Self-locking variable-rigidity flexible robot

Abstract

The invention discloses a self-locking variable-rigidity flexible robot. The self-locking variable-rigidity flexible robot is characterized in that servo motors are connected and fixed on an upper workbench of a working frame through bolts, a flange is fixedly connected to a lower workbench of the working frame through bolts, and the bottom of the working frame is connected and fixed to a mountingplatform through bolts; hauling ropes orderly penetrate through round holes in a cylindrical pocket like threads penetrate through holes of needles, the heads of the hauling ropes are inserted into notches of rope wheels and are fixedly connected with the rope wheels, the rope wheels are connected with the servo motors through pins, and the tail parts of the hauling ropes are inserted into holesin the lower end of the cylindrical pocket and are fixedly connected with the cylindrical pocket; and a ventilation pipeline communicates with a folding air bag through a sealant in a tightly attachedmode, the bottom of the folding air bag is in contact with grinding balls in the cylindrical pocket, an inner threaded cylinder is tightly attached to the inner wall of the upper end of the cylindrical pocket through the sealant, the inner threaded cylinder is connected with the flange through threads, and the flange is connected with the lower workbench of the working frame through bolts to be fixed. According to the self-locking variable-rigidity flexible robot, the structure is simple, the rigidity can be changed while omni-directional bending is realized, the self-locking performance is achieved, and the using performance is high.

Description

technical field [0001] The invention relates to the field of robots, in particular to a self-locking flexible robot with variable stiffness. Background technique [0002] With the development of robot technology, the scope of application of robots has become wider and wider, and robots have gradually entered human life from the original factory isolation area. As the degree of human-computer interaction continues to deepen, robots must not only cooperate with humans, but also have physical contact with humans, and the working environment is complex, which puts higher and higher requirements on robots. [0003] Most of the traditional industrial robots are rigid robots, and the typical one is ABB robot, which has a large working range, high precision and strong flexibility. However, the manipulator arm has a large range of motion and slow joint response, which makes it difficult to guarantee the safety of human-machine cooperation during the work process. [0004] For the p...

AI Technical Summary

Problems solved by technology

[0006] At present, the utility model patent with the application number CN201711202607.8 discloses a flexible mechanical arm with variable stiffness, including a top base, two variable stiffness support plates, a central support plate, a long slot, a base, two cross-shaped driving parts and Eight connecting rods, the mechanical arm can realize the dynamic transformation between rigidity and flexibility, but it is difficult to miniaturize and cannot be bent; the utility model patent with application number CN201711090875.5 discloses a simple structure The flexible robotic arm includes several groups of front joints and rear joints, cross shafts connecting the front joints and rear joints, and power parts that control the relative angle between the front joints and rear joints. The robotic arm can easily achieve multiple angles of rotation. Its principle is simple, its structure is lightweight, and its cost is low. It can be applied to various fields such as industry, military, aviation, entertainment, and service. However, it can only realize the full-angle rotation of the flexible robotic arm, and cannot adjust the change of stiffness and cannot bear large loads. ; The utility model patent with the application number CN201810080583.1 discloses a fully flexible mechanical arm structure with adjustable stiffness and multiple degrees of freedom, including glass fiber rods, air bags, metal segments, U-shaped buckles, bases and dampers. It can realize stretching, bending, adjusting stiffness, and the end position can reach any point on 360°

Although the stiffness of this device is adjustable, the actual control is troublesome and the operation is cumbersome.

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