Flexible robot for narrow space detection

Abstract

The invention discloses a flexible robot for narrow space detection. The flexible robot comprises a control unit, a motor unit, a pneumatic unit, a cable unit and a telescopic sleeve unit, wherein thecontrol unit is connected with the motor unit and the pneumatic unit respectively; the cable unit comprises multiple cables; the first ends of the multiple cables are fixedly connected to the inner walls of the first end of the telescopic sleeve unit, and the second ends of the multiple cables penetrate through the second end of the telescopic sleeve unit, and are connected to the motor unit, sothat the motor unit controls extension and contraction of the multiple cables; the first end of the telescopic sleeve unit is of a closed structure; and the pneumatic unit is used for inflating or deflating a telescopic sleeve from the second end of the telescopic sleeve unit. The flexible robot for narrow space detection realizes high-precision control, and also realizes extending motion of a continuous mechanical arm.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a flexible robot for narrow space detection. Background technique [0002] In recent years, based on biological organs such as elephant trunks, octopus tentacles, and snake bodies, continuous robotic arms have been well developed based on bionics. The continuous manipulator is different from the traditional rigid manipulator, which theoretically has infinite degrees of freedom. Using the deformation of the body, the manipulator can be continuously bent or extended to form movements similar to elephant trunks and octopus tentacles. By changing its shape, the continuous robotic arm can flexibly bypass various obstacles or pass through narrow and curved holes, which is very suitable for applications in unstructured environments and space-constrained environments. [0003] At present, the drive methods of continuous manipulators can be mainly divided into four types, namely cable dri...

AI Technical Summary

Problems solved by technology

Various driving methods have different advantages and disadvantages, among which the cable drive can transmit the position / force to a long distance through a hose or a pulley, can span a limited space and manipulate objects in a complex environment, and is light, simple, Biocompatibility, safety and flexibility; however, the cable can only bear force in one direction, and cannot realize the elongation movement of the continuous mechanical arm

Fluid drive utilizes the principle that flexible structures can deform under the applied pressure from fluid (gas or liquid) actuation, and different lengths of elongation motions can be achieved when the cavity pressure of successive robots is different; however, the control accuracy of fluid drive is poor

Smart materials, mainly referring to shape memory alloys (SMA) and piezoelectric actuators, have high working density, good biocompatibility, and various shapes, but their actuation frequency is low, heating temperature is high, and cooling time is long

Magnetic actuation uses a magnetic field without the need for a "linkage" to actuate, this type of actuator removes the transmission entirely, making the system simpler, but the magnetic field is exposed to high hysteresis, nonlinearity and interaction force limitations in the model scope of use

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