CN206154307U - Beformable body mechanical drive system - Google Patents
Beformable body mechanical drive system Download PDFInfo
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- CN206154307U CN206154307U CN201621036839.1U CN201621036839U CN206154307U CN 206154307 U CN206154307 U CN 206154307U CN 201621036839 U CN201621036839 U CN 201621036839U CN 206154307 U CN206154307 U CN 206154307U
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The utility model relates to the field of machinary, especially, relate to movable part drive field. Beformable body mechanical drive system loops through the at least three mechanical skeleton that rotation joint connects including top -down, still include an at least flexible body, the mechanical skeleton fixed connection of flexible body and top, at least, above the machinery skeleton is connected with its below the skeletal rotation mode of machinery all contains turn right or left, the below at least two machinery the skeleton, be equipped with with flexible body sliding connection's opening, the flexible body quilt the opening restriction is in slide in the opening. The flexible body by from the below when taut, mechanical skeleton with flexible body fixed connection's top can be stimulateeed, and then take place to rotate.
Description
Technical field
The utility model is related to mechanical field, more particularly to movable part drives field.
Background technology
Existing beformable body machinery, particularly flexible robot, are often driven using numerous motor, and frame for movement is multiple
Miscellaneous, high energy consumption, fault rate is high.
Utility model content
The purpose of this utility model is to provide a kind of beformable body mechanical drive system, solves above technical problem.
The purpose of this utility model also resides in several robots of offer, solves above technical problem.
The technical problem that the utility model is solved can employ the following technical solutions to realize：
Beformable body mechanical drive system, including at least one mechanical bone；Characterized in that, including at least one flexible body,
The mechanical bone, is provided with the opening being slidably connected with the flexible body, and the flexible body is limited by the opening
Slide in the opening；
The opening on the mechanical bone, is arranged at least side of the left and right sides of the mechanical bone.
Mechanical bone at least three, passes sequentially through from top to bottom the machine of cradle head connection, the flexible body and top
Tool skeletal fixation connects；It is slidably connected by the opening with mechanical bone described at least two of lower section.
Mechanical bone described at least two of lower section is respectively equipped with, and is arranged on the opening of homonymy, and makes the flexibility
Two openings of the body through homonymy.
At least the rotating manner of the top mechanical bone and the mechanical bone for connecting below includes left/right rotation
It is dynamic.
When flexible body is tensed from below, the mechanical bone of the top being fixedly connected with flexible body can be pulled, and then
Rotate.Mechanical bone up goes to greatest extent, it is impossible to when continuing to be rotated relative to the mechanical bone of lower section connection,
Flexible body support frame on the mechanical bone of top or the mechanical bone of lower section connection, can produce to the mechanical bone of lower section connection
Raw pulling force, and then promote the mechanical bone of the mechanical bone lower section connection of top, stress simultaneously to rotate.The like multiple mechanical bones
Bone produces controlled action because of the pulling of flexible body.
It is also often what is existed when mechanical bone up does not go to greatest extent for the pulling force of lower section, but
When going to greatest extent, the most substantially.
The mechanical bone can be the mechanical bone of the mechanical bone of metal material, or plastic material, or
Can also be the mechanical bone of wood material.
The mechanical bone of metal material, is easy to make the beformable body machinery of strong.Can be used for practice production and processing, or
Structure member of the person as weapon.
The mechanical bone of plastic material or wood material, with quality it is light, price is low, the spy such as reactionless to metal detection
Point.Can be used in water moving about, or for secret detection.
The opening, can be through hole, raceway groove or track.The flexible body can be met to pass through, and limited described soft
Gonosome is in the opening.
The opening on the mechanical bone, positioned at the left side of the line of upper and lower two cradle heads of the mechanical bone
Or right side.In order to produce the torque of left or right rotation.The line of two cradle heads, is to determine geometrical relationship
And the virtual line for setting.
Or, the cradle head is rotating shaft, and the opening is located at the axle of upper and lower two cradle heads of the mechanical bone
To the left side or right side of plane determined by direction.
The cradle head can also be asks joint, or other mechanical joints.
The opening is positioned at the position of the middle part level above of above-mentioned mechanical bone.In order to produce the longer arm of force.
Further, the mechanical bone is respectively arranged on the left side and the right side the opening, and is each passed through different described
Flexible body.To realize controlling to rotate to the left or to the right respectively.
Cradle head below the mechanical bone, the rotation direction for rotating with left-right rotation and in front and back；The machinery
At least side before and after bone in both sides, also is provided with the opening, and a flexible body passes through the opening.Realize the machinery
Rotate before and after bone.
Can also be：The mechanical bone side is provided with two openings, arranges before and after two openings, two institutes
State flexible body and be each passed through two openings；
Cradle head below the mechanical bone, the rotation direction for rotating with left-right rotation and in front and back.
By two openings arranged before and after setting, and through flexible body, it is possible to achieve in two flexible body pulling force
In the case of difference, rotate before and after realization.
Further, the mechanical bone is provided with flexible body bracing frame, and the opening is arranged on the flexible body bracing frame
On, the flexible body is limited in the opening by the opening and is slided.By arranging flexible body bracing frame, the mechanical bone is made
Bone clear in structure, each structure division of labor is clear and definite, simplifies manufacturing process.
The flexible body bracing frame is a bulge-structure, and the opening is located at the bossing of bulge-structure.In order to real
Now apart from the line of upper and lower two cradle heads of the mechanical bone, or plane determined by the axial direction of two cradle heads
It is farther.Than being arranged on mechanical bone, more powerful torque is produced.
The flexible body bracing frame can be a metal supporting frames, and the metal supporting frames are fixed on the mechanical bone
On, the opening is located at the one end of the metal supporting frames away from the mechanical bone.Further simplify structure, and realize more
Powerful torque.
The metal supporting frames can be metallic rod, metallic plate or metallic support.
The flexible body bracing frame can be a plastic support frame, and the plastic support frame is fixed on the mechanical bone
On, the opening is located at the one end of the plastic support frame away from the mechanical bone.Further simplify structure, and realize more
Powerful torque.Existing some plastics have had very strong hardness, can be with alternative metals.And will, corrosion resistant light with quality
The advantages of erosion.
The plastic support frame can be plastic bar, plastic plate or plastic stent.
The highly preferred of flexible body bracing frame be, the mechanical bone length 2/1sts to three/5th it
Between.To realize that there is larger rotatable amplitude, and make structural volume too fat to move.
More preferably, the highly preferred of flexible body bracing frame be, 1/3rd of the mechanical bone length
To between 1/2nd.Test shows that this parameter has simultaneously, and excellent torque embodies, structural volume is elongated, rotation amplitude
Big the advantages of.
The flexible body bracing frame is rotatably coupled on the mechanical bone, and is provided with for locking the flexibility
Body bracing frame, limits the lock for rotating, and the lock is provided with the control end for opening.By control end opening lock catch, permit
Perhaps flexible body bracing frame is rotated relative to mechanical bone, realizes folding.And it is full after deployment, by latching pinning in work
Sufficient strength demand.When the flexible body bracing frame is in folded state, integral thickness or width will be substantially reduced, Ke Yishen
Enter or by very narrow passage.The construction of extreme environment, or personnel is conducive to search and rescue.
A flexible restoring organ is provided between the flexible body bracing frame and the mechanical bone.When external force is lost, bullet
Property resetting-mechanism promote the flexible body bracing frame from folded state launch.In case being operated.
The lock is a self-locking mechanism, and after the flexible body support frame launches, auto lock is limited and rotated.
The lock can be the lock of Electronic control, or the lock of pneumatic control.
Beformable body mechanical drive system also includes a roller bearing, after mechanical bone is sequentially connected up and down described at least three, one end
It is fixed on the roller bearing, the axial direction of the roller bearing is fore-and-aft direction.After the flexible body bracing frame is folded, mechanical bone is surrounded
Cradle head rotates, and is wrapped on roller bearing.
Flexible body bracing frame, can fold in advance, it is also possible to during being wound around, and be under pressure and complete to fold.
By being wrapped on roller bearing, the expanding-contracting action of mechanical bone can be completed.Such as original length in 10m, in part
After mechanical bone is wrapped on roller bearing, length has necessarily shortened, it might even be possible within shortening to 1m.
In addition, after being wrapped on roller bearing, overall volume will be substantially reduced.Even can narrow down to original volume five/
Within one.It is easy to store, transports, or even is easy to hide.
Because flexible body receives the circular protection of the opening, after some mechanical bone is wrapped on roller bearing, still can
Enough activities, still can drive other mechanical bones not wound.
The flexible body bracing frame, can also be flexible support.One important use of flexible body bracing frame is that restriction is soft
Distance between gonosome and mechanical bone, when flexible body has the action trend away from mechanical bone, pulls mechanical bone motion.
Therefore when elemental motion is carried out, it may not be necessary to rigid flexible body bracing frame.And flexible support, in storage, transport, production
In, there is the advantage of uniqueness.Such as it is easier to fold, there is no concern that pressure deformation, parts are easy to adjust setting angle, pass through
Can voluntarily compress during small space.
The flexible support can be metal bracelet.
The flexible body bracing frame can also be a flexible cord, strip flexible structure, or strip-shaped flexible structure.Such as
Can be nylon wire, steel wire rope, steel bar, plastic strip, steel band, nylon tape, carbon fiber line, litzendraht wire, carbon modeling line, wire, conjunction
Into line, ceramic thread, gravitation line, polyethylene high-performance line, superpower PE singles etc..
The flexible body bracing frame is preferably steel bar or steel band.Such as make the steel bar or steel band of clockwork spring.Using steel
Bar or steel band, can not only produce pulling action, and can produce pushing action.Make action more rich and changeful.
The steel bar can be steel bar made by carbon steel or alloy spring steel.
The steel band can be steel band made by carbon steel or alloy spring steel.
The trade mark of the carbon steel can be 50.Alloy spring steel is referred to and can be used to the steel alloy for making spring.
The thickness of the steel bar or steel band, preferably 0.1mm to 3mm.
In this interval range again, it is ensured that carbon steel or alloy spring steel have certain tensile strength, have
The intensity of good bendable folding endurance, resilience and jack-up, can be used for pulling action and pushing action.This parameter can meet
Good pulling action and pushing action.
The thickness of the steel bar or steel band, preferably 1mm to 2mm.This parameter can meet good pulling action
And pushing action.
The flexible body can be a rope form flexible body, strip flexible body, or strip-shaped flexible body.Such as can be nylon
Line, steel wire rope, steel bar, plastic strip, steel band, nylon tape, carbon fiber line, litzendraht wire, carbon modeling line, wire, synthetic thread, ceramics
Line, gravitation line, polyethylene high-performance line, superpower PE singles etc..These materials, can produce good pulling force, and be difficult
Fracture.
The flexible body is preferably, nylon wire, carbon modeling line, wire, synthetic thread, ceramic thread, gravitation line, the high property of polyethylene
Energy line, superpower PE singles.These lines, are frequently used for making setline, with good resistance to drawing, and with quality it is light,
Corrosion resistant advantage.
Locking device is provided between two adjacent mechanical bones.By the locking device, to limit adjacent two
The relative motion of individual mechanical bone.
By the motion for limiting adjacent machine bone, can control in flexible body action, the concrete mechanical bone of driving,
And then the accurate and complicated action of realization.
Several sections of mechanical bones that top can such as be realized are arranged in a straight line, but several sections of mechanical bones of lower section are curved
Song arrangement.
The locking device can be that an at least lockhole is arranged on a mechanical bone, in adjacent another mechanical bone
At least one locking bolt matched with the lockhole, the locking bolt and an electrical components or Pneumatic component linkage are set on bone.And then it is logical
Electrical components or Pneumatic component are crossed, whether control locking bolt inserts lockhole, and then locking device is realized to whether locking, if limit
The function of relative movement processed.
The electrical components, can be an electromagnet mechanisms, and the electromagnet mechanism includes fixed component, and controlled motion
Movable part, the movable part connects the locking bolt.Fixed component is fixed on the mechanical bone at place.
The electrical components, can be a motor operated driving mechanisms, and the motor operated driving mechanism includes fixed component, and
By the movable part that motor-driven is moved, the movable part connects the locking bolt.Fixed component is fixed on the machinery at place
On bone.
The Pneumatic component, can be a cylinder mechanism, and the cylinder mechanism includes fixed component, and the work of controlled motion
Dynamic component, the movable part connects the locking bolt.Fixed component is fixed on the mechanical bone at place.Fixed component can be wrapped
Cylinder is included, movable part can connect piston.
The locking device can be to arrange a damping fin on a mechanical bone, in adjacent another mechanical bone
A upper setting at least damping block, the damping block presses close to the damping fin；The damping block and an electrical components or Pneumatic component
Linkage.And then by electrical components or Pneumatic component, whether control damping block compresses damping fin, and then it is right to realize locking device
Whether lock, if limit the function of relative movement.
The damping fin can be brake disc, and the damping block can be brake block.
The brake disc is arcuate structure of the arc chord angle less than 180 degree.It is limited to the type of drive for adopting, is difficult to realize and rotates
Angle is more than 180 degree, therefore brake disc is set as within 180 degree, to simplify structure.
The center of rotation of the brake disc is the cradle head axle center of the mechanical bone.So that brake disc is closed around rotation
Section is rotated, and is easy to work smooth.
The brake disc is arcuate structure of the arc chord angle more than 30 degree.The type of drive for being limited to adopt realizes that rotational angle is big
It is easier to realize in 30 degree, therefore brake disc is set as more than 30 degree, it is to avoid brake block turns de- when maximum angle is rotated, and causes
Cannot brake.
One is provided with the opening for clamping the clamping device of flexible body, the clamping device be provided with a control clamp or
The control end of release.
By clamping or unclamping flexible body, and then control the stressing conditions of different mechanical bones.Realize complicated machinery
Motion.
The clamping device can be electric clamping device, or air clamper.
The flexible body is provided with the raised or depression matched with the clamping part of the electric clamping device.Described
When the clamping part of electric clamping device performs pinching action, clamping part can block described raised or depression, to realize
Firmly locking.
The electrical components of the electric clamping device, can be an electromagnet mechanisms, and the electromagnet mechanism includes fixing
Part, and the movable part of controlled motion, the movable part connects the clamping part.The fixed component can be fixed on
On the flexible body bracing frame, or on mechanical bone.Preferably it is fixed on the flexible body bracing frame.
The manner of the movable part is the insertion opening direction, or pulls out from the opening.It is right further to realize
The clamping or release of flexible body.
The electrical components of the electric clamping device, can also be a motor operated driving mechanism, the motor driving machine
Structure includes fixed component, and the movable part moved by motor-driven, and the movable part connects the clamping part.It is described
Fixed component can be fixed on the flexible body bracing frame, or on mechanical bone.Preferably it is fixed on the flexible body
On support.
The Pneumatic component of the air clamper, can be a cylinder mechanism, and the cylinder mechanism includes fixing
Part, and the movable part of controlled motion, the movable part connects the clamping part.The fixed component can be fixed on
On the flexible body bracing frame, or on mechanical bone.Preferably it is fixed on the flexible body bracing frame.Fixed component can be with
Including cylinder, movable part can connect piston.
Beformable body mechanical drive system also includes an electronic control system, and the electronic control system includes microprocessor system
System；
The microprocessor system connects an electric motor drive system, and the electric motor drive system connection at least is electric
Motivation；
Flexible body is directly or indirectly fixed on the power output part of the motor at least described in one.
The flexible body motion is driven by the power output part of the motor.The drawing to flexible body can be realized
It is dynamic, or loosen.And then realize motion control of the microprocessor system to mechanical bone.
The motor can be rotary electric machine or linear electric motors.
When the motor is rotary electric machine, the rotating shaft connection one of the motor is used to wind the reel of flexible body.
Described flexible body one end is fixed on reel.When reel is rotated, flexible body is more wrapped on reel, Huo Zhe
Send on reel, realize the pulling to flexible body, or loosen.
The rotating shaft of the motor connects the reel by a reducing gear.To strengthen pulling force.
The rotating shaft connection at least two of the motor is used to wind the reel of flexible body, and coiling is organic on a reel
Flexible body on the left of tool bone, the flexible body being wound with another reel on the right side of mechanical bone；
A clutch is provided between one reel and rotating shaft；Another clutch is provided between another reel and rotating shaft；
One clutch is respectively equipped with control end with another clutch, and the control end connects the microprocessor system
Control signal output.And then control of the microprocessor system to two clutches is realized, and then realize left to mechanical bone
The control respectively of the flexible body of right both sides.
Based on design feature of the present utility model, a motor of above-mentioned design drives the knot of two reels simultaneously
Structure, disclosure satisfy that most action demands.In the case of big how many, a reel is tensed by motor, another reel freedom
Rotate, or two reels lead to rotation.Substantially be not in two reels need that respectively active is rotated to different directions
Ask.Therefore this patent realizes a motor-driven machinery bone and makes numerous complicated action.
The reel locking system for limiting reel rotation is additionally provided with, the reel locking system is provided with a control
Signal input part, the control signal input connects the microprocessor system.
Whether the microprocessor system control reel can rotate, and whether particularly control reel can be passive
Freely rotate.This design, it is possible to achieve the length difference adjustment of two days flexible bodies of coiling on two reels.
Such as, a flexible body receives external tensile force, but needs to keep length constant, and another flexible body then needs to adjust again
Whole length.The reel that now can be just connected a flexible body is locked by the reel locking system, clutch
Unclamp and depart from.Another reel of motor-driven is rotated, and then realizes the adjustment to another flexible body.
The reel locking system is preferably electric-controlled locking system.
The reel locking system can be that an at least lockhole is arranged on a reel, and the reel is arranged
On a support, at least one locking bolt matched with the lockhole is provided with support, the locking bolt and an electrical components link,
The control signal end of electrical components connects the microprocessor system.And then control whether locking bolt inserts lock by electrical components
Hole, and then reel locking system is realized to whether locking, if limit the function of relative movement.
The electrical components, can be an electromagnet mechanisms, and the electromagnet mechanism includes fixed component, and controlled motion
Movable part, the movable part connects the locking bolt.Fixed component is fixed on support.
The electrical components, can be a motor operated driving mechanisms, and the motor operated driving mechanism includes fixed component, and
By the movable part that motor-driven is moved, the movable part connects the locking bolt.Fixed component is fixed on support.
The locking bolt can be metallic rod, or metal bump.
The reel locking system can also adopt the locking system of brake block mechanism.
The locking device is the locking device controlled by electric signal, is provided with control signal input, the control signal
Input connects the signal output part of the microprocessor system.
The clamping device is the clamping device controlled by electric signal, is provided with control signal input, the control signal
Input connects the signal output part of the microprocessor system.
By above-mentioned design, respectively control of the microprocessor system to all parts is realized.And then realize to beformable body machine
The Comprehensive Control of tool drive system.
Angular transducer is provided between mechanical bone above, with underlying mechanical bone, the angle is passed
Sensor connects the microprocessor system.
Gyroscope is at least provided with the mechanical bone of one end, the gyroscope connects the microprocessor system.
Beformable body machinery is different from other machineries, and structure is relatively easy.Test shows, it is determined that the motion of the mechanical bone of most end, with
And the relative angle between each mechanical bone of lower section, the parameters such as overall shape, position, movement tendency are can determine substantially.It is logical
Crossing gyroscope and angular transducer can completely determine the integrality of beformable body mechanical drive system substantially.
The mechanical bone of end, can be the mechanical bone of the top, or the mechanical bone of bottom.
Further, on the mechanical bone of upper and lower ends, gyroscope is respectively equipped with, two gyroscopes connect respectively described miniature
Processor system.Gyroscope monitoring is carried out to two ends, system mode can be more accurately known.
The microprocessor system is also associated with camera.For gathering video information.
The camera is preferentially arranged on the mechanical bone of end.
The microprocessor system is also associated with satellite positioning module.Satellite positioning module can be d GPS locating module
Or big-dipper satellite locating module.To realize Geographic mapping, and allow to carry out activity according to the geographical position of itself.
Such as can voluntarily navigate, be moved to target location.
The microprocessor system is also associated with wireless remote-control system.In order to carry out wireless remote control.
The wireless remote-control system, can be based on the remote control system of cell phone network.Such as can be 2G, 3G, 4G or
The cell phone network of other standards.It is remote interactive to realize.
Beformable body mechanical drive system also includes power-supply system.Power-supply system can be D.C. regulated power supply.Preferably switch
Power supply.
The power-supply system can also be preferably battery system.The battery system includes at least two section batteries,
At least two sections battery is separately fixed on the different mechanical bones, and the two sections battery connects microprocessor
System.Realize that battery system for tracking is moved.And it is separately fixed at different mechanical bones because battery will be at least connected with
On, it is ensured that supply with more electric energy, and causing system too fat to move without because arranging battery.
At least two sections battery is in parallel.After a section battery damage, other batteries still can ensure that system
Work.
Reverse charging resistant circuit is provided between at least two sections battery.Avoid mutually being charged between battery.And then avoid
Because of certain section battery damage, and cause other storage battery loss of energys.
Reverse charging resistant circuit, can be provided in the diode that battery one is extremely gone up.
The microprocessor system is preferably SCM system or ARM system.Preferably ARM system.
Be provided with microprocessor system on the mechanical bone, the microprocessor system be provided with a signal input part and
An at least signal output part；
The signal input part connects the signal output part of the microprocessor system；
The signal output part connects at least one in the locking device, the clamping device, the lock.
By microprocessor system, indirectly by least in the locking device, the clamping device, the lock
Plant and be connected to microprocessor system.
Preferably, the microprocessor system arranges two signal output parts, and two signal output parts connect respectively described
Locking device and the clamping device.Realize the whole controls to the locking device, the clamping device.
The microprocessor system is preferably single-chip microcomputer.
One signal output part of the microprocessor system draws a signal line, signal line connection at least three
The signal input part of microprocessor system；At least three microprocessor systems are separately positioned at least three mechanical bones.
This design, it is allowed to which the motion of numerous mechanical bones is controlled by a signal line.
The microprocessor system includes identity when control signal is sent by the holding wire in control signal
Identification code；
The microprocessor system, is identified to the identity code, is judging that including the identity of itself knows
During other code, receive the control of control signal.
When the identity code not comprising itself is judged, then the control of control signal is not received.
In the microprocessor system, at least three kinds should be at least stored with corresponding at least three microprocessor systems
Identity code.In to be embedded into control signal, realize have targetedly control.
In one group of control signal of the microprocessor system output, it is allowed to include at least two identity codes.
In order to once occur, the motion of at least two mechanical bones is controlled.
Include the angle parameter of angular transducer in the control signal, what the microprocessor system detection was connected
The angle parameter of angular transducer, and contrasted with the angle parameter in control signal, after angle parameter is consistent, control machine
Tool bone stops relative motion.
The mode of control machinery bone stop motion, can be locked by the locking device.
The microprocessor system is additionally provided with a signal input part, and the signal input part is connected with holding wire, one
Holding wire connects the signal output part of at least three microprocessor systems；At least three microprocessor systems are separately positioned at least
On three mechanical bones.
This signal line is used for, and the microprocessor system obtains the signal feedback from microprocessor system.
At least one connection microprocessor system in angular transducer, gyroscope, camera, and then by described micro-
Processor system connects the microprocessor system.
Preferably, angular transducer fixed on the mechanical bone of the top or bottom, gyroscope and camera whole
Connect the microprocessor system respectively, and the microprocessor system is connected by the microprocessor system.
Two signal lines can be combined into one, and the microprocessor system carries out time-sharing multiplex to same signal line.
That is, the holding wire of the signal input part connection of described microprocessor system and the holding wire of signal output part connection, Ke Yiwei
Same.By time-sharing multiplex, the input and output of signal are realized.Because the utility model is control making mechanical movement, and
Non- big data computing, even if so by the way of time-sharing multiplex, it is also possible to meet data processing needs.And simplification finishes
Structure, reduces fault rate.
When the microprocessor system obtains the signal feedback of the microprocessor system, microprocessor described first
System sends the request signal for including identity code by signal output part, and the microprocessor system judges whether to include
The identity code of itself, comprising when then carry out signal feedback.
In signal feedback, including the angle parameter of angular transducer.
The microprocessor system sends and includes the request signal of identity code, but meets identity code
Microprocessor system, does not make signal feedback, then the microprocessor system is considered as the micro- place corresponding to identity code
The reason device system failure, and store fault message.To correct later operation program.
The mode of amendment is：
The microprocessor system, when the microprocessor system of signal feedback is not made in discovery, is considered as the machine at place
Tool bone is failure mechanical bone, and to the microprocessor system on the mechanical bone below failure mechanical bone clamping device is sent
The control signal of clamping.
Control signal can realize precise control by the identity code comprising the microprocessor system for needing control.It is logical
Responsive control signal is crossed, to clamp flexible body, makes system proceed accurate controllable action.
Further：The microprocessor system of signal feedback is not made, including on the mechanical bone of the top
During microprocessor system, then the control signal of gripping means grips is sent；The control object of control signal is still to make signal
Feedback, the nearest mechanical bone of the mechanical bone apart from the top.
Control signal can realize precise control by the identity code comprising the microprocessor system for needing control.It is logical
Responsive control signal is crossed, to clamp flexible body, makes system proceed controllable action.And such case, can be considered as substantially
The some mechanical bone on top is because external force has been lost and come off.It is flexible if not making effective mechanical bone clamp flexible body
Body will lose the motive force to whole equipment, cause whole system to be paralysed.And then realize, even if some mechanical bone is because of certain
Reason, causes to come off, and still can work on.
Be fixed at the holding wire one on the mechanical bone of top, another place of the holding wire be fixed on it is adjacent under
On the mechanical bone of side, the length of the direct holding wire of Liang Ge bearings, more than two adjacent mechanical bones in maximum rotation
During angle, required signal line length.This design, although on the consumption of whole holding wire, increased, but can be to keep away
Exempt to break holding wire when rotating, can avoid holding wire because fixing again, move back and forth within a large range, cause to damage
It is bad.And avoid the problem that holding wire is disposably pulled apart when quick mobile.
The power-supply system is provided with two power lines, and a power line is positive pole, and another power line is negative pole；Two electricity
Source line sequentially passes through at least three mechanical bones, and microprocessor system described at least three at least three mechanical bones is divided
It is not connected on two power lines.
Be fixed at the power line one on the mechanical bone of top, another place of the power line be fixed on it is adjacent under
On the mechanical bone of side, the length of the direct power line of Liang Ge bearings, more than two adjacent mechanical bones in maximum rotation
During angle, required power supply line length.This design, although on the consumption of whole power line, increased, but can be to keep away
Exempt to break power line when rotating, can avoid power line because fixing again, move back and forth within a large range, cause to damage
It is bad.And avoid the problem that power line is disposably pulled apart when quick mobile.
The battery being fixed on the mechanical bone, is connected in parallel on two power lines.Realize power supply.
The battery is also associated with a charging circuit, and the charging circuit is connected to the electrode of a power line and battery
Between, bypass reverse charging resistant circuit.And then realize being charged by power line.
Charging circuit can be that an input voltage exceedes the circuit turned on after threshold value.Storage battery in parallel be pressed in threshold value with
Under, therefore be not turned on, do not cause inverse filling.And when charging, then can pass through input and realize charging more than the voltage of threshold value.
In the utility model, few electric wire is employed.Even only by three electric wires, just realize to numerous
The control of the whole beformable body mechanical drive system of mechanical bone, greatly reduces the complexity of wiring.It is institute in conventional design
Do not see.To Robot Design, it is significant.
The utility model, it is allowed to by little motor, or even only by a motor, just realize to numerous
The complicated driving of the whole beformable body mechanical drive system of mechanical bone.It is not see in conventional design.Robot is set
Meter, is significant.
The utility model, it is allowed to the thickness and length that change itself of large scale.It is not see in conventional design
's.To Robot Design, it is significant.
The utility model, it is allowed to after some mechanical bone is lost, still voluntarily adjusts and repairs, and makes system continue normal work
Make.It is not see in conventional design.To Robot Design, it is significant.
The utility model, battery is fixed on one by one on different mechanical bones, both ensure that delivery, turn avoid body
Product is too fat to move.Even if some mechanical bone is lost, part battery is caused to lose, but still being capable of normal work.And possess anti-reverse
Fill and unify charge function.With powerful environmental suitability and terseness.It is not see in conventional design.To machine
People designs, and is significant.
Using beformable body mechanical drive system as arm robot, including trunk and the arm that is connected on trunk, its
It is characterised by, the arm adopts beformable body mechanical drive system, beformable body mechanical drive system to turn including passing sequentially through from top to bottom
At least three mechanical bones of movable joint connection；
Also include at least one flexible body；
The flexible body is fixedly connected with the mechanical bone of top；
At least the rotating manner of the top mechanical bone and the mechanical bone for connecting below includes left/right rotation
It is dynamic；
Mechanical bone described at least two of lower section, is provided with the opening being slidably connected with the flexible body, the flexible body
It is limited in the opening by the opening and is slided；
The opening on the mechanical bone, is arranged at least side of the left and right sides of the mechanical bone；
Mechanical bone described at least two of lower section is respectively equipped with, and is arranged on the opening of homonymy, and makes the flexibility
Two openings of the body through homonymy；
The mechanical bone of lower section is connected to the trunk.
So that robot has flexible arm.Ensure that arm flexibility ratio.It is adapted to complex environment and complexity
Work.
The trunk is by the mechanical bone below a up and down joint connection.To realize the motion of upper lower arms.
Beformable body mechanical drive system also includes a roller bearing, and the roller bearing is arranged in the trunk, machine described at least three
After tool bone is sequentially connected up and down, one end is fixed on the roller bearing, and the axial direction of the roller bearing is fore-and-aft direction.The flexible body
After bracing frame is folded, mechanical bone is rotated around cradle head, is wrapped on roller bearing.
The arm of robot is made, be can be retracted in trunk.Realize the deformation of robot.It is adapted to varying environment.
Using beformable body mechanical drive system as leg robot, including trunk and the leg that is connected on trunk, its
It is characterised by, the leg adopts beformable body mechanical drive system, beformable body mechanical drive system to turn including passing sequentially through from top to bottom
At least three mechanical bones of movable joint connection；
Also include at least one flexible body；
The flexible body is fixedly connected with the mechanical bone of lower section；
At least the rotating manner of the lower section mechanical bone and the mechanical bone of its top connection includes left/right rotation
It is dynamic；
Mechanical bone described at least two of top, is provided with the opening being slidably connected with the flexible body, the flexible body
It is limited in the opening by the opening and is slided；
The opening on the mechanical bone, is arranged at least side of the left and right sides of the mechanical bone；
Mechanical bone described at least two of top is respectively equipped with, and is arranged on the opening of homonymy, and makes the flexibility
Two openings of the body through homonymy；
The mechanical bone of top is connected to the trunk.
So that robot has flexible leg.Ensure that leg flexibility ratio.It is adapted to complex environment and complexity
Work.Adopt beformable body mechanical drive system as the visual angle of the robot of leg for lateral to stand in patent.If forward direction is stood
Visual angle, left and right directions is converted into therewith fore-and-aft direction.Therefore the leg in this patent, it is possible to achieve walk before and after robot
It is dynamic.
Because the connected mode of leg and trunk, beformable body mechanical drive system as leg robot, it is anterior with patent,
The upper and lower relation of beformable body mechanical drive system is exchanged.
The mechanical bone below the connection of joint that the trunk passes through a fore-aft travel.To realize the motion of upper lower arms.
Beformable body mechanical drive system also includes a roller bearing, and the roller bearing is arranged in the trunk, machine described at least three
After tool bone is sequentially connected up and down, one end is fixed on the roller bearing, and the axial direction of the roller bearing is fore-and-aft direction.The flexible body
After bracing frame is folded, mechanical bone is rotated around cradle head, is wrapped on roller bearing.
The leg of robot is made, be can be retracted in trunk, realize Level Change.Realize the deformation of robot.It is adapted to
Varying environment.
Using the snake-shaped robot of beformable body mechanical drive system, including skeleton, it is characterised in that the skeleton adopts beformable body
Mechanical drive system, beformable body mechanical drive system includes passing sequentially through at least three mechanical bones of cradle head connection from top to bottom
Bone；
Also include at least one flexible body；
The flexible body is fixedly connected with the mechanical bone of top；
At least the rotating manner of the top mechanical bone and the mechanical bone for connecting below includes left/right rotation
It is dynamic；
Mechanical bone described at least two of lower section, is provided with the opening being slidably connected with the flexible body, the flexible body
It is limited in the opening by the opening and is slided；
The opening on the mechanical bone, is arranged at least side of the left and right sides of the mechanical bone；
Mechanical bone described at least two of lower section is respectively equipped with, and is arranged on the opening of homonymy, and makes the flexibility
Two openings of the body through homonymy.
By above-mentioned design, it is possible to achieve the bending motion of snake-shaped robot.
At least side before and after the snake-shaped robot in side, is placed with inclined projection in the same direction.Form array of protrusions.
Make the frictional force of different directions different.And then when snake-shaped robot is curved and stretches, different frictional force are produced, and then
Movement is completed by bending and stretching action.
The projection can be scale, can also be metal prong.
Waterproof material is surrounded by outside the snake-shaped robot skeleton, the projection is arranged on outside the waterproof material.
Using the fish-shape robot of beformable body mechanical drive system, including skeleton, it is characterised in that the skeleton adopts beformable body
Mechanical drive system, beformable body mechanical drive system includes passing sequentially through at least three mechanical bones of cradle head connection from top to bottom
Bone；
Also include at least one flexible body；
The flexible body is fixedly connected with the mechanical bone of top；
At least the rotating manner of the top mechanical bone and the mechanical bone for connecting below includes left/right rotation
It is dynamic；
Mechanical bone described at least two of lower section, is provided with the opening being slidably connected with the flexible body, the flexible body
It is limited in the opening by the opening and is slided；
The opening on the mechanical bone, is arranged at least side of the left and right sides of the mechanical bone；
Mechanical bone described at least two of lower section is respectively equipped with, and is arranged on the opening of homonymy, and makes the flexibility
Two openings of the body through homonymy.
By above-mentioned design, it is possible to achieve the bending motion of fish-shape robot.
It is surrounded by waterproof material outside the fish-shape robot skeleton, the build of the fish-shape robot is flat, left and right two
Width between side, less than 1/2nd of the width between Qian Hou both sides.To realize during bending and stretching, realizing water
Thrust, and then move ahead or retreat.
Because motor is seldom in the utility model, or even only one of which, so under water noise is minimum.Advance under water
In, it is not easily detected.
Description of the drawings
Fig. 1 is a kind of structural representation of beformable body mechanical drive system movable part.
Fig. 2 is another kind of structural representation of beformable body mechanical drive system movable part.
Fig. 3 is part circuit structure schematic diagram.
Fig. 4 is motor drive part structural representation.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the utility model is realized are easy to understand, under
Face combines to be specifically illustrating and the utility model is expanded on further.
With reference to Fig. 1, Fig. 2, Fig. 3, beformable body mechanical drive system, including passing sequentially through the connection of cradle head 3 from top to bottom
At least three mechanical bones 1；Also include at least one flexible body 2；Flexible body 2 is fixedly connected with the mechanical bone 1 of top；At least
The rotating manner of top mechanical bone 1 and the mechanical bone 1 for connecting below includes left-right rotation；At least two machines of lower section
Tool bone 1, is provided with the opening 4 being slidably connected with flexible body 2, and flexible body 2 is limited in opening 4 by opening 4 and is slided；Mechanical bone
Opening 4 on 1, is arranged at least side of the left and right sides of mechanical bone 1；At least two mechanical bones 1 of lower section set respectively
Have, be arranged on the opening 4 of homonymy, and make flexible body 2 through two openings 4 of homonymy.
When flexible body 2 is tensed from below, the mechanical bone 1 of the top being fixedly connected with flexible body 2 can be pulled,
And then rotate.Mechanical bone 1 up goes to greatest extent, it is impossible to continue the mechanical bone 1 relative to lower section connection
During rotation, the support of flexible body 2 on the mechanical bone 1 of the mechanical bone 1 of top or lower section connection can connect to lower section
Mechanical bone 1 produces pulling force, and then the mechanical bone 1 of the lower section of mechanical bone 1 connection above promoting, and stress is simultaneously rotated.Successively
Analogize multiple mechanical bones 1 and produce controlled action because of the pulling of flexible body 2.For the pulling force of lower section, up
Often it is also what is existed when mechanical bone 1 does not go to greatest extent, but when going to greatest extent, the most substantially.
Mechanical bone 1 can be the mechanical bone 1 of the mechanical bone 1 of metal material, or plastic material, or also
It can be the mechanical bone 1 of wood material.The mechanical bone 1 of metal material, is easy to make the beformable body machinery of strong.Can be with
For putting into practice production and processing, or as the structure member of weapon.
The mechanical bone 1 of plastic material or wood material, with quality it is light, price is low, reactionless etc. to metal detection
Feature.Can be used in water moving about, or for secret detection.
Opening 4, can be through hole, raceway groove or track.Flexible body 2 can be met to pass through, and limit flexible body 2 in opening
In 4.Opening 4 on mechanical bone 1, positioned at the left side or right side of mechanical bone line of two cradle heads 3 about 1.With
It is easy to produce the torque that left or right is rotated.The line of two cradle heads 3, is set to determine geometrical relationship virtual
Line.
Or, cradle head 3 is rotating shaft, and opening 4 is located at the axial direction institute of mechanical bone two cradle heads 3 about 1
It is determined that plane left side or right side.Opening 4 is located at the position of the middle part level above of above-mentioned mechanical bone 1.In order to produce
The longer arm of force of life.Further, mechanical bone 1 is respectively arranged on the left side and the right side opening 4, and is each passed through different flexible bodies
2.To realize controlling to rotate to the left or to the right respectively.Cradle head 3 can also be asks joint, or other mechanical joints.
The cradle head 3 of the lower section of mechanical bone 1, the rotation direction for rotating with left-right rotation and in front and back；Mechanical bone 1
In front and back at least side in both sides, also is provided with opening 4, and a flexible body 2 passes through opening 4.Realize turning in front and back for mechanical bone 1
It is dynamic.
Can also be：The side of mechanical bone 1 is provided with two openings 4, arranges before and after two openings 4, and two flexible bodies 2 are distinguished
Through two openings 4；The cradle head 3 of the lower section of mechanical bone 1, the rotation direction for rotating with left-right rotation and in front and back.Pass through
Two openings 4 arranged before and after setting, and through flexible body 2, it is possible to achieve in the case of two pulling force of flexible body 2 differences,
Rotate before and after realization.
Further, mechanical bone 1 is provided with flexible body bracing frame 5, and opening 4 is arranged on flexible body bracing frame 5, flexible body
2 are limited in slip in opening 4 by opening 4.By arranging flexible body bracing frame 5, the clear in structure of mechanical bone 1, each structure are made
The division of labor is clear and definite, simplifies manufacturing process.
Flexible body bracing frame 5 is a bulge-structure, and opening 4 is located at the bossing of bulge-structure.In order to realize distance
The line of mechanical bone two cradle heads 3 about 1, or plane determined by the axial direction of two cradle heads 3 is farther.Than
It is arranged on mechanical bone 1, produces more powerful torque.
Flexible body bracing frame 5 can be a metal supporting frames, and metal supporting frames are fixed on mechanical bone 1, and opening 4 is located at
The one end of metal supporting frames away from mechanical bone 1.Further simplify structure, and realize more powerful torque.Metal supporting frames
Can be metallic rod, metallic plate or metallic support.
Flexible body bracing frame 5 can be a plastic support frame, and plastic support frame is fixed on mechanical bone 1, and opening 4 is located at
The one end of plastic support frame away from mechanical bone 1.Further simplify structure, and realize more powerful torque.It is more existing
Plastics have had very strong hardness, can be with alternative metals.And will have the advantages that quality is light, corrosion-resistant.Plastic support frame can
Think plastic bar, plastic plate or plastic stent.
The highly preferred of flexible body bracing frame 5 be, the length of mechanical bone 1 2/1sts to three/5th between.With reality
Now there is larger rotatable amplitude, and make structural volume too fat to move.More preferably, the height of flexible body bracing frame 5
Degree is preferably, the length of mechanical bone 1 1/1st to two/3rd between.Test shows that this parameter has simultaneously, excellent
Torque embody, the advantages of structural volume is elongated, rotation amplitude is big.
Flexible body bracing frame 5 is rotatably coupled on mechanical bone 1, and is provided with for locking flexible body bracing frame 5,
The lock 64 for rotating is limited, lock 64 is provided with the control end for opening.By control end opening lock catch 64, it is allowed to flexible body
Bracing frame 5 is rotated relative to mechanical bone 1, realizes folding.And after deployment, pinned by lock 64 in work, meet strong
Degree demand.When flexible body bracing frame 5 is in folded state, integral thickness or width will be substantially reduced, can deeply or
By very narrow passage.The construction of extreme environment, or personnel is conducive to search and rescue.
A flexible restoring organ is provided between flexible body bracing frame 5 and mechanical bone 1.When external force is lost, elastic reset
Mechanism promotes flexible body bracing frame 5 to launch from folded state.In case being operated.Lock 64 is a self-locking mechanism, in flexible body 2
After support launches, auto lock is limited and rotated.Lock 64 can be the lock 64 of Electronic control, or pneumatic control
Lock 64.
Beformable body mechanical drive system also includes a roller bearing, and after at least three mechanical bones are sequentially connected about 1, one end is fixed
On roller bearing, the axial direction of roller bearing is fore-and-aft direction.After flexible body bracing frame 5 is folded, mechanical bone 1 is rotated around cradle head 3,
It is wrapped on roller bearing.Flexible body bracing frame 5, can fold in advance, it is also possible to during being wound around, and be under pressure and complete folding
It is folded.By being wrapped on roller bearing, the expanding-contracting action of mechanical bone 1 can be completed.Such as original length in 10m, in some mechanical
After bone 1 is wrapped on roller bearing, length has necessarily shortened, it might even be possible within shortening to 1m.In addition, being wrapped on roller bearing
Afterwards, overall volume will be substantially reduced.Within 1/5th of original volume can even be narrowed down to.It is easy to store, transports, or even
It is easy to hide.
Because flexible body 2 receives the circular protection of opening 4, after some mechanical bone 1 is wrapped on roller bearing, remain able to
Activity, still can drive other mechanical bones 1 not wound.
Flexible body bracing frame 5, can also be flexible support.One important use of flexible body bracing frame 5 is to limit flexibility
Distance between body 2 and mechanical bone 1, when flexible body 2 has the action trend away from mechanical bone 1, pulls mechanical bone 1 to transport
It is dynamic.Therefore when elemental motion is carried out, it may not be necessary to rigid flexible body bracing frame 5.And flexible support, storage, transport,
In production, there is the advantage of uniqueness.Such as be easier to fold, there is no concern that pressure deformation, parts be easy to adjust setting angle,
By can voluntarily compress during small space.Flexible support can be metal bracelet.
Flexible body bracing frame 5 can also be a flexible cord, strip flexible structure, or strip-shaped flexible structure.Such as may be used
Be nylon wire, steel wire rope, steel bar, plastic strip, steel band, nylon tape, carbon fiber line, litzendraht wire, carbon modeling line, wire, synthesis
Line, ceramic thread, gravitation line, polyethylene high-performance line, superpower PE singles etc..
Flexible body bracing frame 5 is preferably steel bar or steel band.Such as make the steel bar or steel band of clockwork spring.Using steel bar or
Person's steel band, can not only produce pulling action, and can produce pushing action.Make action more rich and changeful.Steel bar can be with
It is steel bar made by carbon steel or alloy spring steel.Steel band can be steel band made by carbon steel or alloy spring steel.Carbon steel
The trade mark can be 50.Alloy spring steel is referred to and can be used to the steel alloy for making spring.The thickness of steel bar or steel band, preferably
For 0.1mm to 3mm.
In this interval range again, it is ensured that carbon steel or alloy spring steel have certain tensile strength, have
The intensity of good bendable folding endurance, resilience and jack-up, can be used for pulling action and pushing action.This parameter can meet
Good pulling action and pushing action.
The thickness of steel bar or steel band, preferably 1mm to 2mm.This parameter can meet good pulling action and push away
Action.
Flexible body 2 can be a rope form flexible body 2, strip flexible body 2, or strip-shaped flexible body 2.Such as can be nylon
Line, steel wire rope, steel bar, plastic strip, steel band, nylon tape, carbon fiber line, litzendraht wire, carbon modeling line, wire, synthetic thread, ceramics
Line, gravitation line, polyethylene high-performance line, superpower PE singles etc..These materials, can produce good pulling force, and be difficult
Fracture.
Flexible body 2 is preferably, nylon wire, carbon modeling line, wire, synthetic thread, ceramic thread, gravitation line, polyethylene high-performance
Line, superpower PE singles.These lines, are frequently used for making setline, with good resistance to drawing and light, resistance to quality
The advantage of corrosion.
Locking device 61 is provided between two adjacent mechanical bones 1.By locking device 61, to limit two neighboring machine
The relative motion of tool bone 1.By the motion for limiting adjacent machine bone 1, can control in 2 action of flexible body, driving
Concrete mechanical bone 1, and then realize accurate and complicated action.Several sections of mechanical bones 1 that top can such as be realized are straight lines
Arrangement, but several sections of mechanical bones 1 of lower section are bend alignments.
Locking device 61 can be that an at least lockhole is arranged on a mechanical bone 1, in adjacent another mechanical bone
At least one locking bolt matched with lockhole, locking bolt and an electrical components or Pneumatic component linkage are set on 1.And then by electrical components
Or Pneumatic component, whether whether control locking bolt inserts lockhole, and then locking device 61 is realized to locking, if limit relative shifting
Dynamic function.
Electrical components, can be an electromagnet mechanisms, and electromagnet mechanism includes fixed component, and the movable part of controlled motion
Part, movable part connection locking bolt.Fixed component is fixed on the mechanical bone 1 at place.
Electrical components, can be a motor operated driving mechanisms, and motor operated driving mechanism includes fixed component, and by motor
The movable part of powered motion, movable part connection locking bolt.Fixed component is fixed on the mechanical bone 1 at place.
Pneumatic component, can be a cylinder mechanism, and cylinder mechanism includes fixed component, and the movable part of controlled motion,
Movable part connects locking bolt.Fixed component is fixed on the mechanical bone 1 at place.Fixed component can include cylinder, movable part
Part can connect piston.
Locking device 61 can be to arrange a damping fin on a mechanical bone 1, in adjacent another mechanical bone 1
A upper setting at least damping block, damping block presses close to damping fin；Damping block and an electrical components or Pneumatic component linkage.And then pass through
Whether electrical components or Pneumatic component, control damping block compresses damping fin, so make locking device 61 realize to whether locking, be
The no function of limiting relative movement.Damping fin can be brake disc, and damping block can be brake block.Brake disc is less than for arc chord angle
The arcuate structure of 180 degree.It is limited to the type of drive for adopting, is difficult to realize rotational angle and is more than 180 degree, therefore brake disc is set as
Within 180 degree, to simplify structure.
The center of rotation of brake disc is the axle center of the cradle head 3 of mechanical bone 1.So that brake disc surrounds cradle head 3
Rotate, be easy to work smooth.
Brake disc is arcuate structure of the arc chord angle more than 30 degree.The type of drive for being limited to adopt realizes that rotational angle is more than 30
Degree is easier to realize, therefore brake disc is set as more than 30 degree, it is to avoid brake block turns de- when maximum angle is rotated, and causing cannot
Braking.
It is open at 4 and is provided with one for clamping the clamping device 62 of flexible body 2, clamping device 62 is provided with a control and clamps or pine
The control end opened.By clamping or unclamping flexible body 2, and then control the stressing conditions of different mechanical bones 1.Realize complexity
Mechanical movement.Clamping device 62 can be electric clamping device, or air clamper.
Flexible body 2 is provided with projection, depression or the hole matched with the clamping part of electric clamping device.In electronic clamping
When the clamping part of device performs pinching action, clamping part can block projection or depression, to realize firmly locking.
The electrical components of electric clamping device, can be an electromagnet mechanisms, and electromagnet mechanism includes fixed component, and receives
The movable part of control motion, movable part connection clamping part.Fixed component can be fixed on flexible body bracing frame 5, or
On mechanical bone 1.Preferably it is fixed on flexible body bracing frame 5.The manner of movable part is insertion opening 4, or from opening
Mouth 4 is pulled out.And then clamping, clamping or release of the realization to flexible body 2.
The electrical components of electric clamping device, can also be a motor operated driving mechanism, and motor operated driving mechanism includes solid
Determine part, and the movable part moved by motor-driven, movable part connection clamping part.Fixed component can be fixed on soft
On gonosome bracing frame 5, or on mechanical bone 1.Preferably it is fixed on flexible body bracing frame 5.
The Pneumatic component of air clamper, can be a cylinder mechanism, and cylinder mechanism includes fixed component, and controlled fortune
Dynamic movable part, movable part connection clamping part.Fixed component can be fixed on flexible body bracing frame 5, or machinery
On bone 1.Preferably it is fixed on flexible body bracing frame 5.Fixed component can include cylinder, and movable part can connect work
Plug.
Beformable body mechanical drive system also includes an electronic control system, and electronic control system includes microprocessor system 7；
Microprocessor system 7 connects an electric motor drive system, an electric motor drive system connection at least motor；At least one is flexible
Body 2 is directly or indirectly fixed on the power output part of motor.
Flexible body 2 is driven to move by the power output part of motor.The pulling to flexible body 2 can be realized, or
Loosen.And then realize motion control of the microprocessor system 7 to mechanical bone 1.Motor can be rotary electric machine or straight
Line motor.
When motor is rotary electric machine, the rotating shaft connection one of motor is used to wind the reel of flexible body 2.Flexible body 2
One end is fixed on reel.When reel is rotated, flexible body 2 is more wrapped on reel, or on reel
Send, realize the pulling to flexible body 2, or loosen.The rotating shaft of motor connects reel by a reducing gear.To strengthen
Pulling force.
With reference to Fig. 4, the rotating shaft connection at least two of motor 8 is used to wind the reel of flexible body 2, on a reel 83
The flexible body in the left side of mechanical bone 1 is wound with, the flexible body on the right side of mechanical bone 1 is wound with another reel 85；One coiling
A clutch 82 is provided between wheel 83 and rotating shaft；Another clutch 84 is provided between another reel 85 and rotating shaft；One clutch
82 are respectively equipped with control end with another clutch 84, and control end connects the control signal output of microprocessor system 7.Further
The control of two clutches of microprocessor system 7 pair is realized, and then realizes the flexible body 2 to the left and right sides of mechanical bone 1
Control respectively.
Based on design feature of the present utility model, a motor of above-mentioned design drives the knot of two reels simultaneously
Structure, disclosure satisfy that most action demands.In the case of big how many, a reel 83 is tensed by motor 8, another reel 85
Freely rotate, or two reels lead to rotation.Substantially be not in that respectively active is rotated two reels to different directions
Demand.Therefore this patent realizes a motor-driven machinery bone 1 and makes numerous complicated action.
The reel locking system for limiting reel rotation is additionally provided with, reel locking system is provided with a control signal
Input, control signal input connection microprocessor system 7.Whether the control reel of microprocessor system 7 can turn
It is dynamic, particularly control whether reel passively can freely rotate.This design, it is possible to achieve the two of coiling on two reels
The length difference adjustment of its flexible body 2.
Such as, a flexible body 2 receives external tensile force, but needs to keep length constant, and another flexible body then needs again
Adjustment length.The reel that now can be just connected a flexible body 2 is locked by reel locking system, clutch pine
Absolve from.Another reel of motor-driven is rotated, and then realizes the adjustment to another flexible body.Reel locking system is preferred
For electric-controlled locking system.
Reel locking system can be that an at least lockhole is arranged on a reel, and reel is arranged on a support
On, at least one locking bolt matched with lockhole is provided with support, locking bolt and an electrical components link, the control letter of electrical components
Number end connection microprocessor system 7.And then control whether locking bolt inserts lockhole by electrical components, and then lock reel
Whether system is realized to locking, if limit the function of relative movement.Locking bolt can be metallic rod, or metal bump.
Reel locking system can also adopt the locking system of brake block mechanism.
Electrical components, can be an electromagnet mechanisms, and electromagnet mechanism includes fixed component, and the movable part of controlled motion
Part, movable part connection locking bolt.Fixed component is fixed on support.
Electrical components, can be a motor operated driving mechanisms, and motor operated driving mechanism includes fixed component, and by motor
The movable part of powered motion, movable part connection locking bolt.Fixed component is fixed on support.
Locking device 61 is the locking device 61 controlled by electric signal, is provided with control signal input, control signal input
The signal output part of end connection microprocessor system 7.Clamping device 62 is the clamping device 62 controlled by electric signal, is provided with control
Signal input part processed, control signal input connects the signal output part of microprocessor system 7.By above-mentioned design, realize
Respectively control of the microprocessor system 7 to all parts.And then Comprehensive Control of the realization to beformable body mechanical drive system.
Mechanical bone 1 above, is provided with angular transducer 63 between underlying mechanical bone 1, and angle is passed
Sensor 63 connects microprocessor system 7.
Gyroscope 65, the connection microprocessor system 7 of gyroscope 65 are at least provided with the mechanical bone 1 of one end.It is soft
Body machinery is different from other machineries, and structure is relatively easy.Test shows, it is determined that the motion of the mechanical bone 1 of most end, and
Relative angle between each mechanical bone 1 of lower section, can determine the parameters such as overall shape, position, movement tendency substantially.Pass through
Gyroscope 65 and angular transducer 63 can completely determine the integrality of beformable body mechanical drive system substantially.The mechanical bone of end
Bone 1, can be the mechanical bone 1 of the top, or the mechanical bone 1 of bottom.
Further, on the mechanical bone 1 of upper and lower ends, gyroscope 65 is respectively equipped with, two gyroscopes 65 connect respectively micro-
Type processor system 7.Gyroscope 65 is carried out to two ends to monitor, can more accurately know system mode.Miniature process
Device system 7 is also associated with camera.For gathering video information.Camera is preferentially arranged on the mechanical bone 1 of end.
Microprocessor system 7 is also associated with satellite positioning module 66.Satellite positioning module can be d GPS locating module or
Person is big-dipper satellite locating module.To realize Geographic mapping, and allow to carry out activity according to the geographical position of itself.Such as
Can voluntarily navigate, be moved to target location.
Microprocessor system 7 is also associated with wireless remote-control system.In order to carry out wireless remote control.Wireless remote-control system,
Can be based on the remote control system of cell phone network.Such as can be 2G, 3G, 4G or the cell phone network of other standards.To realize
It is remote interactive.
Beformable body mechanical drive system also includes power-supply system.Power-supply system can be D.C. regulated power supply.Preferably switch
Power supply.Power-supply system can also be preferably battery system.Battery system includes at least two section batteries, at least two section electric power storages
Pond is separately fixed on different mechanical bones 1, two section battery connection microprocessor systems 7.Realizing that battery is followed is
System movement.And it is separately fixed on different mechanical bones 1 because battery will be at least connected with, it is ensured that with more electricity
Can supply, and cause system too fat to move without because arranging battery.At least two section batteries are in parallel.Damage in a section battery
After bad, other batteries still can ensure that system works.Reverse charging resistant circuit is provided between at least two section batteries.Avoid electric power storage
Mutually charge between pond.And then avoid because of certain section battery damage, and cause other storage battery loss of energys.Reverse charging resistant circuit,
The diode that battery one is extremely gone up can be provided in.
Microprocessor system 7 is preferably SCM system or ARM system.Preferably ARM system.
It is provided with microprocessor system 6 on mechanical bone 1, microprocessor system 6 is provided with a signal input part and at least
One signal output part；Signal input part connects the signal output part of microprocessor system 7；Signal output part connects locking device
61st, at least one in clamping device 62, lock 64.By microprocessor system 6, indirectly by locking device 61, clamping dress
At least one put in 62, lock 64 is connected to microprocessor system 7.
Preferably, microprocessor system 6 arranges two signal output parts, and two signal output parts connect respectively locking device
61 and clamping device 62.Realize the whole controls to locking device 61, clamping device 62.Microprocessor system 6 is preferably monolithic
Machine system.
One signal output part of microprocessor system 7 draws a signal line, and signal line connection at least three is micro-
The signal input part of processor system 6；At least three microprocessor systems 6 are separately positioned at least three mechanical bones 1.This
One design, it is allowed to which the motion of numerous mechanical bones 1 is controlled by a signal line.
Microprocessor system 7 includes identity code when control signal is sent by holding wire in control signal；
Microprocessor system 6, is identified to identity code, when the identity code for including itself is judged, receives control
The control of signal.When the identity code not comprising itself is judged, then the control of control signal is not received.Microprocessor
In system 7, should at least be stored with least three kinds identity codes corresponding at least three microprocessor systems 6.With embedded
To in control signal, realize have targetedly control.In one group of control signal of the output of microprocessor system 7, it is allowed to wrap
Containing at least two identity codes.In order to once occur, the motion of at least two mechanical bones 1 is controlled.
Include the angle parameter of angular transducer 63 in control signal, microprocessor system 6 detects connected angle
The angle parameter of sensor 63, and contrasted with the angle parameter in control signal, after angle parameter is consistent, control machinery
Bone 1 stops relative motion.The mode of the stop motion of control machinery bone 1, can be locked by locking device 61.
Microprocessor system 7 is additionally provided with a signal input part, and signal input part is connected with holding wire, and a signal line connects
Connect the signal output part of at least three microprocessor systems 6；At least three microprocessor systems 6 are separately positioned at least three machines
On tool bone 1.This signal line is used for, and microprocessor system 7 obtains the signal feedback from microprocessor system 6.Angle
At least one connection microprocessor system 6 in degree sensor 63, gyroscope 65, camera, and then connected by microprocessor system 6
Connect microprocessor system 7.Preferably, angular transducer 63, gyroscope fixed on the mechanical bone 1 of the top or bottom
65 and camera all connect microprocessor system 6 respectively, and microprocessor system 7 is connected by microprocessor system 6.
Two signal lines can be combined into one, and microprocessor system 7 carries out time-sharing multiplex to same signal line 9.That is,
The holding wire of the signal input part connection of microprocessor system 7 and the holding wire of signal output part connection, can be same.
By time-sharing multiplex, the input and output of signal are realized.Because the utility model is control make mechanical movement, rather than big data
Computing, even if so by the way of time-sharing multiplex, it is also possible to meet data processing needs.And structure is simplified, reduce
Fault rate.
When microprocessor system 7 obtains the signal feedback of microprocessor system 6, first microprocessor system 7 passes through
Signal output part sends the request signal for including identity code, and microprocessor system 6 judges whether comprising the identity of itself
Identification code, comprising when then carry out signal feedback.In signal feedback, including the angle parameter of angular transducer 63.
Microprocessor system 7 sends and includes the request signal of identity code, but meets the micro- of identity code
Processor system 6, does not make signal feedback, then microprocessor system 7 is considered as the microprocessor corresponding to identity code
The failure of system 6, and store fault message.To correct later operation program.
The mode of amendment is：
Microprocessor system 7, when the microprocessor system 6 of signal feedback is not made in discovery, is considered as the machinery at place
Bone 1 is failure mechanical bone 1, and to the microprocessor system 6 on the mechanical bone 1 of the lower section of failure mechanical bone 1 clamping is sent
The control signal that device 62 is clamped.
Control signal can realize precise control by the identity code comprising the microprocessor system 6 for needing control.
By responsive control signal, to clamp flexible body 2, system is set to proceed accurate controllable action.
Further：The microprocessor system 6 of signal feedback is not made, including on the mechanical bone 1 of the top
Microprocessor system 6 when, then send clamping device 62 clamping control signal；The control object of control signal is still to do
Go out signal feedback, apart from the nearest mechanical bone 1 of the mechanical bone 1 of the top.
Control signal can realize precise control by the identity code comprising the microprocessor system 6 for needing control.
By responsive control signal, to clamp flexible body 2, system is set to proceed controllable action.And such case, can regard substantially
Some mechanical bone 1 for top is because external force has been lost and come off.If not making effective mechanical bone 1 clamp flexible body 2,
Flexible body 2 will lose the motive force to whole equipment, cause whole system to be paralysed.And then realize, even if some mechanical bone 1 because
For certain reason, cause to come off, still can work on.
It is fixed at holding wire one on the mechanical bone 1 of top, another place of holding wire is fixed on the machine of adjacent lower section
On tool bone 1, the length of the direct holding wire of Liang Ge bearings, more than two adjacent mechanical bones 1 in maximum rotation angle
When, required signal line length.This design, although on the consumption of whole holding wire, increased, but can be to avoid turning
Holding wire is broken when dynamic, can avoid holding wire because fixing again, moved back and forth within a large range, cause to damage.
And avoid the problem that holding wire is disposably pulled apart when quick mobile.
Power-supply system is provided with two power lines, and a power line is positive pole, and another power line is negative pole；Two power lines
At least three mechanical bones 1 are sequentially passed through, at least three microprocessor systems 6 at least three mechanical bones 1 connect respectively
To on two power lines.
It is fixed at power line one on the mechanical bone 1 of top, another place of power line is fixed on the machine of adjacent lower section
On tool bone 1, the length of the direct power line of Liang Ge bearings, more than two adjacent mechanical bones 1 in maximum rotation angle
When, required power supply line length.This design, although on the consumption of whole power line, increased, but can be to avoid turning
Power line is broken when dynamic, can avoid power line because fixing again, moved back and forth within a large range, cause to damage.
And avoid the problem that power line is disposably pulled apart when quick mobile.
The battery being fixed on mechanical bone 1, is connected in parallel on two power lines.Realize power supply.Battery is also associated with
One charging circuit, charging circuit is connected between a power line and the electrode of battery, bypasses reverse charging resistant circuit.And then realize logical
Cross power line charging.Charging circuit can be that an input voltage exceedes the circuit turned on after threshold value.Storage battery in parallel is pressed in
Below threshold value, therefore it is not turned on, does not cause inverse filling.And when charging, then can pass through input and realize charging more than the voltage of threshold value.
In the utility model, few electric wire is employed.Even only by three electric wires, just realize to numerous
The control of the whole beformable body mechanical drive system of mechanical bone 1, greatly reduces the complexity of wiring.It is institute in conventional design
Do not see.To Robot Design, it is significant.
The utility model, it is allowed to by little motor, or even only by a motor, just realize to numerous
The complicated driving of the whole beformable body mechanical drive system of mechanical bone 1.It is not see in conventional design.Robot is set
Meter, is significant.
The utility model, it is allowed to the thickness and length that change itself of large scale.It is not see in conventional design
's.To Robot Design, it is significant.
The utility model, it is allowed to after some mechanical bone 1 is lost, still voluntarily adjusts and repairs, and continues system normal
Work.It is not see in conventional design.To Robot Design, it is significant.
The utility model, battery is fixed on one by one on different mechanical bones 1, both ensure that delivery, be turn avoid
Volume is too fat to move.Even if some mechanical bone 1 is lost, part battery is caused to lose, but still being capable of normal work.And possess anti-
It is inverse to fill and unify charge function.With powerful environmental suitability and terseness.It is not see in conventional design.To machine
Device people designs, and is significant.
Using beformable body mechanical drive system as arm robot, including trunk and the arm that is connected on trunk, hand
Arm adopts beformable body mechanical drive system, beformable body mechanical drive system to include that passing sequentially through cradle head 3 from top to bottom connects extremely
Few three mechanical bones 1；Also include at least one flexible body 2；Flexible body 2 is fixedly connected with the mechanical bone 1 of top；At least go up
The rotating manner of square mechanical bone 1 and the mechanical bone 1 for connecting below includes left-right rotation；At least two of lower section are mechanical
Bone 1, is provided with the opening 4 being slidably connected with flexible body 2, and flexible body 2 is limited in opening 4 by opening 4 and is slided；Mechanical bone 1
On opening 4, be arranged at least side of the left and right sides of mechanical bone 1；At least two mechanical bones 1 of lower section set respectively
Have, be arranged on the opening 4 of homonymy, and make flexible body 2 through two openings 4 of homonymy；The mechanical bone 1 of lower section is connected to body
It is dry.
So that robot has flexible arm.Ensure that arm flexibility ratio.It is adapted to complex environment and complexity
Work.Trunk is by the mechanical bone 1 below a up and down joint connection.To realize the motion of upper lower arms.
Beformable body mechanical drive system also includes a roller bearing, and roller bearing is arranged in trunk, at least three mechanical bones about 1 according to
After secondary connection, one end is fixed on roller bearing, and the axial direction of roller bearing is fore-and-aft direction.After flexible body bracing frame 5 is folded, mechanical bone 1
Rotate around cradle head 3, be wrapped on roller bearing.The arm of robot is made, be can be retracted in trunk.Realize the change of robot
Shape.It is adapted to varying environment.
Using beformable body mechanical drive system as leg robot, including trunk and the leg that is connected on trunk, leg
Portion adopts beformable body mechanical drive system, beformable body mechanical drive system to include that passing sequentially through cradle head 3 from top to bottom connects extremely
Few three mechanical bones 1；Also include at least one flexible body 2；Flexible body 2 is fixedly connected with the mechanical bone 1 of lower section；Under at least
The rotating manner of square mechanical bone 1 and the mechanical bone 1 of its top connection includes left-right rotation；At least two of top are mechanical
Bone 1, is provided with the opening 4 being slidably connected with flexible body 2, and flexible body 2 is limited in opening 4 by opening 4 and is slided；Mechanical bone 1
On opening 4, be arranged at least side of the left and right sides of mechanical bone 1；At least two mechanical bones 1 of top set respectively
Have, be arranged on the opening 4 of homonymy, and make flexible body 2 through two openings 4 of homonymy；The mechanical bone 1 of top is connected to body
It is dry.
So that robot has flexible leg.Ensure that leg flexibility ratio.It is adapted to complex environment and complexity
Work.Adopt beformable body mechanical drive system as the visual angle of the robot of leg for lateral to stand in patent.If forward direction is stood
Visual angle, left and right directions is converted into therewith fore-and-aft direction.Therefore the leg in this patent, it is possible to achieve walk before and after robot
It is dynamic.
Because the connected mode of leg and trunk, beformable body mechanical drive system as leg robot, it is anterior with patent,
The upper and lower relation of beformable body mechanical drive system is exchanged.The machinery below the connection of joint that trunk passes through a fore-aft travel
Bone 1.To realize the motion of upper lower arms.
Beformable body mechanical drive system also includes a roller bearing, and roller bearing is arranged in trunk, at least three mechanical bones about 1 according to
After secondary connection, one end is fixed on roller bearing, and the axial direction of roller bearing is fore-and-aft direction.After flexible body bracing frame 5 is folded, mechanical bone 1
Rotate around cradle head 3, be wrapped on roller bearing.The leg of robot is made, be can be retracted in trunk, realize Level Change.
Realize the deformation of robot.It is adapted to varying environment.
Using the snake-shaped robot of beformable body mechanical drive system, including skeleton, skeleton adopts beformable body mechanical drive system, soft
Body mechanical drive system includes passing sequentially through at least three mechanical bones 1 of the connection of cradle head 3 from top to bottom；Also include at least
One flexible body 2；Flexible body 2 is fixedly connected with the mechanical bone 1 of top；At least top mechanical bone 1 and below connect
The rotating manner of mechanical bone 1 includes left-right rotation；At least two mechanical bones 1 of lower section, are provided with and connect with the slip of flexible body 2
The opening 4 for connecing, flexible body 2 is limited in opening 4 by opening 4 and is slided；Opening 4 on mechanical bone 1, is arranged on mechanical bone 1
The left and right sides at least side；At least two mechanical bones 1 of lower section are respectively equipped with, and are arranged on the opening 4 of homonymy, and make soft
Two openings 4 of the gonosome 2 through homonymy.
By above-mentioned design, it is possible to achieve the bending motion of snake-shaped robot.Before and after snake-shaped robot in side at least
Side, is placed with inclined projection in the same direction.Form array of protrusions.Make the frictional force of different directions different.And then in snakelike machine
When people is curved and stretches, different frictional force are produced, and then movement is completed by bending and stretching action.Projection can be
Scale, can also be metal prong.Waterproof material is surrounded by outside snake-shaped robot skeleton, projection is arranged on outside waterproof material.
Using the fish-shape robot of beformable body mechanical drive system, including skeleton, skeleton adopts beformable body mechanical drive system, soft
Body mechanical drive system includes passing sequentially through at least three mechanical bones 1 of the connection of cradle head 3 from top to bottom；Also include at least
One flexible body 2；Flexible body 2 is fixedly connected with the mechanical bone 1 of top；At least top mechanical bone 1 and below connect
The rotating manner of mechanical bone 1 includes left-right rotation；At least two mechanical bones 1 of lower section, are provided with and connect with the slip of flexible body 2
The opening 4 for connecing, flexible body 2 is limited in opening 4 by opening 4 and is slided；Opening 4 on mechanical bone 1, is arranged on mechanical bone 1
The left and right sides at least side；At least two mechanical bones 1 of lower section are respectively equipped with, and are arranged on the opening 4 of homonymy, and make soft
Two openings 4 of the gonosome 2 through homonymy.By above-mentioned design, it is possible to achieve the bending motion of fish-shape robot.
It is surrounded by waterproof material outside fish-shape robot skeleton, the build of fish-shape robot is flat, the width between the left and right sides
Degree, less than 1/2nd of the width between Qian Hou both sides.To realize during bending and stretching, to water thrust being realized, enter
And move ahead or retreat.Because motor is seldom in the utility model, or even only one of which, so under water noise is minimum.In water
In lower traveling, it is not easily detected.
General principle of the present utility model and principal character and advantage of the present utility model has been shown and described above.One's own profession
The technical staff of industry it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply illustrate principle of the present utility model, on the premise of without departing from the utility model spirit and scope, the utility model is also
Various changes and modifications are had, these changes and improvements are both fallen within the range of claimed the utility model.The utility model
Claimed scope is by appending claims and its equivalent thereof.
Claims (1)
1. beformable body mechanical drive system, it is characterised in that including passing sequentially through at least three of cradle head connection from top to bottom
Mechanical bone；
Also include at least one flexible body；
The flexible body is fixedly connected with the mechanical bone of top；
At least the rotating manner of the top mechanical bone and the mechanical bone for connecting below includes left-right rotation；
Mechanical bone described at least two of lower section, is provided with the opening being slidably connected with the flexible body, and the flexible body is by institute
State opening and be limited in slip in the opening；
The opening on the mechanical bone, is arranged at least side of the left and right sides of the mechanical bone；
Mechanical bone described at least two of lower section is respectively equipped with, and is arranged on the opening of homonymy, and wears the flexible body
Cross two openings of homonymy.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510560605 | 2015-09-06 | ||
| CN2015105606050 | 2015-09-06 |
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| Publication Number | Publication Date |
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| CN206154307U true CN206154307U (en) | 2017-05-10 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621036839.1U Expired - Fee Related CN206154307U (en) | 2015-09-06 | 2016-09-05 | Beformable body mechanical drive system |
| CN201610801102.2A Expired - Fee Related CN106493720B (en) | 2015-09-06 | 2016-09-05 | Flexible mechanical skeleton |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610801102.2A Expired - Fee Related CN106493720B (en) | 2015-09-06 | 2016-09-05 | Flexible mechanical skeleton |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493720A (en) * | 2015-09-06 | 2017-03-15 | 上海科斗电子科技有限公司 | Beformable body mechanical bone |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493710B (en) * | 2015-09-06 | 2020-08-18 | 杭州华臻环保科技有限公司 | Multi-skeleton linkage system |
| CN110788839B (en) * | 2019-12-06 | 2024-06-07 | 南方科技大学 | Modularized reconfigurable driving unit and flexible exoskeleton robot |
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| US3497083A (en) * | 1968-05-10 | 1970-02-24 | Us Navy | Tensor arm manipulator |
| JPS6471686A (en) * | 1987-09-09 | 1989-03-16 | Komatsu Mfg Co Ltd | Flexible arm robot |
| US7678117B2 (en) * | 2004-06-07 | 2010-03-16 | Novare Surgical Systems, Inc. | Articulating mechanism with flex-hinged links |
| DK2375104T3 (en) * | 2008-12-19 | 2013-05-13 | Kawabuchi Mechanical Engineering Lab Inc | Linear and extendable mechanism and robot arm equipped with a linear and extendable mechanism |
| US8918212B2 (en) * | 2009-06-24 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Arm with a combined shape and force sensor |
| US10080482B2 (en) * | 2009-06-30 | 2018-09-25 | Intuitive Surgical Operations, Inc. | Compliant surgical device |
| WO2012059791A1 (en) * | 2010-11-05 | 2012-05-10 | Rīgas Tehniskā Universitāte | Robotic snake-like movement device |
| DE102010056607A1 (en) * | 2010-12-28 | 2012-06-28 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Continuous or quasi-continuous kinematic chain comprises sensor system for detecting spatial configuration of kinematic chain, which has spatial sequence of flexible segments |
| CN102658554B (en) * | 2012-04-27 | 2015-05-20 | 北京工业大学 | Full flexible controlled mechanical arm |
| US9713873B2 (en) * | 2012-05-12 | 2017-07-25 | Massachusetts Institute Of Technology | Continuum style manipulator actuated with phase change media |
| CN103417298B (en) * | 2012-05-25 | 2017-10-10 | 三星电子株式会社 | Arm unit and the robot with the arm unit |
| CN102729240B (en) * | 2012-06-28 | 2014-09-03 | 中国民航大学 | Plane fuel tank inspecting robot based on connector structure and control method thereof |
| CN103100811B (en) * | 2013-01-22 | 2015-06-03 | 北京工业大学 | Novel welding gun based on bionics |
| CN104088965B (en) * | 2014-07-14 | 2016-05-18 | 北京航空航天大学 | A kind of linear telescopic device |
| CN206154307U (en) * | 2015-09-06 | 2017-05-10 | 上海科斗电子科技有限公司 | Beformable body mechanical drive system |
-
2016
- 2016-09-05 CN CN201621036839.1U patent/CN206154307U/en not_active Expired - Fee Related
- 2016-09-05 CN CN201610801102.2A patent/CN106493720B/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493720A (en) * | 2015-09-06 | 2017-03-15 | 上海科斗电子科技有限公司 | Beformable body mechanical bone |
| CN106493720B (en) * | 2015-09-06 | 2021-09-14 | 上海科斗电子科技有限公司 | Flexible mechanical skeleton |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106493720B (en) | 2021-09-14 |
| CN106493720A (en) | 2017-03-15 |
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