Anti-loosening wire-driven robot
A robot and relaxation technology, applied in the field of robots, can solve the problems of single injection direction, loose wire, limited space, etc., and achieve the effect of low motion inertia and small space occupation
Active Publication Date: 2020-11-17
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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- Description
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- Application Information
AI Technical Summary
Problems solved by technology
[0005]1. Due to the complex structure of the wire-driven snake-arm robot in the prior art, there is not enough space to set up a hollow channel to realize fluid transportation
[0006]2. In the existing wire-driven snake-arm robot, the joint rotation center is usually at the symmetrical position of the joint, which will make the wire-driven snake-arm robot bend , or when the driving position remains unchanged, and there is an external lateral force, the wire usually relaxes
[0007]3. In the long-distance injection structure of the prior art, either the injection direction is single, or the driving structure is complex, and there is not enough space and support near the injection head for complicated installation nozzle direction adjustment device
[0008]4. The spraying structure of the prior art can only realize spraying with one degree of freedom, such as spraying in the direction of parallel spraying heads, or spraying in rotation, but not two jetting in the direction of freedom
[0009]5. The combination of the rotating disks in the prior art can only realize the relative movement of the two, but cannot realize the combined movement of the two
[0010]6. In the prior art, for the injection structure that cooperates with the robot arm, due to the limited space, it is difficult to set up an additional drive structure to achieve more complex functions
[0011]7. In the wire drive of the prior art, relaxation is prone to occur during the extension and retraction of the pulling wire, and there is no good solution yet
Method used
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Embodiment Construction
[0043] Point of the present invention are as follows:
[0044] 1, for the first point of the background art, by the shape of the two spaces to link 3, aside the hollow channel, to achieve fluid delivery.
[0045]2. For the second point of the background technology, the position angle transformation between the interval 2 can be achieved by the position of the mount 30 of the two spatial links 3, and more flexible deformation can be realized.
[0046] 3. For the third point of the background technology, the inner traction wire 14 is rotated by the inner traction wire 15 to rotate, and the multi-directional injection is realized.
[0047] 4. For the fourth point of the background technology, two modes of operation of the parallel ejection head is switched through the relative movement between the two turntables.
[0048] 5. For the 5th point of the background technology, the combination of the limit half ring 27 and the cylindrical 25 is separated, and the working mode switching of ...
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The invention relates to an anti-loosening wire-driven robot. Two space connecting rods are arranged between every two spacing discs of the robot, a wire jacket is arranged below the spacing disc at the uppermost part, a wire jacket is arranged above the spacing disc at the lowermost part, wire jackets are arranged above and below the other spacing discs, and in every two spacing discs, the distance between the wire jacket below each spacing disc at the upper portion and the wire jacket above the spacing disc at the lower portion is defined as h; in an initial non-bending state, a first traction wire and a fourth traction wire are symmetrical relative to the centers of the spacing discs, and the distance between the first traction wire and the fourth traction wire is defined as a; and in abending state, between every two spacing discs, the rotating angle between the spacing disc at the upper portion and the spacing disc at the lower portion is theta.
Description
Technical field [0001] The present invention relates to the field of robotics, in particular to a robot to avoid slack wire drive type. Background technique [0002] Serpentine robot arm by bending motion can achieve more freedom and flexibility to be able to move under a restricted environment, widely used in the maintenance inspection, medical and other fields. Serpentine drive system including a robot arm wire drive, pneumatic drive muscle and shape memory alloy driving, since the driving wire serpentine manner so that the robot arm small footprint, low motion inertia and other significant advantages, are widely used in the serpentine robot arm designing. [0003] Recently, researchers at home and abroad have made a number of very different configurations of the robot arm drive coil wire, which is generally the same drive means and a plurality of rotating joint composition. Conventional rotating joint according to the number of degrees of freedom into a single degree of freedo...
Claims
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IPC IPC(8): B25J9/10B25J9/06
CPCB25J9/10B25J9/065
Inventor黄龙刘北胡波尹来容徐晓强
OwnerCHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY