between the base and the fixed base, the first base and the fixed base moving along the guide post under the driving of the second driving member.
9. The multi-arm manipulator of claim 1, further comprising a third driving unit, wherein the third driving unit includes a third driving member and a second base, the fixing base is fixed above the second base, and the third driving member drives the second base to rotate, so that the fixing base drives the operating arm to rotate around the extending direction of the operating arm.
10. A robot comprising a multi-arm manipulator according to any of claims 1 to 9.
CN202010047938.4A 2020-01-16 2020-01-16 Multi-arm manipulator and robot Pending CN111230852A (en)

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