CN208084354U - A kind of flexible robot for narrow space detection - Google Patents
A kind of flexible robot for narrow space detection Download PDFInfo
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- CN208084354U CN208084354U CN201820582993.1U CN201820582993U CN208084354U CN 208084354 U CN208084354 U CN 208084354U CN 201820582993 U CN201820582993 U CN 201820582993U CN 208084354 U CN208084354 U CN 208084354U
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- telescopic sleeve
- narrow space
- space detection
- flexible robot
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Abstract
The utility model discloses a kind of flexible robots for narrow space detection, including control unit, electric motor units, pneumatic unit, cable unit and telescopic sleeve unit, wherein described control unit respectively with the electric motor units, the pneumatic unit connection, the cable unit includes more cables, the first end of the more cables is respectively fixedly connected at the inner wall of the first end of the telescopic sleeve unit, second end is connected on the electric motor units after being pierced by respectively from the second end of the telescopic sleeve unit to control the flexible of more cables by the electric motor units；The first end of the telescopic sleeve unit is enclosed construction, and the pneumatic unit is for inflating or being evacuated into the telescopic sleeve from the second end of the telescopic sleeve unit.The utility model not only realizes high-precision control, but also can realize the stretching motion of continuous mechanical arm.
Description
Technical field
The utility model is related to robotic technology field more particularly to a kind of flexible machines for narrow space detection
People.
Background technology
In recent years according to biologic-organs such as big trunk, octopus tentacle and snake bodies, it is based on bionics, continuous type mechanical arm
Good development is obtained.Continuous type mechanical arm is different from traditional Rigid Robot Manipulator, theoretically has infinite a degree of freedom, profit
Make mechanical arm can be with continuous bend or elongation, to form the movement of similar big trunk, octopus tentacle with the deformation of ontology.It is logical
It crosses and changes the shape of itself, continuous type mechanical arm can neatly bypass various barriers, or across the hole of narrow bending, non-
Often suitable unstructured moving grids and space-constrained environments application.
Currently, the type of drive of continuous type mechanical arm can be mainly divided into four kinds, i.e. cable actuated, fluid driving, intelligence
Material drives and magnetic drive.Various type of drive have a different advantage and disadvantage, wherein cable actuated can by hose or
Position/force can be transmitted at a distance by pulley, can cross over limited space and the manipulating objects in complex environment, also be had light
Just, simply, bio-compatible, safety and it is flexible the features such as；But cable can only single load bearing, can not achieve continuous type mechanical arm
Stretching motion.Fluid driving is utilized flexible structure and can deform under the application pressure that fluid (gas or liquid) activates
The stretching motion of different length may be implemented when sequential machine people's chamber pressure difference for principle；But fluid-operated control
Precision is poor.Intellectual material refers mainly to marmem (SMA) and piezoelectric actuator, and work intensity is big, bio-compatibility
It is good, various shapes, but its frequency of actuation is low, heating temperature is high, and cooling time is long.Magnetic drive using magnetic field without
" connecting rod " activates, and such actuator completely eliminated transmitting device so that system is simpler, but magnetic exposure exists
High lag in model, non-linear and interaction force limit its use scope.
The disclosure of background above technology contents is only used for design and the technical solution that auxiliary understands the utility model, not
The prior art for necessarily belonging to present patent application, no tangible proof show the above present patent application the applying date
In the case of having disclosed, above-mentioned background technology should not be taken to the novelty and creativeness of evaluation the application.
Utility model content
In order to overcome the deficiencies of the prior art, the utility model proposes it is a kind of for narrow space detection flexible robot,
Not only high-precision control is realized, but also can realize the stretching motion of continuous mechanical arm.
In order to achieve the above object, the utility model uses following technical scheme：
The utility model discloses a kind of flexible robots for narrow space detection, including control unit, motor list
Member, pneumatic unit, cable unit and telescopic sleeve unit, wherein described control unit respectively with the electric motor units, the gas
Moving cell connects, and the cable unit includes more cables, and the first end of the more cables is respectively fixedly connected with stretches described
At the inner wall of the first end of Heat-Shrinkable Tubings unit, second end is connected to institute after being pierced by respectively from the second end of the telescopic sleeve unit
It states on electric motor units to control the flexible of more cables by the electric motor units；The first end of the telescopic sleeve unit
For enclosed construction, the pneumatic unit for being inflated from the second end of the telescopic sleeve unit into the telescopic sleeve or
It is evacuated.
Preferably, which further includes turning guide wheel, and the turning guide wheel is fixed
It is connected at the outer wall of the first end of the telescopic sleeve unit, for assisting the first end of the telescopic sleeve unit to be turned
To.
Preferably, which further includes camera unit, described control unit and institute
Camera unit connection is stated, the camera unit is fixedly connected at the outer wall of the first end of the telescopic sleeve unit, for clapping
It takes the photograph the image in the front of the first end of the telescopic sleeve unit or video and is back to described control unit.
Preferably, which further includes range sensor, described control unit with
The range sensor connection, the range sensor are fixedly connected at the outer wall of the first end of the telescopic sleeve unit,
For measuring the first end of the telescopic sleeve unit at a distance from the barrier in front and feeding back to described control unit.
Preferably, the electric motor units include motor and multiple reels, and the motor is separately connected multiple coilings
Wheel is to drive multiple reels to rotate, and the second end of the more cables is respectively from the second end of the telescopic sleeve unit
It is connected to one by one after being pierced by multiple reels so that the more cables to be respectively wound around on multiple reels.
Preferably, the pneumatic unit includes air pump, solenoid valve and baroceptor, and the air pump is used for from described flexible
The second end of tube unit is inflated or is evacuated into the telescopic sleeve, and the solenoid valve is arranged in the telescopic sleeve list
At the port of the second end of member, the baroceptor is arranged in the telescopic sleeve unit.
Preferably, the first end of the more cables is evenly distributedly fixedly connected on the first of the telescopic sleeve unit
On the outer profile of the inner wall at end.
Preferably, the telescopic sleeve unit includes at least one section telescopic sleeve being connected with each other successively, the telescopic
Pipe uses bellows structure.
Preferably, the telescopic sleeve is made of aluminium tin material.
Preferably, which further includes vehicle frame, described control unit, described pneumatic
Unit, the cable unit and the telescopic sleeve unit are respectively connected on the vehicle frame.
Compared with prior art, the beneficial effects of the utility model are：The utility model proposes be used for narrow space
The flexible robot of detection respectively controls telescopic sleeve unit by the way that pneumatic unit and cable unit is arranged, Ke Yishi
It now efficiently extends and shrinks, wherein pneumatically elongation speed is fast, while cable actuated being assisted not only to realize high-precision control, but also energy
Realize the stretching motion of continuous mechanical arm；And by the control respectively to more cables, it is convenient to telescopic sleeve unit into
The operations such as row advances, retreats, turning to carry out free detection in narrow space, withdrawn additionally by cable can press very tightly with
It is fully returned to zero position, convenient for storage.
In a further embodiment, it can be equipped with turning guide wheel at the outer wall of the first end of telescopic sleeve unit, take the photograph
Picture unit or range sensor can reduce the abrasion to the first end end point of telescopic sleeve unit by turning guide wheel,
It prevents from clashing or stuck；The image or video or range sensor fed back by camera unit is fed back and preceding object
The distance of object, it is convenient to make corresponding response when detection in narrow space.
Description of the drawings
Fig. 1 is the structural schematic diagram of the flexible robot for narrow space detection of the preferred embodiment in the utility model；
Fig. 2 is the schematic diagram that the flexible robot in Fig. 1 detects in narrow space；
Fig. 3 a are the telescopic sleeve unit contraction state schematic diagrames of the flexible robot in Fig. 1；
Fig. 3 b are the telescopic sleeve unit tensional state schematic diagrames of the flexible robot in Fig. 1.
Specific implementation mode
Below against attached drawing and in conjunction with preferred embodiment, the utility model is described in further detail.
As shown in Figure 1, the flexible robot for narrow space detection of the preferred embodiment in the utility model includes vehicle frame
10, control unit 20, electric motor units (not shown), pneumatic unit (not shown), cable unit 30, telescopic sleeve unit
40, turning guide wheel 50, camera unit 60, range sensor (not shown), wherein control unit 20, electric motor units, pneumatic list
Member, cable unit 30, telescopic sleeve unit 40 are respectively connected on vehicle frame 10, and control unit 20 is separately connected and controls electricity
Machine unit, pneumatic unit, camera unit 60, range sensor.
In the present embodiment, cable unit 30 includes both threads cable, and the first end of both threads cable, which is respectively fixedly connected with, is stretching
The left and right sides of the first end inner wall of Heat-Shrinkable Tubings unit 40 is (in other embodiments, if cable unit 30 includes being more than two
Cable, then the first end of more cables be evenly distributedly fixedly connected on the foreign steamer of the first end inner wall of telescopic sleeve unit 40
On exterior feature, such as cable unit 30 includes four cables, then the first end of four cables is respectively fixedly connected in telescopic sleeve unit
The side up and down of 40 first end inner wall), second end is pierced by from the second end of telescopic sleeve unit 40 and is connected to electricity respectively
To control the flexible of both threads cable by electric motor units on machine unit；The first end of telescopic sleeve unit 40 is enclosed construction,
Pneumatic unit is for inflating or being evacuated into telescopic sleeve unit 40 from the second end of telescopic sleeve unit 40.
Turning guide wheel 50, camera unit 60 and range sensor are respectively fixedly connected with the first end in telescopic sleeve unit 40
Outer wall at, turning guide wheel 50 is turned to for the first end of auxiliary telescopic tube unit 40；Camera unit 60 is for shooting
The image or video in the front of the first end of telescopic sleeve unit 40 are simultaneously back to control unit 20；Range sensor is for measuring
The first end of the telescopic sleeve unit is at a distance from the barrier in front and feeds back to control unit 20.
Electric motor units include motor and two reels, and motor is separately connected two reels to drive two coiling rotation
It is dynamic, the second end of both threads cable be pierced by and be connected to one by one on two reels from the second end of telescopic sleeve unit 40 respectively with
Both threads cable is respectively wound around on two reels.
Pneumatic unit includes air pump, solenoid valve and baroceptor, and wherein air pump is used for the from telescopic sleeve unit 40
Two ends are inflated or are evacuated into telescopic sleeve unit 40, and solenoid valve is arranged in the port of the second end of telescopic sleeve unit 40
The inflated condition in control telescopic sleeve unit 40 is sentenced, baroceptor is arranged in telescopic sleeve unit to monitor telescopic
Inner gas pressure in pipe unit 40, and adjust whether air pump is inflated or be evacuated according to the inner gas pressure.
Telescopic sleeve unit 40 may include a section telescopic sleeve, can also include the multi-joint telescoping set being connected with each other successively
Pipe, forms the arm section of mechanical arm, and the first end of the wherein final section of multi-joint telescoping sleeve pipe is enclosed construction, other sections are flexible
The both ends of casing are all connections, and concentric reducer design may be used in telescopic sleeve, i.e. one end diameter is slightly larger, and other end diameter is slightly
It is small, extend convenient for being docked between each section telescopic sleeve, convenient for the arm section of extension mechanical arm；In the present embodiment, telescopic sleeve is adopted
With bellows structure, aluminium tin material can specifically may be used and be made in order to extend compression.
In conjunction with shown in Fig. 2, the flexible robot for narrow space detection of the preferred embodiment in the utility model is narrow
The course of work in pipeline 100 is as follows：Start flexible robot, open camera unit 60, control unit 20 receives camera unit
Flexible robot is moved to suitable position, control unit 20 by the video information of 60 image, operator according to video information
It controls air pump to inflate to 40 inner cavity of telescopic sleeve unit, telescopic sleeve unit 40 extends at this time, and cable is with telescopic sleeve unit
40 elongation and extend, but cable is in tensioning state always, and tensile force is in smaller range；Work as Distance-sensing
When the first end of telescopic sleeve unit 40 of device feedback is less than predetermined threshold at a distance from the barrier in front, operator can fit
When stop inflation, seal state in so that five position-3-way solenoid valves is kept, recycling right side cable, telescopic sleeve unit 40 is to the right at this time
Bending, if telescopic sleeve unit 40 collides with left wall, the turning guide wheel of the first end of telescopic sleeve unit 40 can first with
Wall contacts, and turning guide wheel rotation reduces the frictional force of telescopic sleeve unit 40 and wall, to assisted diversion, reduces flexible
The collision of tube unit 40 and wall avoids generating unnecessary deformation.Completion to be diverted restores the length of right side cable, makes
It is identical as left side length of cable, is inflated again to inner cavity, so that telescopic sleeve unit 40 is obtained first end continuation and extends forward, until
Target location；Stop inflation, solenoid valve is in exhaust condition, since the often section telescopic sleeve of telescopic sleeve unit 40 uses ripple
Pipe structure, telescopic sleeve unit 40 remains to keep the length after elongation after exhaust；After detection, while tightening the left and right sides
Cable makes telescopic sleeve unit 40 shrink back original state, and shutdown is stopped.Wherein telescopic sleeve unit 40 is contraction-like
State such as Fig. 3 a, tensional state such as Fig. 3 b.
The mechanical arm section of the flexible robot for narrow space detection of the preferred embodiment in the utility model uses line
Cable drives and the combination drive mode that is combined of gas-powered, and wherein gas-powered is used for realizing axial stretching motion, when to
In telescopic sleeve unit when inflation, the elongation of telescopic sleeve unit, aeration quantity is different, and the length of elongation is different；When deflated, it stretches
Tube unit remains to keep the length after elongation constant, then bending and the receipts of telescopic sleeve unit are realized by cable actuated
Contracting.Wherein when being inflated into telescopic sleeve unit, both threads cable is extended with the elongation of telescopic sleeve unit, when recycling one
When side line cable, telescopic sleeve unit can be to the lateral bend, and when tensing both threads cable simultaneously, telescopic sleeve unit will be axial
It shrinks.
For the rescue of narrow space and detection problem, Rigid Robot Manipulator degree of freedom is limited by amount of articulation,
Rigid link cannot be according to the variation flexible transformation arm shape of environment, and safety is poor；And the preferred embodiment in the utility model is used for
The flexible robot of narrow space detection can be similar to be formed with continuous bend or elongation using the deformation of telescopic sleeve unit
The movement of big trunk, octopus tentacle can neatly bypass various barriers, or across narrow due to its good compliance
Small hole；And energy impact can be born, avoids that strong collision occurs with the environment of surrounding, is highly suitable for unstructured
With operation in space-constrained environments.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is confined to these explanations.For those skilled in the art of the present invention
For, without departing from the concept of the premise utility, several equivalent substitute or obvious modifications, and performance can also be made
Or purposes is identical, all shall be regarded as belonging to the scope of protection of the utility model.
Claims (10)
1. a kind of flexible robot for narrow space detection, which is characterized in that including control unit, electric motor units, pneumatic
Unit, cable unit and telescopic sleeve unit, wherein described control unit connect with the electric motor units, the pneumatic unit respectively
It connects, the cable unit includes more cables, and the first end of the more cables is respectively fixedly connected in the telescopic sleeve list
At the inner wall of the first end of member, second end is connected to the motor list after being pierced by respectively from the second end of the telescopic sleeve unit
To control the flexible of more cables by the electric motor units in member；The first end of the telescopic sleeve unit is closed
Structure, the pneumatic unit is for inflating or being taken out into the telescopic sleeve from the second end of the telescopic sleeve unit
Gas.
2. the flexible robot according to claim 1 for narrow space detection, which is characterized in that further include turning to lead
Wheel, the turning guide wheel is fixedly connected at the outer wall of the first end of the telescopic sleeve unit, for assisting the telescopic
The first end of pipe unit is turned to.
3. the flexible robot according to claim 1 for narrow space detection, which is characterized in that further include that camera shooting is single
Member, described control unit are connect with the camera unit, and the camera unit is fixedly connected on the of the telescopic sleeve unit
At the outer wall of one end, the image or video in the front of the first end for shooting the telescopic sleeve unit are simultaneously back to the control
Unit processed.
4. the flexible robot according to claim 1 for narrow space detection, which is characterized in that further include that distance passes
Sensor, described control unit are connect with the range sensor, and the range sensor is fixedly connected on the telescopic sleeve list
At the outer wall of the first end of member, for measuring the first end of the telescopic sleeve unit at a distance from the barrier in front and feedback
To described control unit.
5. the flexible robot according to claim 1 for narrow space detection, which is characterized in that the electric motor units
Including motor and multiple reels, the motor is separately connected multiple reels to drive multiple reels to rotate,
The second end of the more cables be connected to one by one after being pierced by respectively from the second end of the telescopic sleeve unit it is multiple it is described around
The more cables to be respectively wound around on multiple reels in line wheel.
6. the flexible robot according to claim 1 for narrow space detection, which is characterized in that the pneumatic unit
Including air pump, solenoid valve and baroceptor, the air pump is used to stretch to described from the second end of the telescopic sleeve unit
It inflates or is evacuated in casing, the solenoid valve is arranged at the port of the second end of the telescopic sleeve unit, the gas
Pressure sensor is arranged in the telescopic sleeve unit.
7. the flexible robot according to claim 1 for narrow space detection, which is characterized in that the more cables
First end be evenly distributedly fixedly connected on the telescopic sleeve unit first end inner wall outer profile on.
8. the flexible robot according to claim 1 for narrow space detection, which is characterized in that the telescopic sleeve
Unit includes at least one section telescopic sleeve being connected with each other successively, and the telescopic sleeve uses bellows structure.
9. the flexible robot according to claim 8 for narrow space detection, which is characterized in that the telescopic sleeve
It is made of aluminium tin material.
10. the flexible robot according to claim 1 for narrow space detection, which is characterized in that further include vehicle frame,
Described control unit, the pneumatic unit, the cable unit and the telescopic sleeve unit are respectively connected to the vehicle
On frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820582993.1U CN208084354U (en) | 2018-04-23 | 2018-04-23 | A kind of flexible robot for narrow space detection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820582993.1U CN208084354U (en) | 2018-04-23 | 2018-04-23 | A kind of flexible robot for narrow space detection |
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| CN208084354U true CN208084354U (en) | 2018-11-13 |
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| CN201820582993.1U Active CN208084354U (en) | 2018-04-23 | 2018-04-23 | A kind of flexible robot for narrow space detection |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312160A (en) * | 2018-04-23 | 2018-07-24 | 清华大学深圳研究生院 | A kind of flexible robot for narrow space detection |
| CN111037539A (en) * | 2019-12-30 | 2020-04-21 | 浙江清华柔性电子技术研究院 | Flexible telescopic unit, flexible telescopic mechanism and hybrid drive variable-degree-of-freedom soft robot |
-
2018
- 2018-04-23 CN CN201820582993.1U patent/CN208084354U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312160A (en) * | 2018-04-23 | 2018-07-24 | 清华大学深圳研究生院 | A kind of flexible robot for narrow space detection |
| CN108312160B (en) * | 2018-04-23 | 2024-02-23 | 清华大学深圳研究生院 | Flexible robot for detecting narrow space |
| CN111037539A (en) * | 2019-12-30 | 2020-04-21 | 浙江清华柔性电子技术研究院 | Flexible telescopic unit, flexible telescopic mechanism and hybrid drive variable-degree-of-freedom soft robot |
| CN111037539B (en) * | 2019-12-30 | 2022-03-08 | 浙江清华柔性电子技术研究院 | Flexible telescopic unit, flexible telescopic mechanism and hybrid drive variable-degree-of-freedom soft robot |
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