Cable-driven flexible robot capable of stretching and bending simultaneously

A line-driven, robotic technology, applied in the field of robotics, can solve the problems of lack of stability and bearing capacity, inability to adapt, and the radius of concentric tubes cannot be infinitely reduced, so as to achieve the effect of good approximation to the planned path

Inactive Publication Date: 2018-06-15
BEIJING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

The main problem of spring-supported flexible robots is that the robot system composed of springs lacks sufficient stability and bearing capacity
The problem with this type of robot structure is that the radius of the concentric tubes cannot be reduced infinitely, resulting in limited local expansion and contraction of the flexible robot; in addition, most of the disks are fixed on the outer wall of the concentric tubes, which increases the space size of the robot and cannot adapt to the narrow space. Environments such as nonlinear channels

Method used

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  • Cable-driven flexible robot capable of stretching and bending simultaneously
  • Cable-driven flexible robot capable of stretching and bending simultaneously
  • Cable-driven flexible robot capable of stretching and bending simultaneously

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Embodiment Construction

[0017] The present invention will be further described in detail below in conjunction with accompanying drawings and examples.

[0018] The invention is a flexible robot that can be stretched and bent at the same time driven by wires, such as figure 1 As shown, it includes drive module base 1, motor 2, pulley 3, pulley 4, drive connection plate 5, drive top connection plate 6, connection rod 7, middle drive module 8, disc 9, disc 10, disc 11 , flexible pipe 12, central flexible pipe 13, flexible pipe 14, rope 15, air eye nail 16.

[0019] This wire-driven flexible robot system that can simultaneously stretch and bend is composed of a manipulation module and a driving module. The manipulation module is composed of three flexible sleeves 12, 13, 14 capable of bending and stretching. Any two joints of the inner and outer sleeves can slide relative to each other and the sequence is controllable. Each bending and telescopic module includes a flexible sleeve 12-14, a disk 9-11 wit...

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Abstract

The invention discloses a cable-driven flexible robot capable of stretching and bending simultaneously. The robot comprises a drive module base 1, a motor 2, a pulley 3, a pulley 4, a drive coupling flange 5, a drive top coupling flange 6, a connecting rod 7, a middle drive module 8, a disk 9, a disk 10, a disk 11, a flexible pipe 12, a middle flexible pipe 13, a flexible pipe 14, a rope 15, and ablow hole nail 16. The robot disclosed by the invention has local bending and stretching functions, and the stretching sequence and length are flexible and controllable. The robot disclosed by the invention has the advantages of high joint flexibility, simple realization way and high controllability.

Description

technical field [0001] The invention relates to a flexible robot capable of simultaneously stretching and bending by wire drive, which belongs to the technical field of robots, and in particular relates to the structural design of the robot. Background technique [0002] At present, the structural methods of flexible robots capable of stretching and bending are mainly divided into two categories: spring-supported and concentric tube-supported. The principle of the spring-supported flexible robot is mainly: the passive flexibility of the spring enables the robot to flexibly bend and stretch through the traction of flexible ropes or tendons. The main problem of spring-supported flexible robots is that the robot system composed of springs lacks sufficient stability and bearing capacity. The principle of the concentric tube-supported flexible robot is mainly: the central concentric tube realizes the telescopic function through a simple push-pull drive, while the bending charact...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/10
CPCB25J9/065B25J9/104
Inventor 苏柏泉李如玉张亚如贾月黄丹孙华丽
Owner BEIJING UNIV OF POSTS & TELECOMM
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