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Propulsion and pose adjusting device for continuous robot and adjusting method

A technology for adjusting devices and robots, which is applied in the direction of manipulators, program-controlled manipulators, and manufacturing tools. It can solve the problems of destroying the body structure of continuous robots, not having active bending, and damage to blood vessels and organs, so as to expand the application range and avoid positional interference. and collision, improve the effect of passability

Active Publication Date: 2016-11-23
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0003] At present, only the end of the continuous robot can actively bend, and the other parts do not have the function of active bending. During the process of intervening and passing through the curved channel, due to the complexity of the external curved channel, it is inevitable that the continuous robot will have a problem with the external environment. Interference or collision, ranging from being unable to accurately intervene in the curved channel to complete the assigned task, or causing damage to the intervening objects such as delicate digestive tracts, blood vessels and other human organs, thus causing great pain to the patient; or Hazardous environments such as collapsed buildings can destroy the body structure of continuous robots

Method used

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  • Propulsion and pose adjusting device for continuous robot and adjusting method
  • Propulsion and pose adjusting device for continuous robot and adjusting method
  • Propulsion and pose adjusting device for continuous robot and adjusting method

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Embodiment Construction

[0032] The present invention will be further described below in conjunction with accompanying drawing:

[0033] Such as figure 1 A kind of adjustment device for continuous robot propulsion and pose shown, including linear propulsion part 1, linear adjustment part 2 arranged on linear propulsion part 1, rotation adjustment part 3 arranged on linear adjustment part 2 and The clamping part 4 arranged on the rotation adjustment part 3, the linear propulsion part 1 is fixed on the external environment by bolts, and plays the role of direct contact with the outside world and supporting other parts; the linear propulsion part 1 drives the continuous robot 100 to the curved passage 200 makes a linear motion forward or backward, the linear adjustment part 2 drives the continuous robot 100 to perform a linear motion of up and down translation relative to the curved channel 200, and the rotating part 3 drives the continuous robot 100 to perform a rotary motion relative to the curved chan...

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Abstract

The invention relates to a propulsion and pose adjusting device for a continuous robot and an adjusting method. The adjusting device comprises a linear propelling component, a linear adjusting component, a rotary adjusting component and a clamping component, wherein the linear propelling component drives the continuous robot to do forward or backward linear motion towards a curved channel, the linear adjusting component drives the continuous robot to do up-down translational linear motion relative to the curved channel, the rotary adjusting component drives the continuous robot to do rotary motion relative to the curved channel and the clamping component is used for clamping the continuous robot. According to the technical scheme, the clamping component grasps the continuous robot, the linear propelling component propels the continuous robot to enter the curved channel, the linear adjusting component and the rotary adjusting component further adjust the overall pose of the continuous robot relative to the curved channel, and therefore position interference and collision between the continuous robot and the curved channel are reduced, and the ability of the continuous robot to pass through the curved channel is improved.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to an adjustment device and adjustment method for the propulsion and posture of a continuous robot. Background technique [0002] Continuous robots are composed of single-segment or multi-segment flexible structures, which imitate the soft movement characteristics of biological organs such as elephant trunks, octopus arms, and mammalian tongues, and can change their shapes softly and flexibly. Compared with traditional rigid industrial robots, continuous robots are more suitable for complex unstructured environments such as collapsed buildings, curved pipelines, and human digestive tracts, and have broad application prospects. [0003] At present, only the end of the continuous robot can actively bend, and the other parts do not have the function of active bending. During the process of intervening and passing through the curved channel, due to the complexity of the exte...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J5/02
CPCB25J5/02B25J9/0009B25J9/1005B25J9/102B25J9/109
Inventor 孙恒辉张正勇汪六三朱利凯丁旭
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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