CN207757626U - Phagocytosis type crawl transmission integrated flexible robot - Google Patents
Phagocytosis type crawl transmission integrated flexible robot Download PDFInfo
- Publication number
- CN207757626U CN207757626U CN201721771365.XU CN201721771365U CN207757626U CN 207757626 U CN207757626 U CN 207757626U CN 201721771365 U CN201721771365 U CN 201721771365U CN 207757626 U CN207757626 U CN 207757626U
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- Prior art keywords
- terminal pad
- hole
- rack
- central
- pipeline
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 12
- 206010057249 Phagocytosis Diseases 0.000 title claims abstract description 8
- 230000008782 phagocytosis Effects 0.000 title claims abstract description 8
- 229920001971 elastomer Polymers 0.000 claims description 7
- 239000004744 fabric Substances 0.000 claims description 7
- 241000274582 Pycnanthus angolensis Species 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 6
- 239000011087 paperboard Substances 0.000 claims description 6
- 230000003014 reinforcing effect Effects 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 241000239290 Araneae Species 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 229910000838 Al alloy Inorganic materials 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 241000486406 Trachea Species 0.000 description 2
- 239000013590 bulk material Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 210000003437 trachea Anatomy 0.000 description 2
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
A kind of phagocytosis type crawl transmission integrated flexible robot, includes mainly rack, collecting box, driving device, flexible mechanical arm and end grabber.Wherein, collecting box and the driving device being made of motor, roll, air pump, driving rope and tracheae are located in rack, and the flexible mechanical arm one end being made of rack terminal pad, spring, intermediate terminal pad, driving rope, end terminal pad A and end terminal pad B is fixed on the rack the other end and is connected with the end grabber being made of fixture and air bag.The occlusal pattern of the utility model captures robot, it can either be operated in non-structural task space with submissive mechanical arm, the crawl of bulk object can be realized again, therein pipeline can also be utilized to realize the transmission of object, to improve crawl and the transfer capability of mechanical arm, make continuous humanoid robot that there is crawl, transmission integrated function, simplifies working procedure, also make mechanical arm that there is more freedom to work degree and higher working efficiency.
Description
Technical field
The utility model is related to a kind of robots.
Background technology
Traditional industrial robot is mostly made of rigid structure, can quickly, it is accurate, task is repeatedly carried out, exist
The fields such as manufacture, assembly, logistics play a significant role, and such robot is typically that will capture object by mechanical paw then to move
It moves and realizes work to target location, it is difficult to adapt to non-structured complex environment.It is next-generation with the development of robot technology
Robot will have better compliance.Continuous humanoid robot has the structure of alterable height shape, using the variable of structure
Shape adapts to unstructured moving grids, has the characteristics that environmental suitability is strong.
Continuous humanoid robot belongs to ultra-redundant degree of freedom structure, and movement is mainly realized by flexible deformation, and shape is moved
Formula shows as the flexible of space more and is respectively converted to bending, and this kind of flexible mechanical arm by end paw or utilizes itself mostly
Flexible mechanical arm realizes the crawl of article.2011, German Fei Situo companies designed " bionical according to the characteristics of trunk
Operate assistant ", it can smoothly roll weight using itself arm body, and principle is that its each section vertebra can pass through air bag
Compression and inflation carry out deep exhibition and contraction；2016, Chinese patent CN205363953U disclosed a kind of based on spoke driving
Flexible mechanical arm, the end effector of the mechanical arm is a mechanical paw.This kind of flexible mechanical arm can realize article
Crawl, but can realize that bulk material captures and the flexible mechanical arm being transmitted is actually rare.
Invention content
The purpose of this utility model is to provide one kind capable of realizing bulk material crawl, transmits integrated phagocytosis type grabs
Take transmission integrated flexible robot.
The utility model includes mainly rack, collecting box, driving device, flexible mechanical arm and end grabber.Wherein,
Collecting box and the driving device being made of motor, roll, air pump, driving rope and tracheae are located in rack, are connected by rack
The flexible mechanical arm one end for connecing disk, spring, intermediate terminal pad, driving rope, end terminal pad A and end terminal pad B compositions is solid
It is scheduled on the other end in rack with the end grabber being made of fixture and air bag to be connected, concrete structure is as follows：Frame shape rack
Tablet is set there are one face, the tablet is parallel with a boxboard of the collecting box for having discharge port set in rack, in the middle part of the boxboard
Equipped with through-hole, it is connected with rubber hose pipeline one end, is connected preferably by the flange with tight loop, which passes through rack
Plate center through-hole reaches outside rack, and the other end of pipeline is connected with end terminal pad A.In rack tablet and the case for being connected with pipeline
It is equipped with the central flat parallel with the two between plate, which is provided with central through hole corresponding with pipeline, in central flat towards machine
Frame tablet side is fixed with around 4 circumferentially uniformly distributed motors of pipeline and 2 with conduit axis as symmetrical air pump.In every motor
A roll is respectively set on output shaft, it is coupled and around driving rope on it to set one end on the roll, every driving
Rope respectively passes through rack tablet and its corresponding through-hole of outer wall upper spider terminal pad to extend to outside rack, and end is another with pipeline respectively
End terminal pad A set by one end is connected.The rubber hose being connected with two air pumps i.e. tracheae, also pass through rack tablet and its
The corresponding through-hole of outer wall upper spider terminal pad extends to outside rack, and the other end is placed in terminal pad A corresponding through-holes in end i.e. stomata
And it is connected.The rack terminal pad is disk by setting central through hole and is located at the perpendicular connected annulus in central through hole side
I.e. bulge loop forms, and is additionally provided in addition to the through-hole passed through with tracheae equipped with driving rope on disk and connect through-hole, passes through connection
The bolt of through-hole is fixed on rack tablet.End terminal pad A its be also disk by setting central through hole and be located at center
The perpendicular connected annulus in through-hole side, that is, bulge loop composition, outside the pipeline between end terminal pad A and rack terminal pad
It is cased with the intermediate terminal pad of intermittent N number of annulars (different and different according to duct length and the object of crawl), which is
By setting the disk of central through hole and being located at what the perpendicular connected annulus in central through hole both sides i.e. bulge loop formed, in each centre
It is equipped with the through-hole that driving rope is passed through with tracheae on terminal pad disk, is respectively fixed on the bulge loop of each intermediate terminal pad both sides
One spring one end being sleeved on outside pipeline, total N+1 spring, the other end or connected with another intermediate terminal pad, or and machine
The bulge loop of frame terminal pad is connected, or is connected with the bulge loop of end terminal pad A.Corresponding end is equipped with outside the terminal pad A of end
Terminal pad B, end terminal pad B is held to be also disk by setting central through hole and be located at the perpendicular connected circle in central through hole side
Ring, that is, bulge loop composition, pipeline outer tube wall diameter is corresponding with end terminal pad A central through hole internal diameters, and the two is connected；In pipeline
Diameter is corresponding with end terminal pad B central through hole internal diameters.End terminal pad A and end terminal pad B is equipped with corresponding connection through-hole,
The two is connected by the bolt that through-hole is connected across the two.End terminal pad B is equipped with stomata corresponding with end terminal pad A, often
A stomata is respectively connected with a bellows-type air bag one end, and two air bag free ends are respectively closed by tablet, preferably on each air bag
Equipped with reinforcing rib, there are one with the Fang Huan that is connected in the middle part of air bag, party's ring is connected with a semicircular arc strut, strut both ends and
End terminal pad B bulge loops are connected.Fixture is made of openable and closable two halves, every half fixture there are one arc-shaped steel bar clamping jaw,
The opposite side indention of two clamping jaws is simultaneously intermeshed, and a side of the opposite side of two clamping jaws respectively with 1/4 spherical cloth is connected,
Another side of the 1/4 spherical cloth is then connected on the terminal pad B bulge loops of end.The clamping jaw both ends are respectively hinged at end connection
On disk B bulge loops.
The course of work of the utility model approximately as：When work, the motor in driving device is by driving rope to drive
The bending of flexible mechanical arm so that the end grabber being mounted on flexible mechanical arm reaches target operational position, at this point, end
Grabber is in open configuration.Air pump in driving device is supplied via the air bag on tracheae terminad grabber, realizes air bag
Extension further can drive the rotation of both sides clamping jaw, target object " is swallowed into " end grabber, it is dynamic to complete crawl
Make.Motor drives flexible mechanical arm to be bent upwards again, and target object will be moved to along pipeline in collecting box under gravity,
Complete transmit process.
The utility model has the following advantages that compared with prior art：Such occlusal pattern captures robot, can either be with soft
Suitable mechanical arm operates in non-structural task space, and the crawl of bulk object can be realized by occlusal pattern end grabber,
Therein pipeline can also be utilized to realize that the transmission of object makes continuous type to improve crawl and the transfer capability of mechanical arm
Robot have crawl, transmission integrated function, simplify working procedure, also make mechanical arm have more freedom to work degree and
Higher working efficiency." submissive dexterity " characteristic for effectively improving continuous humanoid robot complex environment Multi-Tasking, has
Wider array of work surface, stronger non-structure environment adaptability.
Description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the utility model.
Fig. 2 is the utility model box portion amagnified partial perspective simplified schematic diagram.
Fig. 3 is the utility model flexible mechanical arm section amagnified partial perspective simplified schematic diagram.
Fig. 4 is that the utility model grabber is closed amagnified partial perspective simplified schematic diagram.
Fig. 5 is the utility model grabber flared section amagnified partial perspective simplified schematic diagram.
In figure：1- racks, 2- collecting boxs, 3- tight loops, 4- connecting flanges, 5- pipelines, 6- motors, 7- racks terminal pad,
8- rolls, 9- springs, 10- air pumps, 11- tracheaes, the centres 12- terminal pad, 13- drivings rope, 14- end disks A, 15 end disks
B, 16- spherical shapes cloth, 17- reinforcing ribs, 18- air bags, 19- fixtures, 20- central flats.
Specific implementation mode
In phagocytosis type crawl transmission integrated flexible robot solid simplified schematic diagram shown in Fig. 1, continuous type flexible machine
Tool arm robot includes mainly rack 1, collecting box 2, driving device, flexible mechanical arm and end grabber, wherein described
Collecting box 2 and driving device are bolted in the inside of rack 1, and one end of the flexible mechanical arm is fixed on
On the outside of rack 1, the 4 circumferentially uniformly distributed driving ropes 13 and 2 tracheaes 11 that are stretched out from driving device sequentially pass through flexibility
The gentle pipe through-hole of threading hole in mechanical arm in each terminal pad, until being connected with end terminal pad.The end grabber
It in the terminal pad of end, is closed and is opened by gas-powered end grabber, realize grasping movement.
Rack 1 is the rectangular frame structure of bilayer of four sides hollow out, using aluminum alloy material, on the central flat 20 of rack 1
Equipped with the flange-type structure for installing 4 driving motors 6 and 2 air pumps 10, it is machined with and is used at the plate center of rack 1
The circular counter bore of the installation of rack terminal pad 7 is machined with 4 round threading holes and 2 on the rack tablet around circular counter bore
A tracheae through-hole, for driving passing through for rope and tracheae.The collecting box 2 is cuboid hollow box body, and collecting box 2 is modeling
Expect material, and be equipped with circular counter bore, is used for the installation of pipeline coupling flange 4.The pipeline 5 is rubber hose, passes through connection
Flange 4 and tight loop 3 are connected with collecting box 2.
In the utility model box portion amagnified partial perspective simplified schematic diagram shown in Fig. 2, motor 6 shares 4, installation
On the flange-type structure of rack 1, circumferentially it is uniformly distributed around conduit axis.Coiling is installed on the output shaft of the motor 6
Axis 8, the folding and unfolding for driving rope 13,4 motors 6 drive the folding and unfolding of 4 driving ropes 13, flexible mechanical arm may be implemented
Respectively to bending.The roll 8 is the aluminum alloy round band of column, and it is coupled and around driving rope on it to set one end thereon
13.The tracheae 11 is rubber hose, and one end of tracheae 11 is connected with air pump 10, and the other end sequentially passes through rack 1 and each
Terminal pad is finally connected with the stomata on the terminal pad A of end, is connected with air bag 18 further through end terminal pad B.The air pump
10 share 2, are mounted on the flange-type structure of engine base 1, symmetrical with conduit axis.Pass through 11 terminad terminal pad of tracheae
18 supply gas of air bag the opening and closure of end grabber may be implemented, in turn to control the change of 18 length of air bag
Complete grasping movement.
In the utility model flexible mechanical arm section amagnified partial perspective simplified schematic diagram shown in Fig. 3, rack terminal pad 7
For aluminum alloy round dish configuration, one side is equipped with annulus bulge loop, is used for the fixation of spring 9, is equipped among rack terminal pad 7 round logical
Hole is additionally provided with for bolted 4 circular through holes and is used in rack terminal pad 7 for passing through for pipeline 5 and fixation
4 circular through holes that driving rope 13 passes through.The spring 9 is the high flexibility spring that material is spring steel, and spring 9 passes through weldering
It connects and is connected with 7 annulus bulge loop of terminal pad.The intermediate terminal pad 12 is aluminum alloy round dish configuration, and the both sides of terminal pad 12 are all
Equipped with round bulge loop structure, be used for the fixation of elastomer 9, circular through hole be equipped among terminal pad 12, for pipeline 5 pass through with
It is fixed, and equipped with for bolted 4 circular through holes and 4 circular through holes for driving rope 13 to pass through.Described
End terminal pad A14 and end terminal pad B15 be aluminum alloy round dish configuration, end terminal pad A14 and end terminal pad
The side of B15 is designed with round bulge loop structure, and centre is machined with for 5 fixed circular through hole of pipeline, and equipped with for bolt
The circular through hole of connection, the end terminal pad B15 are additionally provided with air bag 18 and install counterbore and for installing the convex of reinforcing rib 17
Ring.The outer tube diameter of the pipeline 5 is matched with end terminal pad A14 internal diameters, and interior caliber matches with end terminal pad B15 internal diameters
It closes, end terminal pad A14 is bolted to connection with end terminal pad B15, and consolidating for pipeline 5 and end terminal pad may be implemented
It is fixed.
In Fig. 4, the utility model grabber amagnified partial perspective simplified schematic diagram shown in fig. 5, air bag 18 is rectangular wave
Line pipe, its one end are equipped with circle interface, and for the interconnection with tracheae 11, the other end and the square plate of air bag 18 are connected,
Reinforcing rib 17 made of steel material are equipped on each air bag, there are one the Fang Huan being connect with air bag middle part, the party
Ring is connected with a semicircular arc strut, and strut both ends are connected with end terminal pad B15 bulge loops.Fixture 19 is by openable and closable two
Half forms, and there are one arc-shaped steel bar clamping jaw, the opposite side indention of two clamping jaws is simultaneously intermeshed every half fixture, two folders
A side of the opposite side of pawl respectively with 1/4 spherical cloth 16 is connected, another side of the 1/4 spherical cloth is then connected in end connection
On disk B bulge loops.The clamping jaw both ends are respectively hinged on the terminal pad B bulge loops of end.It can be with by the pressure of gas in tracheae 11
The flexible of air bag 18 is driven, and then the rotation of reinforcing rib 17 and fixture 19 can be driven, and then end grabber may be implemented
It opens and is closed, complete grasping movement.The tight loop 3, connecting flange 4, roll 8 are all made of steel material.
Claims (3)
1. a kind of phagocytosis type crawl transmission integrated flexible robot, it is characterised in that：Frame shape rack sets tablet there are one face,
The tablet is parallel with a boxboard of the collecting box for having discharge port set in rack, and through-hole itself and rubber is equipped in the middle part of the boxboard
Hoseline one end is connected, which reaches across rack plate center through-hole outside rack, and the other end of pipeline is connect with end
Disk A is connected, and the central flat parallel with the two is equipped between rack tablet and the boxboard for being connected with pipeline, which is provided with and pipeline
Corresponding central through hole, central flat towards rack tablet side be fixed with around 4 circumferentially uniformly distributed motors of pipeline and 2 with
Conduit axis is symmetrical air pump, and a roll is set on every motor output shaft, one end and its phase are set on the roll
Even and around driving rope on it, every driving rope respectively passes through rack tablet and its outer wall upper spider terminal pad corresponding
Through-hole extends to outside rack, and end is connected with the end terminal pad A set by the pipeline other end respectively, the rubber being connected with two air pumps
Hose, that is, tracheae also passes through rack tablet and its corresponding through-hole of outer wall upper spider terminal pad to extend to outside rack, and the other end is set
In in the corresponding through-hole, that is, stomatas of end terminal pad A and being connected, the rack terminal pad is disk by setting central through hole and sets
In central through hole side, perpendicular connected annulus, that is, bulge loop composition, removes on disk and is passed through with tracheae equipped with driving rope
Through-hole outside be additionally provided with connection through-hole, across connection through-hole bolt be fixed on rack tablet, end terminal pad A its
By setting the disk of central through hole and being located at what the perpendicular connected annulus in central through hole side i.e. bulge loop formed, connect in end
Connecing the duct wrap between disk A and rack terminal pad has intermittent N number of intermediate terminal pad of annular, the intermediate terminal pad be by setting in
The disk of heart through-hole and be located at the perpendicular connected annulus in central through hole both sides i.e. bulge loop composition, in each intermediate terminal pad
The through-hole that driving rope is passed through with tracheae is equipped on disk, each there are one sets for each fixation on the bulge loop of intermediate terminal pad both sides
Spring one end outside pipeline, total N+1 spring, the other end or connected with another intermediate terminal pad, or connect with rack
The bulge loop of disk is connected, or is connected with the bulge loop of end terminal pad A, and corresponding end is equipped with outside the terminal pad A of end and is connected
Disk B, end terminal pad B are also disk by setting central through hole and to be located at the perpendicular connected annulus in central through hole side i.e. convex
Ring composition, pipeline outer tube wall diameter is corresponding with end terminal pad A central through hole internal diameters, and the two is connected；Internal diameter of the pipeline and end
Hold terminal pad B central through hole internal diameters corresponding, end terminal pad A and end terminal pad B are equipped with corresponding connection through-hole, pass through two
The two is connected by the bolt that person connects through-hole, and end terminal pad B is equipped with stomata corresponding with end terminal pad A, each stomata
Respectively it is connected with a bellows-type air bag one end, two air bag free ends are respectively closed by tablet, and fixture is by openable and closable two halves group
At every half fixture is there are one arc-shaped steel bar clamping jaw, and the opposite side indention of two clamping jaws is simultaneously intermeshed, two clamping jaw phases
A side of the anti-side respectively with 1/4 spherical cloth is connected, and it is convex that another side of the 1/4 spherical cloth is then connected in end terminal pad B
On ring, the clamping jaw both ends are respectively hinged on the terminal pad B bulge loops of end.
2. phagocytosis type crawl transmission integrated flexible robot according to claim 1, it is characterised in that：It is logical in the middle part of boxboard
Hole is connected with pipeline one end by the flange with tight loop.
3. phagocytosis type crawl transmission integrated flexible robot according to claim 1, it is characterised in that：In each air bag
Be equipped with reinforcing rib, there are one being connected with a semicircular arc strut with the Fang Huan that is connected in the middle part of air bag, Fang Huan, strut both ends and
End terminal pad B bulge loops are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721771365.XU CN207757626U (en) | 2017-12-18 | 2017-12-18 | Phagocytosis type crawl transmission integrated flexible robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721771365.XU CN207757626U (en) | 2017-12-18 | 2017-12-18 | Phagocytosis type crawl transmission integrated flexible robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207757626U true CN207757626U (en) | 2018-08-24 |
Family
ID=63187002
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721771365.XU Expired - Fee Related CN207757626U (en) | 2017-12-18 | 2017-12-18 | Phagocytosis type crawl transmission integrated flexible robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207757626U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176573A (en) * | 2018-10-23 | 2019-01-11 | 燕山大学 | A kind of software grabbing device |
| CN110125978A (en) * | 2019-05-20 | 2019-08-16 | 燕山大学 | A kind of wire saws robot based on parallel connection platform driving |
| WO2020082723A1 (en) * | 2018-10-24 | 2020-04-30 | 哈尔滨工业大学（深圳） | Rope-driven flexible claw and robot |
| CN112607299A (en) * | 2020-11-10 | 2021-04-06 | 北京城创新智科技有限公司 | Swallowing type conveying channel and mechanical arm |
-
2017
- 2017-12-18 CN CN201721771365.XU patent/CN207757626U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176573A (en) * | 2018-10-23 | 2019-01-11 | 燕山大学 | A kind of software grabbing device |
| CN109176573B (en) * | 2018-10-23 | 2020-06-12 | 燕山大学 | Software grabbing device |
| WO2020082723A1 (en) * | 2018-10-24 | 2020-04-30 | 哈尔滨工业大学（深圳） | Rope-driven flexible claw and robot |
| CN110125978A (en) * | 2019-05-20 | 2019-08-16 | 燕山大学 | A kind of wire saws robot based on parallel connection platform driving |
| CN112607299A (en) * | 2020-11-10 | 2021-04-06 | 北京城创新智科技有限公司 | Swallowing type conveying channel and mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180824 |