WO2024000799A1 - Robot flexible à bras flexible - Google Patents

Robot flexible à bras flexible Download PDF

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Publication number
WO2024000799A1
WO2024000799A1 PCT/CN2022/116689 CN2022116689W WO2024000799A1 WO 2024000799 A1 WO2024000799 A1 WO 2024000799A1 CN 2022116689 W CN2022116689 W CN 2022116689W WO 2024000799 A1 WO2024000799 A1 WO 2024000799A1
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WO
WIPO (PCT)
Prior art keywords
flexible
clamping
robot according
component
flexible robot
Prior art date
Application number
PCT/CN2022/116689
Other languages
English (en)
Chinese (zh)
Inventor
梁耀升
彭群家
刘晓伟
费克勋
Original Assignee
苏州热工研究院有限公司
中国广核集团有限公司
中国广核电力股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202210767163.7A external-priority patent/CN114986489A/zh
Priority claimed from CN202210767166.0A external-priority patent/CN114986490B/zh
Application filed by 苏州热工研究院有限公司, 中国广核集团有限公司, 中国广核电力股份有限公司 filed Critical 苏州热工研究院有限公司
Publication of WO2024000799A1 publication Critical patent/WO2024000799A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid

Definitions

  • the present invention relates to the technical fields of robots and pipeline endoscopy, and in particular to a flexible robot with a flexible arm.
  • the object of the present invention is to provide a flexible robot capable of steering inside a pipeline.
  • a flexible robot with a flexible arm including a flexible arm and a steering mechanism for driving the flexible arm to turn, the flexible arm including an inner contraction part located on the inside and an outer extension part located outside the inner contraction part, A cavity is formed between the inner contraction part and the outer extension part. After filling the cavity with medium, the end of the inner contraction part continuously moves outward and backward to form the outer extension part; the steering The mechanism is provided at the end of the transition from the inner constriction part to the outer extension part.
  • the flexible arm is provided with a heat shrinkable film, the heat shrinkable film is uniformly spaced in the circumferential direction of the flexible arm, and the extension direction of the heat shrinkable film is consistent with the extension of the flexible arm.
  • the direction is the same;
  • the steering mechanism includes a first clamping component, a second clamping component and a heating component arranged at the end of the flexible arm, the first clamping component and the heating component are arranged in the cavity, so The second clamping component is arranged outside the cavity, the heating component is arranged corresponding to the heat shrinkable film and is used to heat the heat shrinkable film, and the heat shrinkable film is used to shrink and drive the heat shrinkable film after being heated.
  • the flexible arm performs steering.
  • a first permanent magnet is provided on a side of the first clamping component close to the second clamping component, and a first permanent magnet is provided on a side of the second clamping component close to the first clamping component.
  • a second permanent magnet is provided, and the first permanent magnet and the second permanent magnet are used to attract each other so that the first clamping component and the second clamping component are connected to each other; the end of the inner constriction portion is from the The first permanent magnet and the second permanent magnet pass between each other and then extend outward to form the outer extension portion.
  • a channel is formed between the first clamping component and the second clamping component for the end of the flexible arm to extend outward;
  • the first clamping component includes an arc A shaped part, a receiving part for accommodating the first permanent magnet and a first clamping part;
  • the second clamping component includes a pressing part and a second clamping part;
  • the second permanent magnet is arranged on the pressing part.
  • the connection between the first clamping part and the second clamping part faces the position of the receiving part; the second clamping part is inserted into the first clamping part.
  • the length of the second clamping part is greater than the length of the first clamping part.
  • an elastic piece is provided on the first clamping part, one end of the elastic piece is fixed in the circumferential direction of the first clamping part, and the other end of the elastic piece is fixed with the heating element. assembly, the elastic piece is used to drive the heating assembly to fit with the flexible arm.
  • the first clamping component is an integrally formed arrangement, and/or the second clamping component is an integrally formed arrangement; the first permanent magnet is an annular arrangement, and/or , the second permanent magnet is arranged in an annular shape.
  • the pressing portion is provided with a pressing ring protruding toward the arc portion.
  • the pressure ring corresponds to the top end of the arc-shaped portion.
  • the cavity between the inner constriction and the outer extension forms a main airbag, and the pressure of the main airbag is greater than the external environmental pressure;
  • the outer extension includes an inner wall and an outer wall and is located on the A diaphragm is formed between the inner wall and the outer wall.
  • a sub-airbag is formed between the diaphragm and the inner wall and the outer wall.
  • a plurality of the sub-airbags are arranged along the length direction of the flexible arm, and at least one of the sub-airbags is arranged in the same circumferential direction of the outer extension. There are two sub-airbags; the sub-airbag includes a normal state and a turning state.
  • the pressure in the sub-airbag is the same as the pressure in the main airbag; in the turning state, the pressure in the sub-airbag The pressure is the same as the external ambient pressure; the steering mechanism is used to control the sub-airbag to transition between the normal state and the turning state.
  • a magnetic control valve is provided on the corresponding inner wall and outer wall of each sub-airbag, and the steering mechanism includes an electromagnet, and the electromagnet is used to control the opening of the magnetic control valve. and close.
  • the magnetic control valve on the inner wall can connect the main airbag and the sub-airbag so that the air pressure of the two is the same, and the sub-airbag is in a normal state; the magnetic control valve on the outer wall can connect the outside and the sub-airbag to release the pressure of the sub-airbag and achieve steering.
  • the switch control of the magnetic control valve is realized, and the sub-airbag is connected to the internal main airbag for charging and maintaining pressure, or is connected to the external space for pressure relief to realize the steering of the flexible arm.
  • the magnetic valves on the inner wall and the outer wall of the same sub-airbag are located on different cross-sections to facilitate control of the state of the same sub-airbag and avoid interference between the two magnetic valves. .
  • a filling mechanism for inflating medium into the main air bag is included, and the filling mechanism is used to make the pressure of the main air bag greater than the external environmental pressure and cause the inner shrinkage extending outward along its length.
  • the medium is gas
  • the filling mechanism is used to fill the main air bag with gas so that the internal air pressure is greater than the external air pressure, providing the power for the inner contraction part to extend forward to form the outer extension part.
  • the robot in the present invention can also be used in underwater detection and monitoring environments.
  • the medium can preferably be liquid, but at the same time, the sealing effect of the components needs to be enhanced.
  • the steering mechanism includes a clamping mechanism for driving the steering mechanism to move along the inner constriction, and the clamping mechanism includes clamps on both sides of the inner constriction.
  • the driver is preferably a motor, that is, the motor drives the first roller and the second roller to rotate, and since the first roller and the second roller are clamped on the inner constriction, the clamping mechanism and the steering mechanism can move along the inner constriction to the required position. turning position.
  • the steering mechanism includes a housing, the electromagnets and the clamping mechanism are arranged in the housing, and the number of the electromagnets is the same as the number of sub-airbags in the same circumferential direction. That is, if there are two sub-airbags arranged symmetrically in the same circumference, then the number of electromagnets is the corresponding two; if there are four sub-airbags arranged symmetrically in the same circumference, then the number of electromagnets is the corresponding four.
  • the shell is provided with a through hole for the inner shrinkage portion to penetrate.
  • the steering mechanism includes cables connected to the electromagnets, the cables are used to transmit signals and/or power, and the number of the cables is consistent with the number of the electromagnets. same.
  • cables are used to transmit signals and/or power. Cables include power lines and signal lines. Power lines can power on or off the electromagnet and the motor in the clamping mechanism. If the clamping mechanism is equipped with a power supply, The signal line can control the power supply to energize or de-energize the electromagnet and the motor in the clamping mechanism. On the other hand, the flexible arm can be assisted in steering by pulling on the cable.
  • a filling mechanism for filling medium into the cavity is included, the filling mechanism is used to make the pressure of the cavity greater than the external environmental pressure, and make the inner contraction part Extend outward along its length.
  • the medium is gas
  • the filling mechanism is used to fill the cavity with gas so that the internal air pressure is greater than the external air pressure, providing the power for the inner contraction part to extend forward to form the outer extension part.
  • the robot in the present invention can also be used in underwater detection and monitoring environments.
  • the medium can preferably be liquid, but at the same time, the sealing effect of the components needs to be enhanced.
  • a control module is included.
  • the control module includes a temperature control component and a first cable for heating the corresponding heating component, and/or a gravity detection component and The second cable; in other embodiments, the control module is used to control the energization state of the electromagnet to control the opening or closing of different electromagnetic valves to achieve steering.
  • the control module also needs to control the start and stop of the motor, the start and stop of the filling mechanism, the collection of data, etc.
  • a barrel is provided at the end of the outer extension portion, and a driving mechanism for releasing or rewinding the inner contraction portion and/or the cable is provided in the barrel, so The filling mechanism is used to fill medium into the cylinder. That is, the cylinder body is connected with the cavity (main air bag).
  • the driving mechanism includes a first roller for releasing or rewinding the inner shrinkage portion, a first motor for driving the first roller to rotate, and a first roller for rewinding. Or a second reel for releasing the cable, and a second motor for driving the second reel to rotate.
  • the end of the outer extension is provided with a flange
  • the barrel is connected to the flange
  • the inner constriction passes through the flange and enters the outer extension. within the ministry.
  • One end of the outer extension is fixed between the cylinder and the flange.
  • the first roller rotates to transport the inner shrinkage forward.
  • the filling mechanism fills the cylinder with gas and enters the inner shrinkage. and the outer extension part, thereby causing the end of the inner contraction part to continuously evert to form the outer extension part.
  • a first overcurrent slip ring and a second overcurrent slip ring are respectively provided on the first drum and the second drum, and the control module is connected to the first overcurrent slip ring.
  • the ring is electrically connected to the second overcurrent slip ring.
  • the control module includes a visual detection component located at an end of the outer extension away from the driving mechanism.
  • the visual detection component includes a visual detection component disposed on the second clamp. The camera on the holding component and the third cable connected to the control module, the third cable can be located inside the inner contraction part and then connected to the control module; in other embodiments, the visual detection component includes a The sleeve at the front end, the camera installed on the sleeve and the connecting wire connected to the control module, the connecting wire can be located inside the inner contraction part and then connected to the control module.
  • the filling mechanism includes a compressor and a pipeline, and the pipeline is connected to the external environment or to a gas source.
  • the material of the flexible film is preferably polyvinyl chloride PVC, polyethylene PE, polypropylene PP, polystyrene PS, polytetrafluoroethylene PTFE, ethylene-vinyl acetate copolymer plastic EVA, poly Polymer materials such as ethylene terephthalate PET.
  • the glass transition temperature of the material of the flexible film is greater than 150°C, preferably polypropylene PP (glass transition temperature is 170°C), polystyrene PS (glass transition temperature is 212°C), polypropylene Polymer materials such as tetrafluoroethylene PTFE (decomposition temperature is 450°C, no melting point), polyethylene terephthalate PET (glass transition temperature is 255°C).
  • the advantage of the present invention is that the flexible robot of the present invention causes the inner contraction by filling the cavity between the inward contraction part and the outer extension part with a medium.
  • the end of the flexible arm extends outward to form an external extension part, so that the flexible arm continuously extends forward, and is driven by the steering mechanism to realize the steering of the flexible arm, making it suitable for fields such as endoscopy in pipelines.
  • Figure 1 is a schematic structural diagram of a flexible robot in the first preferred embodiment of the present invention
  • Figure 2 is an enlarged schematic structural diagram of the driving mechanism of the flexible robot in the first preferred embodiment of the present invention
  • Figure 3 is an enlarged schematic structural diagram of the steering mechanism of the flexible robot in the first preferred embodiment of the present invention.
  • Figure 4 is a top view corresponding to Figure 3;
  • Figure 5 is a schematic structural diagram of the first clamping component in the preferred embodiment 1 of the present invention.
  • Figure 6 is a schematic interface diagram of the first clamping component in the first preferred embodiment of the present invention.
  • Figure 7 is a schematic structural diagram of the second clamping component in the first preferred embodiment of the present invention.
  • Figure 8 is a schematic interface diagram of the second clamping component in the first preferred embodiment of the present invention.
  • Figure 9 is a schematic structural diagram of the flexible robot in the second preferred embodiment of the present invention.
  • Figure 10 is an enlarged schematic structural diagram of one end of the flexible robot close to the driving mechanism in the second preferred embodiment of the present invention.
  • Figure 11 is an enlarged schematic structural diagram of the end of the flexible robot away from the driving mechanism in the second preferred embodiment of the present invention.
  • flexible robot-1 flexible arm-2, inner contraction part-21, outer extension part-22, heat shrinkable film-23, filling mechanism-3, steering mechanism-4, first clamping component-41, Arc-shaped part-411, receiving part-412, first clamping part-413, second clamping component-42, pressing part-421, second clamping part-422, pressing ring-423, spring piece-43, heating Assembly - 44, first permanent magnet - 451, second permanent magnet - 452, drive mechanism - 5, first reel - 51, second reel - 52, first motor - 53, second motor - 54, drum Body-55, first electrical slip ring-56, second electrical slip ring-57, flange-6, control module-7, first cable-81, second cable-82, third cable -83, temperature control component-9, gravity detection component-10, camera-11, cavity-12;
  • the flexible robot 1 in this embodiment includes a flexible arm 2, a steering mechanism 4 for driving the flexible arm 2 to steer, and a medium for filling the flexible arm 2 so that the flexible arm 2 A filling mechanism 3 extending forward, a driving mechanism 5 for winding or releasing the flexible arm 2 and a control module 7 .
  • the flexible arm 2 includes an inner contraction part 21 located on the inside and an outer extension part 22 located outside the inner contraction part 21.
  • a cavity 12 is formed between the inner contraction part 21 and the outer extension part 22, and the cavity 12 is filled through the filling mechanism 3. After the medium is inserted, the end of the inner constriction part 21 is turned outward and backward to form an outer extension part 22.
  • the filling mechanism 3 is used to make the pressure of the cavity 12 greater than the external ambient pressure, and to make the inner constriction 21 extend outward along its length direction.
  • the medium is gas
  • the filling mechanism 3 is used to fill the cavity 12 with gas so that the internal air pressure is greater than the external air pressure, and provides the power for the inner contraction part 21 to fold outward to form the outer extension part 22 .
  • the robot in the present invention can also be used in underwater detection and monitoring environments.
  • the medium can preferably be liquid.
  • the steering mechanism 4 in this embodiment includes a first clamping component 41, a second clamping component 42 and a heating component 44 provided at the end of the flexible arm 2.
  • the first clamping component 41 and The heating component 44 is disposed inside the cavity 12, and the second clamping component 42 is disposed outside the cavity 12.
  • the space between the first clamping component 41 and the second clamping component 42 is used to form a space for the end of the flexible arm 2 to face outward.
  • the flexible arm 2 is provided with a heat shrink film 23 .
  • the heat shrink film 23 is evenly spaced and attached to the circumferential direction of the flexible arm 2 .
  • the extension direction of the heat shrink film 23 is the same as the extension direction of the flexible arm 2 .
  • the heating component 44 is arranged corresponding to the heat shrinkable film 23 and is used to heat the heat shrinkable film 23.
  • the heat shrinkable film 23 is used to shrink after being heated and drive the flexible arm 2 to turn.
  • the heating component 44 can use (80°C) medium-temperature electric heating tape.
  • the first permanent magnet 451 is provided on the side of the first clamping component 41 close to the second clamping component 42
  • the second permanent magnet 452 is provided on the side of the second clamping component 42 close to the first clamping component 41.
  • the permanent magnet 451 and the second permanent magnet 452 are used to attract each other so that the first clamping component 41 and the second clamping component 42 are connected to each other; After passing between them, the outer extension portion 22 is formed by turning outwards.
  • the first clamping component 41 in this embodiment includes an arc portion 411 , an accommodating portion 412 for accommodating the first permanent magnet 451 , and a first clamping portion 413 .
  • the second clamping component 42 includes a pressing part 421 and a second clamping part 422; the second permanent magnet 452 is disposed at the connection between the pressing part 421 and the second clamping part 422 toward the receiving part. The position of the first clamping part 412; the second clamping part 422 is inserted into the first clamping part 413, and the length of the second clamping part 422 is greater than the length of the first clamping part 413.
  • the pressing portion 421 is provided with a pressing ring 423 protruding toward the arc-shaped portion 411 , and the pressing ring 423 corresponds to the top end of the arc-shaped portion 411 .
  • the first clamping part 413 is provided with an elastic piece 43. One end of the elastic piece 43 is fixed in the circumferential direction of the first clamping part 413. The other end of the elastic piece 43 is fixed with a heating component 44. The elastic piece 43 is used to drive the heating component 44 and the flexible arm. 2 fit.
  • the elastic piece 43 is arranged in an arc shape and extends from the first clamping portion 413 toward the outward extension portion 22 and the heating component 44, and protrudes toward the arc portion 411, so that the heating component 44 has an outward direction. The tendency to expand and not block the movement of the outer extension 22.
  • first clamping component 41 and the second clamping component 42 are both integrally formed; the first permanent magnet 451 and the second permanent magnet 452 are arranged in an annular shape, or are arranged at annular intervals.
  • the first permanent magnet 451 and the second permanent magnet 452 can be fixedly or detachably provided on the first clamping component 41 and the second clamping component 42 respectively.
  • the clamping component can be 3D printed.
  • the control module 7 in this embodiment includes a temperature control component 9 for heating the corresponding heating component 44, a first cable 81, a gravity detection component 10 for gravity detection, and a second cable 82. At the same time, the control module 7 also needs to control the start and stop of the motor, the start and stop of the filling mechanism 3, the collection of data, etc.
  • the function of the gravity detection component 10 is to detect the posture of the first clamping component 41 and feed it back to the control module 7. After receiving the posture information, the control module 7 can accurately control the corresponding heating component 44 when the flexible arm 2 needs to turn. The temperature rises, thereby causing the corresponding heat shrinkable film 23 to shrink and drive the flexible arm 2 to turn.
  • a cylinder 55 is provided at the end of the outer extension portion 22.
  • a driving mechanism 5 is provided in the cylinder 55, and the filling mechanism 3 is used to fill the cylinder 55 with medium.
  • the driving mechanism 5 includes a first drum 51 for releasing or rewinding the inner shrinkage portion 21 , a first motor 53 for driving the first drum 51 to rotate, and a first cable 81 for rewinding or rewinding. and the second reel 52 of the second cable 82 and the second motor 54 for driving the second reel 52 to rotate. It is also preferable to provide a plurality of second reels 52 and second motors 54 respectively corresponding to the first cable 81 and the second cable 82 to achieve separate control of the first cable 81 and the second cable 82.
  • a flange 6 is provided at the end of the outer extension part 22, the cylinder 55 is connected to the flange 6, and the inner contraction part 21 passes through the flange 6 and enters the outer extension part 22.
  • One end of the outer extension part 22 is fixed between the cylinder 55 and the flange 6.
  • the filling mechanism 3 includes a compressor, a pipeline, a pressure gauge, a flow meter, etc.
  • the pipeline is connected to the external environment and transports air to the air compressor.
  • the air compressor compresses the air and transports it to the cylinder 55 and fills it into the cavity 12 , so that the air pressure of the internal cavity 12 is greater than the external environmental pressure, driving the inner contraction part 21 to extend forward and flip over to form the outer extension part 22.
  • Pressure gauges and flow meters are used to control the stability of the pressure within the chamber 12.
  • the first drum 51 and the second drum 52 are respectively provided with a first overvoltage slip ring 56 and a second overvoltage slip ring 57.
  • the control module 7 is connected with the first overvoltage slip ring 56 and the second overvoltage slip ring 57. Electrical connection.
  • the control module 7 also includes a visual detection component.
  • the visual detection component includes a camera 11 disposed on the second clamping component 42 and a third cable 83 connected to the control module 7 .
  • the third cable 83 may be located on the inner contraction part 21 The interior is further connected to the control module 7 .
  • the glass transition temperature of the material of the flexible film in this embodiment is greater than 150° C., and a polytetrafluoroethylene film with good temperature resistance is preferred.
  • the control module 7 controls the filling mechanism 3 to start, fills the cylinder 55 with gas and enters the cavity 12 between the inner contraction part 21 and the outer extension part 22, and simultaneously controls the first motor 53, the first drum 51, and the third The second motor 54 and the second drum 52 are started, thereby causing the end of the inner contraction part 21 to continuously evert to form the outer extension part 22 .
  • the front-end environment of the flexible arm 2 is observed in real time through the camera 11.
  • the posture of the first clamping component 41 is determined through the gravity detection component 10 (gravity chip), and the posture signal is fed back to the control module 7.
  • Module 7 calculates the correct direction to the area that needs to be heated, and sends a heating signal to the temperature control component 9 (temperature control chip), which energizes and heats the target electric heating tape.
  • the heat shrinkable film 23 in the corresponding area shrinks, which forces the flexible arm 2 film to shrink at the same time.
  • the steering principle in this embodiment is based on the hot-melt shrinkage steering structure and uses a local shape control method.
  • the scheme is roughly as follows: 8 sets of strip heat shrinkable films 23 are attached to one side (inside or outside) of the flexible arm along its length extension direction, and 8 sets of heating components 44 are correspondingly provided on the first clamping component 41, and passed The elastic piece 43 makes the heating component 44 and the heat shrinkable film 23 fit together.
  • the gravity detection component 10 is used to detect and feedback the posture of the first clamping component 41 and the second clamping component 42, and the control module 7 controls the temperature control component 9 to control the corresponding heating component 44 to achieve corresponding regional heating.
  • the shrink film shrinks to achieve target steering.
  • the continuous eversion growth of the front end of the flexible arm 2 of the flexible robot 1 is its most significant working feature.
  • the front-end clamping equipment becomes a technical problem.
  • a special clamping component using magnetic fixation is designed to solve this technical problem.
  • the clamping assembly includes a first clamping assembly 41 and a second clamping assembly 42 fitted and inserted into the first clamping assembly 41.
  • a space for a flexible arm is formed between the first clamping assembly 41 and the second clamping assembly 42. 2 pass through.
  • Permanent magnets are provided correspondingly on the first clamping component 41 and the second clamping component 42 .
  • the rear extension section of the second clamping component 42 is inserted into the non-inverted flexible arm, which can increase clamping stability.
  • the second clamping component 42 is made of Teflon material, which has a small friction coefficient and an arc-shaped outer profile, which can improve the smoothness of passage.
  • the camera 11 can be embedded and installed on the second clamping component 42, and the outside is covered with a transparent organic glass shield.
  • the second clamping portion 422 of the second clamping assembly 42 has a through hole for the third cable 83 connected to the camera 11 to pass through.
  • a pressure ring 423 is provided on the pressure portion 421 of the second clamping component 42.
  • the pressure ring 423 is arranged corresponding to the highest point of the arcuate portion 411 of the first clamping component 41, so that the inner and outer clamping components are only tight at the pressure ring 423. Cooperate and clamp the film of the flexible arm 2, and the gaps in the remaining parts are relatively large, allowing the flexible arm film to pass freely.
  • the clamping component of the flexible robot 1 in this embodiment can be formed by 3D printing.
  • the structure is simple and lightweight, which is especially suitable for flexible robots.
  • the manufacturing cost of the flexible arm is low and the manufacturing difficulty is very small. Except for the heat-shrinkable film that has undergone thermal shrinkage deformation, it cannot be recycled and reused. All other parts can be reused.
  • the flexible arm After the robot has been running for a period of time, the flexible arm may be distorted to a certain extent.
  • the gravity detection chip can quickly and accurately determine the flexibility.
  • the actual posture of the arm end at this time combined with the eight sets of electric heating tapes and heat shrinkable films 23 distributed in the circumference, can adapt to any twisted posture and control accurate steering in any direction.
  • the flexible robot 1' in this embodiment includes a flexible arm 2', a steering mechanism 4' for driving the flexible arm 2' to turn, and a steering mechanism for filling the flexible arm 2' with media.
  • the flexible arm 2' includes an inner contraction part 21' located on the inside and an outer extension part 22' located outside the inner contraction part 21'.
  • the end of the inner contraction part 21' extends outward and is turned over to form an outer extension part 22'.
  • a main airbag is formed between the constriction part 21' and the outer extension part 22', the pressure of which is greater than the external environmental pressure.
  • the filling mechanism 3' is used to fill the main air bag with medium, so that the pressure of the main air bag is greater than the external environmental pressure, and provides the power for the inner contraction part 21' to extend forward, causing the inner contraction part 21' to flip outward along its length direction.
  • the medium in this embodiment is gas.
  • the robot can also be used for underwater detection and monitoring of the environment, and the medium in this case can preferably be liquid.
  • the outer extension part 22' includes an inner wall 26' and an outer wall 27' and a diaphragm 23' located between the inner wall 26' and the outer wall 27'.
  • a sub-airbag 24' is formed between the diaphragm 23' and the inner wall 26' and the outer wall 27'.
  • a plurality of sub-airbags 24' are arranged along the length direction of the flexible arm 2', and at least two sub-airbags 24' are provided in the same circumferential direction of the outer extension portion 22'.
  • the air pressure state in the sub-airbag 24' it is divided into a normal state and a turning state: in the normal state, the pressure in the sub-airbag 24' is the same as the pressure in the main airbag; in the turning state, the pressure in the sub-airbag 24' Same as external environmental pressure.
  • the steering mechanism 4' is used to control the sub-airbag 24' to transition between a normal state and a turning state.
  • two sub-airbags 24' are symmetrically arranged in the same circumferential direction of the outer extension portion 22'. In other embodiments, more sub-airbags 24' can be symmetrically arranged in the same circumferential direction to achieve more precise steering. control.
  • a magnetic control valve 25' is provided on the corresponding inner wall 26' and outer wall 27' of each sub-airbag 24', and the magnetic valves 25' are provided on the inner wall 26' and outer wall 27' of the same sub-airbag 24'.
  • the control valves 25' are located on different cross-sections to facilitate control of the state of the sub-airbag 24' and avoid interference between the two magnetic control valves 25'; the steering mechanism 4' is used to control the opening and closing of the magnetic control valve 25' .
  • the number of electromagnets 41' is the same as the number of sub-airbags 24' in the same circumferential direction.
  • two sub-airbags 24' are arranged symmetrically in the same circumference, so the number of electromagnets 41' is the corresponding two. If four sub-airbags 24' are arranged symmetrically in the same circumference, then the number of electromagnets 41' is the corresponding four.
  • the steering mechanism 4' includes a housing 45', an electromagnet 41' provided in the housing 45', and a clamping mechanism for driving the steering mechanism 4' to move along the inner contraction portion 21'.
  • a through hole is provided for the inner constriction part 21' to penetrate.
  • the magnetic control valve 25' on the inner wall 26' can connect the main air bag and the sub-air bag 24' so that the air pressures of the two are the same and the sub-air bag 24' is in a normal state; the magnetic control valve 25' on the outer wall 27' can connect the external air bag and the sub-air bag 24'.
  • the sub-airbag 24' is used to release the pressure of the sub-airbag 24' to achieve steering.
  • the clamping mechanism includes a first roller 42' and a second roller 43' respectively clamped on both sides of the inner contraction part 21' and a roller for driving the first roller 42' and the second roller 43' to rotate.
  • Drive 44' is preferably a motor, that is, the motor drives the first roller 42' and the second roller 43' to rotate, and because the first roller 42' and the second roller 43' are clamped on the inner constriction 21', the clamping mechanism
  • the steering mechanism 4' can move along the inner constriction 21' to the position where steering is required.
  • a gear 47' is provided at the end of the driver 44', and a gear 47' is also provided at the end of the first roller 42' and the second roller 43'. The movement of the steering mechanism 4' is realized through gear transmission.
  • a cable 46' connected to the electromagnet 41' is provided.
  • the cable 46' is used to transmit signals and/or power.
  • the number of cables 46' is equal to the number of electromagnets 41'.
  • the cable 46' includes a power line and a signal line.
  • the power line can power on or off the electromagnet 41' and the motor in the clamping mechanism. If the clamping mechanism is equipped with a power supply, the signal line can control the power supply to the electromagnet.
  • the iron 41' and the motor in the clamping mechanism are powered on or off.
  • the flexible arm 2' can be assisted in steering by pulling the cable 46'.
  • the end of the outer extension part 22' is provided with a flange 6', the flange 6' is connected to the cylinder 55', one end of the outer extension part 22' is fixed between the cylinder 55' and the flange 6', the cylinder 55 'Connected to the main airbag.
  • the driving mechanism 5' is arranged in the cylinder 55', and the filling mechanism 3' is arranged on the cylinder 55' for filling medium into the cylinder 55'.
  • the inner constriction 21' passes through the flange 6' and into the outer extension 22'.
  • the filling mechanism 3' includes a compressor, a pipeline, a pressure gauge, a flow meter, etc.
  • the pipeline is connected to the external environment to transport air to the air compressor.
  • the air compressor compresses the air and transports it to the cylinder 55' and fills it into the main air bag. inside, so that the air pressure of the internal main air bag is greater than the external environmental pressure, driving the inner contraction part 21' to extend forward and turn over to form the outer extension part 22'.
  • Pressure gauges and flow meters are used to control the pressure stability of the main air bag.
  • the driving mechanism 5' includes a first drum 51' used to release or rewind the inner shrinking portion 21', a first motor 53' used to drive the first drum 51' to rotate, and a first drum 53' used to rewind or release the cable 46.
  • the control module 7' is electrically connected to the first overvoltage slip ring 56' and the second overvoltage slip ring 57'.
  • the filling mechanism 3' inflates gas into the cylinder 55' and into the main air bag, thereby making the inner shrinkage part 21' forward.
  • the end of the constricted portion 21' is continuously everted to form an outwardly extending portion 22'.
  • the control module 7' includes a visual inspection component.
  • the visual detection component is arranged at one end of the outer extension 22' away from the driving mechanism 5', and includes a sleeve set at the front end, a camera arranged on the sleeve, and a connecting line (video line) connected to the control module 7'.
  • the connecting line It can be located inside the inner constriction 21' and then connected to the control module 7'.
  • the control module 7' needs to control the start and stop of each motor, the operation of the filling mechanism 3', and the collection of data. But for the steering function, the most important thing is to control the energization state of the electromagnet 41' to control the opening or closing of different solenoid valves to achieve steering.
  • the magnetic valve 25' (inside valve) on the inner wall 26' of the sub-airbag 24' is open, and the magnetic valve 25' (outside valve) on the outer wall 27' is closed. There is a gap between the sub-airbag 24' and the main airbag. are connected, the air pressure between them is the same.
  • the steering mechanism 4' is controlled by the clamping mechanism to move along the inner constriction 21' to the position where the turning is required. If it is necessary to turn right, by changing the energization state of the right electromagnet 41', the inner valve of the right sub-airbag 24' is controlled to be blocked and the outer valve is opened, so that the sub-airbag 24' is connected to the external environment. The pressure of the sub-airbag 24' is released, the local stiffness is weakened, and the right steering is realized. And by pulling the cable 46' on the right side, the flexible arm 2' can be deflected to the right in the area where the stiffness is weakened to achieve steering.
  • the sub-airbags 24' are symmetrically arranged (connected in parallel) in the circumferential direction of the main airbag, and arranged sequentially (connected in series) in the length direction of the main airbag, and magnetically controlled valves 25' and
  • the corresponding electromagnet 41' enables the sub-airbag to communicate with the main airbag or the external environment, thereby controlling part of the flexible arm 2' to achieve steering without affecting the overall shape of other parts of the flexible arm 2'.
  • the steering mechanism 4' can move along the inner constriction part 21', which can realize deflection control of the inflated area.
  • the robot equipment of the present invention has low cost, simple and flexible operation, and can realize visual inspection of the interior of closed and variable-section pipelines.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Surgery (AREA)
  • Radiology & Medical Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot flexible (1) à bras flexible (2). Le robot flexible comprend le bras flexible (2) et une structure tournante (4) conçue pour entraîner le bras flexible (2) en rotation, le bras flexible (2) comprenant une partie de rétraction interne (21) située sur un côté interne, et une partie d'extension externe (22) située sur un côté externe de la partie de rétraction interne (21) ; une cavité (12) est formée entre la partie de rétraction interne (21) et la partie d'extension externe (22) ; après remplissage d'un milieu dans la cavité (12), une partie extrémité de la partie de rétraction interne (21) s'étend vers l'extérieur pour former la partie d'extension externe (22) ; et le mécanisme de rotation (4) est disposé au niveau de la partie extrémité, qui change vers la partie d'extension externe (22), de la partie de rétraction interne (21). En ce qui concerne le robot flexible (1), après le remplissage du milieu dans la cavité entre la partie de rétraction interne (21) et la partie d'extension externe (22), la partie extrémité de la partie de rétraction interne (21) s'étend vers l'extérieur pour former la partie d'extension externe (22), de telle sorte que le bras flexible (2) s'étend en continu vers l'avant, et le bras flexible (2) est entraîné au moyen du mécanisme de rotation (4) en rotation, de telle sorte que le robot flexible est applicable aux domaines de l'endoscopie, etc. dans des tubes.
PCT/CN2022/116689 2022-06-30 2022-09-02 Robot flexible à bras flexible WO2024000799A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202210767163.7A CN114986489A (zh) 2022-06-30 2022-06-30 一种柔性机器人
CN202210767166.0A CN114986490B (zh) 2022-06-30 2022-06-30 一种柔性机器人
CN202210767166.0 2022-06-30
CN202210767163.7 2022-06-30

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WO2024000799A1 true WO2024000799A1 (fr) 2024-01-04

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US20210394358A1 (en) * 2020-06-19 2021-12-23 Korea Advanced Institute Of Science And Technology Soft growing robot having folding type growing unit

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US5337732A (en) * 1992-09-16 1994-08-16 Cedars-Sinai Medical Center Robotic endoscopy
WO1998049976A1 (fr) * 1997-05-08 1998-11-12 Shangli Huang Muscle artificiel tubulaire et ses applications
US20090131752A1 (en) * 2007-11-19 2009-05-21 Chul Hi Park Inflatable artificial muscle for elongated instrument
CN108422418A (zh) * 2018-05-18 2018-08-21 燕山大学 一种变刚度气囊式全向弯曲柔性机器人
US20190184137A1 (en) * 2016-05-19 2019-06-20 Ibex Technologies Ltd. System, device and method for advancing an article along a path
US20200391814A1 (en) * 2019-06-11 2020-12-17 Harbin Institute Of Technology Soft biomimetic legged robot
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Publication number Priority date Publication date Assignee Title
US4751821A (en) * 1985-03-29 1988-06-21 Birchard William G Digital linear actuator
US5337732A (en) * 1992-09-16 1994-08-16 Cedars-Sinai Medical Center Robotic endoscopy
WO1998049976A1 (fr) * 1997-05-08 1998-11-12 Shangli Huang Muscle artificiel tubulaire et ses applications
US20090131752A1 (en) * 2007-11-19 2009-05-21 Chul Hi Park Inflatable artificial muscle for elongated instrument
US20190184137A1 (en) * 2016-05-19 2019-06-20 Ibex Technologies Ltd. System, device and method for advancing an article along a path
CN108422418A (zh) * 2018-05-18 2018-08-21 燕山大学 一种变刚度气囊式全向弯曲柔性机器人
US20210268233A1 (en) * 2018-06-19 2021-09-02 Intuitive Surgical Operations, Inc. Systems and methods for holding a flexible elongate device in a pose
US20200391814A1 (en) * 2019-06-11 2020-12-17 Harbin Institute Of Technology Soft biomimetic legged robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210394358A1 (en) * 2020-06-19 2021-12-23 Korea Advanced Institute Of Science And Technology Soft growing robot having folding type growing unit

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