CN204954827U - Tentacle robot - Google Patents
Tentacle robot Download PDFInfo
- Publication number
- CN204954827U CN204954827U CN201520780634.3U CN201520780634U CN204954827U CN 204954827 U CN204954827 U CN 204954827U CN 201520780634 U CN201520780634 U CN 201520780634U CN 204954827 U CN204954827 U CN 204954827U
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- China
- Prior art keywords
- joint
- base station
- assembly
- convex portion
- joint assembly
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- 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.)
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Abstract
The utility model provides a tentacle robot, including base station subassembly and at least a lesson joint subassembly, spherical hinge joint between joint subassembly and the joint subassembly, a pass pitch chain is formed to subassembly mutual spherical hinge joint in a lesson joint at least, and a lesson joint subassembly spherical hinge joint that lies in pass pitch chain bottom is on the base station subassembly. The utility model discloses a nimble activity of the high degree of freedom is realized to bionics.
Description
Technical field
The utility model relates to robot field, is specifically related to a kind of tentacle robot.
Background technology
The freedom of movement of robot is the important indicator weighing robot performance, free degree representative be the activity flexibility of robot, the free degree higher activity performance is higher.Industrial robot can be used in multiple field, such as, produce, transport, even rescue and relief work etc.
General industrial robot realizes the activity of the multiaxis free degree by the combination of various displacement carriage, whirligig.This robot architecture is more burdensome, and volume is comparatively huge, controls difficulty high.From improving the free degree, saving the angle of space, simplified control system, utilize bionics, tentacle formula design robot being made into similar arm or tail is the design comparatively optimized, but there is not similar product in prior art.
Being not difficult to find out, also there is certain defect in prior art.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of tentacle robot, realizes high-freedom degree movable flexibly.
For achieving the above object, the utility model is by the following technical solutions:
A kind of tentacle robot, comprises base station assembly and at least one joint joint assembly; Between joint assembly with joint assembly, ball pivot is connected, and the mutual ball pivot of at least one joint joint assembly connects to form an articulated chain, and the joint joint assembly ball pivot be positioned at bottom articulated chain is connected on base station assembly.
Further, described base station assembly comprises base station housing, base station core, permanent magnet, the electric module of base station and central controller; Base station housing entirety is in column, and be provided with mounting flange bottom it, its longitudinal both sides are provided with first longitudinal upper convex portion protruding upward, and the groove between two first longitudinal upper convex portion is the first transverse concave groove; Base station core is fixed on the inside of base station housing, and the top center of base station core is provided with the ball pin connected for ball pivot; First longitudinal upper convex portion and the first transverse concave groove are fixed with permanent magnet; The inside of base station housing is located at by the electric module of base station and central controller.
Further, described joint assembly comprises joint housing, joint core, permanent magnet, electromagnetism winding, the electric module in joint and control chip; Joint housing entirety is in column, its longitudinal both sides are provided with second longitudinal upper convex portion protruding upward, groove between two second longitudinal upper convex portion is the second transverse concave groove, the both lateral sides of joint housing is provided with the second horizontal lower protuberance protruded downwards, and two second grooves laterally between lower protuberances are the second longitudinal fluting; Joint core is fixed on the inside of joint housing, and the top center of joint core is provided with the ball pin connected for ball pivot, and the bottom centre of joint core is provided with the ball bowl connected for ball pivot; Second longitudinal upper convex portion and the second transverse concave groove are fixed with permanent magnet; Second horizontal lower protuberance and the second longitudinal fluting are provided with electromagnetism winding; The electric module in joint and control chip are located at joint housing inside, and control chip is by the electric module in joint and electromagnetism winding switching, and control chip is connected with central controller;
Ball bowl bottom joint assembly is connected with the ball pin ball pivot at base station assembly top, second horizontal lower protuberance of joint assembly is engaged mutually with the first transverse concave groove of base station assembly, between the second longitudinal fluting of joint assembly and first longitudinal upper convex portion of base station assembly, and mutually leaves gap; Be connected with ball pin ball pivot by ball bowl between two joint assemblies, second horizontal lower protuberance of superposed joint assembly is engaged mutually with between second longitudinal upper convex portion of the second transverse concave groove of the joint assembly in bottom, the joint assembly in bottom and the second longitudinal fluting of superposed joint assembly, and mutually leaves gap.
Further, described second longitudinal upper convex portion and the second transverse concave groove are provided with flexible pad.
Further, above-mentioned tentacle robot also comprises flexible jacket; Flexible jacket sealing shroud is located at whole articulated chain and base station component external.
Further, above-mentioned tentacle robot also comprises functional module group; Functional module group is installed on a joint joint assembly of articulated chain end, and is connected with central controller.
A kind of tentacle robot provided by the utility model, has the following advantages:
Bionic design, has high-freedom degree, substantially can complete the active actions being similar to tentacle;
Multiple joint assembly cooperation activity, saves overall space, can be freely movable at narrow space;
The structure of joint assembly is living, and volume production can carry out free assembling, and the length of articulated chain is substantially unrestricted;
Carry functional module group, possess various different function, various different field can be applied in, have a extensive future.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the overall structure schematic diagram of the utility model tentacle robot.
Fig. 2 is the structural representation of base station assembly.
Fig. 3 is the structural representation of joint assembly.
Description of reference numerals:
1, base station assembly 2, joint assembly
3, the longitudinal upper convex portion of base station housing 4, first
5, the first transverse concave groove 6, central controller
7, base station core 8, ball pin
9, permanent magnet 10, joint housing
11, control chip 12, joint core
13, the longitudinal upper convex portion of ball bowl 14, second
15, the second transverse concave groove 16, second laterally lower protuberance
17, the second longitudinal fluting
Detailed description of the invention
For making the object of the utility model embodiment, technical scheme and advantage clearly, below in conjunction with the utility model embodiment and accompanying drawing, the technical scheme in the utility model embodiment is clearly and completely described.It should be noted that, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Embodiment
It should be noted that, in order to the orientation of clear each structure of expression, adopt in literary composition and be described to orientation in length and breadth, but in fact longitudinal and transverse, top, end etc. are all comparatively speaking towards orientation, do not form concrete restriction to actual installation of the present utility model.
Refer to Fig. 1, the utility model discloses a kind of tentacle robot, comprise base station assembly 1 and at least one joint joint assembly 2; Between joint assembly 2 with joint assembly 2, ball pivot is connected, and at least one joint joint assembly 2 mutually ball pivot connects to form an articulated chain, and joint joint assembly 2 ball pivot be positioned at bottom articulated chain is connected on base station assembly 1.
Industrial robot refers to the mechanical device with certain freedom of movement and locomitivity, can be applied in the fields such as industrial production, life staying idle at home, rescue and relief work.The combination of each single axial movement device all pieces together by general industrial robot, and structure is comparatively complicated, takes up room larger.
The utility model adopts bionic design, and each articulated chain can realize the swing of certain amplitude, and the articulated chain that multiple joint assembly 2 forms realizes Integral swinging just as tentacle.This design has the higher free degree, can most of action of mimic biology limbs.And the space that the utility model takies is less, overall structure is elongated, can shuttle back and forth in various narrow space and carry out activity, and this point is diverse with common industrial robot.
Refer to Fig. 2, as preferably, described base station assembly 1 comprises base station housing 3, base station core 7, permanent magnet 9, the electric module of base station (not shown) and central controller 6; Base station housing 3 entirety is in column, and be provided with mounting flange bottom it, the groove that its longitudinal both sides are provided with between first longitudinal upper convex portion, 4, two first longitudinal upper convex portion 4 protruding upward is the first transverse concave groove 5; Base station core 7 is fixed on the inside of base station housing 3, and the top center of base station core 7 is provided with the ball pin 8 connected for ball pivot; First longitudinal upper convex portion 4 and the first transverse concave groove 5 are fixed with permanent magnet 9; The inside of base station housing 3 is located at by the electric module of base station and central controller 6.
Refer to Fig. 3, as preferably, described joint assembly 2 comprises joint housing 10, joint core 12, permanent magnet 9, electromagnetism winding (not shown), the electric module in joint (not shown) and control chip 11; Joint housing 10 entirety is in column, its longitudinal both sides are provided with second longitudinal upper convex portion 14 protruding upward, groove between two second longitudinal upper convex portion 14 is the second transverse concave groove 15, it is the second longitudinal fluting 17 that the both lateral sides of joint housing 10 is provided with the groove of the second horizontal lower protuberance 16, two second laterally between lower protuberance 16 protruded downwards; Joint core 12 is fixed on the inside of joint housing 10, and the top center of joint core 12 is provided with the ball pin 8 connected for ball pivot, and the bottom centre of joint core 12 is provided with the ball bowl 13 connected for ball pivot; Second longitudinal upper convex portion 14 and the second transverse concave groove 15 are fixed with permanent magnet 9; Second horizontal lower protuberance 16 and the second longitudinal fluting 17 are provided with electromagnetism winding; It is inner that the electric module in joint and control chip 11 are located at joint housing 10, and control chip 11 is by the electric module in joint and electromagnetism winding switching, and control chip 11 is connected with central controller 6;
Ball bowl 13 bottom joint assembly 2 is connected with ball pin 8 ball pivot at base station assembly 1 top, second horizontal lower protuberance 16 of joint assembly 2 is engaged mutually with the first transverse concave groove 5 of base station assembly 1, between the second longitudinal fluting 17 of joint assembly 2 and first longitudinal upper convex portion 4 of base station assembly 1, and mutually leaves gap; Be connected with ball pin 8 ball pivot by ball bowl 13 between two joint assemblies 2, second horizontal lower protuberance 16 of superposed joint assembly 2 is engaged mutually with between second longitudinal upper convex portion 14 of the second transverse concave groove 15 of the joint assembly 2 in bottom, the joint assembly 2 in bottom and the second longitudinal fluting 17 of superposed joint assembly 2, and mutually leaves gap.
Base station assembly 1, as the installing component of tentacle robot, is integrated with mounting structure and the central controller 6 for entirety control.Central controller 6 is equivalent to the brain of whole tentacle robot, is responsible for overall command activity.What the utility model adopted is Magnetic Control principle, the joint assembly 2 often saving the connection of mutual ball pivot carries out activity by the electromagnetism winding be positioned on the second horizontal lower protuberance 16 and the second longitudinal fluting 17 and controls, the electromagnetism winding being positioned at the joint assembly 2 that top one is saved is the permanent magnet 9 being right against the joint winding being positioned at bottom one joint, adsorption can be produced with permanent magnet 9 when the energising of electromagnetism winding produces magnetic field, thus making joint assembly 2 relatively produce the swing of slight angle, articulated chain then can cause overall action by the swing of each joint assembly 2.And why electromagnetism winding is located in different planes, being produce between the electromagnetism winding in order to reduce same joint joint assembly 2 to influence each other, reducing interference effect.In like manner, the Position Design of permanent magnet 9 is also like this.
The generation of action is controlled by central controller 6, what the utility model adopted is a control system, the control chip 11 of each joint assembly 2 is for the break-make of the corresponding electromagnetism winding of Partial controll, and the action of each control chip 11 then has central controller 6 to command.All control chips 11 are connected with central controller 6, and corresponding each control chip 11 is just marked as different ID, by central controller 6, each control chip 11 is sent to the instruction of coordination.The action of each joint assembly 2 is separate and mutual coordinations.From the driving force size of each joint assembly 2, the magnetic induction intensity of permanent magnet 9 is higher, and the power of action is larger, preferably adopts the strong magnetic permanent magnet 9 had compared with high magnetic flux density.The material of joint housing 10 then needs higher hardness, intensity, and simultaneously for avoiding overall weight overweight, should select lighter material as far as possible, the such as material such as aluminium alloy, carbon fibre is all preferably select.
As preferably, described second longitudinal upper convex portion 14 and the second transverse concave groove 15 are provided with flexible pad.Because the two joint joint assemblies 2 be mutually engaged likely contact with each other in the process of activity, the rigid contact between joint housing 10, adopting flexible pad to be cushioned is preferably scheme.Such design effectively can avoid the wearing and tearing of joint housing 10 and aging, increases the service life.
As further preferred, above-mentioned tentacle robot also comprises flexible jacket; Whole articulated chain is located at by flexible jacket sealing shroud and base station assembly 1 is outside.Must leave the gap for activity between each joint assembly 2 of tentacle robot, this creates undoubtedly easily hides dirt and easily by problem that steam enters.Flexible jacket is by whole tentacle robot sealed envelope, and effectively avoid outside steam or dust to enter, flexible jacket self can not hinder the motion of tentacle robot simultaneously.
As preferably, above-mentioned tentacle robot also comprises functional module group; Functional module group is installed on a joint joint assembly 2 of articulated chain end, and is connected with central controller 6.Functional module group can be some grippers, process tool, plumb joint etc. of industrial use, is equipped with different functional module group and just can makes the ability that tentacle robot is different, different fields is applied.
A kind of tentacle robot provided by the utility model, adopts bionic design, has high-freedom degree, substantially can complete the active actions being similar to tentacle.Multiple joint assembly 2 cooperation activity, saves overall space, can be freely movable at narrow space, such as in small-sized passage free shuttling also can activity freely.The structure of each joint assembly 2 is living, and volume production can carry out free assembling, and the length of articulated chain is substantially unrestricted.And can functional module group be carried, possess various different function, various different field can be applied in, have a extensive future.
The above embodiment only have expressed a kind of embodiment of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (6)
1. a tentacle robot, is characterized in that: comprise base station assembly and at least one joint joint assembly; Between joint assembly with joint assembly, ball pivot is connected, and the mutual ball pivot of at least one joint joint assembly connects to form an articulated chain, and the joint joint assembly ball pivot be positioned at bottom articulated chain is connected on base station assembly.
2. tentacle robot according to claim 1, is characterized in that: described base station assembly comprises base station housing, base station core, permanent magnet, the electric module of base station and central controller; Base station housing entirety is in column, and be provided with mounting flange bottom it, its longitudinal both sides are provided with first longitudinal upper convex portion protruding upward, and the groove between two first longitudinal upper convex portion is the first transverse concave groove; Base station core is fixed on the inside of base station housing, and the top center of base station core is provided with the ball pin connected for ball pivot; First longitudinal upper convex portion and the first transverse concave groove are fixed with permanent magnet; The inside of base station housing is located at by the electric module of base station and central controller.
3. tentacle robot according to claim 2, is characterized in that: described joint assembly comprises joint housing, joint core, permanent magnet, electromagnetism winding, the electric module in joint and control chip; Joint housing entirety is in column, its longitudinal both sides are provided with second longitudinal upper convex portion protruding upward, groove between two second longitudinal upper convex portion is the second transverse concave groove, the both lateral sides of joint housing is provided with the second horizontal lower protuberance protruded downwards, and two second grooves laterally between lower protuberances are the second longitudinal fluting; Joint core is fixed on the inside of joint housing, and the top center of joint core is provided with the ball pin connected for ball pivot, and the bottom centre of joint core is provided with the ball bowl connected for ball pivot; Second longitudinal upper convex portion and the second transverse concave groove are fixed with permanent magnet; Second horizontal lower protuberance and the second longitudinal fluting are provided with electromagnetism winding; The electric module in joint and control chip are located at joint housing inside, and control chip is by the electric module in joint and electromagnetism winding switching, and control chip is connected with central controller;
Ball bowl bottom joint assembly is connected with the ball pin ball pivot at base station assembly top, second horizontal lower protuberance of joint assembly is engaged mutually with the first transverse concave groove of base station assembly, between the second longitudinal fluting of joint assembly and first longitudinal upper convex portion of base station assembly, and mutually leaves gap; Be connected with ball pin ball pivot by ball bowl between two joint assemblies, second horizontal lower protuberance of superposed joint assembly is engaged mutually with between second longitudinal upper convex portion of the second transverse concave groove of the joint assembly in bottom, the joint assembly in bottom and the second longitudinal fluting of superposed joint assembly, and mutually leaves gap.
4. tentacle robot according to claim 3, is characterized in that: described second longitudinal upper convex portion and the second transverse concave groove are provided with flexible pad.
5. tentacle robot according to claim 1, is characterized in that: also comprise flexible jacket; Flexible jacket sealing shroud is located at whole articulated chain and base station component external.
6. tentacle robot according to claim 1, is characterized in that: also comprise functional module group; Functional module group is installed on a joint joint assembly of articulated chain end, and is connected with central controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520780634.3U CN204954827U (en) | 2015-10-07 | 2015-10-07 | Tentacle robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520780634.3U CN204954827U (en) | 2015-10-07 | 2015-10-07 | Tentacle robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204954827U true CN204954827U (en) | 2016-01-13 |
Family
ID=55049924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520780634.3U Withdrawn - After Issue CN204954827U (en) | 2015-10-07 | 2015-10-07 | Tentacle robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204954827U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150207A (en) * | 2015-10-07 | 2015-12-16 | 陈超 | Tentacle robot |
| CN108673552A (en) * | 2018-06-04 | 2018-10-19 | 郭嘉辉 | A kind of cam rotation joint of robot |
| CN108748125A (en) * | 2018-06-04 | 2018-11-06 | 郭嘉辉 | A kind of snakelike industrial robot |
| CN113183175A (en) * | 2021-04-16 | 2021-07-30 | 浙江工业大学 | Variable-rigidity bending joint based on air pressure antagonistic structure |
-
2015
- 2015-10-07 CN CN201520780634.3U patent/CN204954827U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150207A (en) * | 2015-10-07 | 2015-12-16 | 陈超 | Tentacle robot |
| CN108673552A (en) * | 2018-06-04 | 2018-10-19 | 郭嘉辉 | A kind of cam rotation joint of robot |
| CN108748125A (en) * | 2018-06-04 | 2018-11-06 | 郭嘉辉 | A kind of snakelike industrial robot |
| CN108673552B (en) * | 2018-06-04 | 2021-09-14 | 江苏中科爱码信自动化技术有限公司 | Cam swing robot joint |
| CN108748125B (en) * | 2018-06-04 | 2021-10-01 | 南京圣凯冷拉型钢有限公司 | Snakelike industrial robot |
| CN113183175A (en) * | 2021-04-16 | 2021-07-30 | 浙江工业大学 | Variable-rigidity bending joint based on air pressure antagonistic structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160113 Effective date of abandoning: 20170524 |
|
| AV01 | Patent right actively abandoned |