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A stretch-bending continuum robot unit and robot

A continuum and robot technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as buckling failure and small load capacity of end effectors, and achieve variable stiffness, simplified structure, and high integration.

Active Publication Date: 2021-04-20
XI AN JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, at present, most flexible units are prone to buckling failure under compressive load, and the load capacity of the end effector is small.

Method used

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  • A stretch-bending continuum robot unit and robot
  • A stretch-bending continuum robot unit and robot
  • A stretch-bending continuum robot unit and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0032] A stretch-bending continuum robot, such as image 3 As shown, it includes a lower base 2 with a C-arm, an upper base 4 with a C-arm, and a vertical flexible segment 3. The cross-sectional shape of the vertical flexible segment is a rectangular section. The C-shaped base is an arc-like C-shaped curve rigid base. One end of the vertical flexible segment is fixedly connected to the upper end of the C-arm of the lower base, and the other end is fixedly connected to the lower end of the C-arm of the upper base to form a continuum robot unit. Multiple units are connected in sequence, and the adjacent units are at 90°, and multiple ropes are sequentially passed through the threading holes arranged along the circumference of the upper and lower bases of each unit to form a continuum robot.

[0033] On the C-shaped base, threading holes of 1 mm are evenly arranged on the circumference of the position away from the center of the circle. One end of the rope passes through the th...

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Abstract

A stretch-bending continuum robot unit and robot, comprising a lower base with a C-arm, a vertical flexible segment and an upper base with a C-arm; a lower base with a C-arm and a The upper base of the C-arm is arranged oppositely, and the vertical flexible segment is located between the lower base with the C-arm and the upper base with the C-arm, and connects the lower base with the C-arm and the belt The upper base with the C-arm, the lower base with the C-arm and the upper base with the C-arm do not touch each other. A single unit of the present invention can bear a large pressure load to obtain the variable stiffness function, which means that the whole continuum robot can carry a large load.

Description

technical field [0001] The invention belongs to the field of continuum robots, in particular to a stretch-bending continuum robot unit and a robot. Background technique [0002] The continuum robot has the characteristics of small diameter and multiple degrees of freedom, and can adapt to the complex structural environment with multiple obstacles and the narrow and limited working environment, and has been widely used in many fields and occasions. Most of the continuum robot units at this stage can be divided into two categories: one is rigid units, which transmit motion through gears or spherical hinge connections. Although the rigid unit structure can guarantee high rigidity, it is not self-adaptive, the motion space is discontinuous, the structure is relatively complex, and it is difficult to process. The other type is the flexible unit, which transmits motion through the deformation of the flexible segment, which has good adaptability and is easy to process. However, m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/00B25J9/0009
Inventor 陈贵敏王谷君李博陈雪峰梅雪松
Owner XI AN JIAOTONG UNIV