32results about How to "Achieve bending motion" patented technology

This application discloses a pneumatic soft tentacle robot based on a new type of pneumatic muscle, which includes a first driving part, a second driving part and a third driving part connected in sequence, the first driving part, the second driving part and the third driving part The driving methods are all fluid driven and can work independently of each other; the first driving part includes the first flexible component, the second driving part includes the second flexible component, the third driving part includes the third flexible component, the first flexible component, the second Both the flexible component and the third flexible component are driven by the fluid to grasp or move the target by bending or stretching. The flexible component includes a corrugated net elongated pneumatic muscle, and its elongation comes from the axially stacked corrugations, which make it The elongation has nothing to do with the angle, which breaks through the design limitations of double helix braided mesh and capsule granular pneumatic muscles. Through fluid drive, each group of pneumatic muscles that control each driving part work independently, so that the robot can perform spatial 3-dimensional bending and stretching motions.

The invention designs a rope-driven three-finger dexterous hand, which solves the problems of poor flexibility and versatility of traditional manipulators. The dexterous hand is characterized in that it includes a fixed base for installing palms, fixed fingers, and a kinematic base that is connected to the rotating mechanism for rotating fingers; two kinematic bases, fixed fingers and palms are arranged on the fixed base, and the two kinematic Each rotating finger is fixedly installed on the base; the lower part of the fixed base is provided with a rotating finger rotating mechanism, and one end of the rotating finger rotating mechanism is connected with the two motion bases, and the other end is connected with the rotating motor coupling; the two rotating fingers are connected with the The fixed fingers are located on concentric circles, and the base knuckles of the two rotating fingers and the fixed fingers envelop the circular palm. The dexterous hand can replace manual operations on flexible production lines or in harmful environments to achieve flexible, precise and fast grasping operations, and has broad application prospects and important social significance in the field of industrial robots.

The invention discloses a waist joint mechanism and a robot, which relate to the technical field of humanoid robots, and include: a waist ball seat and a waist ball cover, both of which together form an accommodation cavity, and a relatively symmetrical first concave portion is provided on the inner side wall of the accommodation cavity And the second depression; the waist ball arranged in the accommodating cavity, the side wall of the waist ball has a first and second position-limiting protrusions that are symmetrical, and the first position-limiting protrusion is embedded in the first depression , the second concave part is embedded in the second concave part, there is a gap between the upper end surface of the first limiting protrusion, the lower end surface of the first limiting protrusion and the wall surface of the first concave part, and the upper end surface of the second limiting protrusion There is a gap between the end surface, the lower end surface of the second limiting protrusion and the wall surface of the second recess. This application can have strong impact resistance when the robot touches the ground, and can realize the bending action of the robot's waist in multiple directions during the robot's movement process, and its manufacturing and installation accuracy requirements are relatively low, which is convenient for production. Simple and light weight.

The invention discloses a wire-driven joint capable of decoupling bending motion, comprising at least two wire-driven joints connected end to end, a first wire and a second wire connected in series to each wire-driven joint; the wire-driven joint includes a basic A base plate, a connecting rod and an end plate, the base plate is connected with the connecting rod to form a first rotating pair, the rotation axis of the first rotating pair coincides with the end surface of the base plate; the end plate Connected with the connecting rod to form a second rotating pair, the rotation axis of the second rotating pair coincides with the end face of the end disc; the first wire passes through each wire driving joint in turn and drives the second rotating pair to rotate , the second wire passes through each wire-driven joint in turn and drives the first revolving pair to rotate. The wire-driven structural member can realize bending decoupling motion in two degrees of freedom, which can effectively simplify the robot kinematics and reduce the difficulty of control.

The invention belongs to the related technical field of wrist rehabilitation soft robots, and discloses a segmented multi-degree-of-freedom soft actuator for human wrist rehabilitation training, which includes a connected left single cavity and a right single cavity, a left single cavity and a right single cavity. The cavity and the right single cavity are mirror symmetrical to each other; the left single cavity includes the fixed end of the intake, the curved section, the swing section, the strain-limited layer of the curved section and the strain-limited layer of the swing section, the fixed end is connected with the curved section, and the fixed end and the curved section The section is arranged on the strain-limiting layer of the bending section; the bending section is basically rectangular, and a plurality of first grids arranged at intervals are formed on the side away from the strain-limiting layer of the bending section, and the plurality of first grids are arranged along the length of the bending section. The direction is arranged at intervals; the swing section is set on the strain-limiting layer of the swing section, and a plurality of second grids are formed on the side of the swing section far away from the strain-limit layer of the swing section, and the plurality of second grids are arranged at intervals along the length direction of the swing section. The invention can realize multi-degree-of-freedom motion, has low cost and strong applicability.

The invention provides a spine module with a changeable motion amplitude and a changeable length. The spine module comprises a steering engine, a rudder angle, a first spine joint, spine module bodies, a second spine joint and a connecting rod. The steering engine is installed at the end of the first spine joint. One end of the connecting rod is hinged to the rudder angle arranged on the steering engine through a rotating shaft, and the other end of the connecting rod is hinged to the second spine joint through a pin shaft. The spine module bodies are arranged between the first spine joint and the second spine joint. The spine module bodies comprise front spine joints and rear spine joints. Connecting cylinders are arranged on the rear spine joints. Round holes matched with the connecting cylinders are formed in the front spine joints. The connecting cylinders are sleeved with springs, and screws are arranged at the ends of the connecting cylinders. The connecting manner between the first spine joint and the spine module bodies, the connecting manner between the second spine joint and the spine module bodies and the connecting manner between the front spine joints and the rear spine joints are the same. The spine module with the changeable motion amplitude and the changeable length is simple in structure, the impact on a mechanism is small, and enlarging of the motion range of legs of a quadruped robot can be facilitated.

The invention discloses a flexible joint based on rolling contact and a continuum robot with the same, which comprises two rolling bodies connected to each other; the rolling bodies have a first contact surface located at The second contact surface at the lower end of the rolling body; the two rolling bodies form a rolling connection through the first contact surface and the second contact surface; the middle part of the rolling body is inserted with a central reed; the rolling motion of the adjacent rolling bodies Finally, the restoring moment is provided by the central reed. The flexible joint of the present invention is a combination of CORE and reed flexible hinge, which has the advantages of traditional rigid revolving joint and flexible hinge, simple structure, convenient processing, no pin fit, no friction loss, no lubrication, environment-friendly, axial The bearing capacity is large, and the combination of high compliant motion and high axial stiffness is realized in the structure when applied in the continuum robot.

The invention discloses a flexible multi-joint surgical instrument for robot assisted minimally invasive surgery, and relates to the technical field of enterocoelia minimally invasive surgery department medical facilities. The instrument can achieve spatial displacement and positioning of tail end operating forceps by itself inside a patient, the tail end gesture adjusting capability of the surgical instrument is enhanced, the good flexibility is achieved, and the tissue surgical operation is completed inside the small space; by means of a self-rotation joint designed between the wrist of the surgical instrument and the tail end operating forceps, and the problem that joint restoration is needed during autorotation is avoided; the instrument comprises the tail end operating forceps mechanism, the autorotation joint, the wrist flexible joint and a power driving box; the power driving box comprises a wiring pipe, a shell, an upper base plate, a lower base plate, five sets of motor rope sheave devices, a rope guiding wheel set and a rope guiding column set; one end of the wiring pipe is connected with the tail end ball hinge structure of the wrist flexible joint, and the other end of the wiring pipe is fixed to the lower base plate. The instrument is used for the robot assisted minimally invasive surgery.