Multi-continuum robot modular unit, continuum robot and application

A continuum, robot technology, applied in manipulators, claw arms, manufacturing tools, etc., can solve problems such as low bending and torsional stiffness, difficulty in improving the load capacity of continuum, and large maintenance tasks.

Pending Publication Date: 2021-06-11
XIDIAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] (1) The bending and torsional rigidity of the continuum robot's actuator configuration is low; it is difficult to realize the variable stiffness of the actuator configuration
[0006] (2) The continuum robot can reach the designated position by virtue of its own compliance and adaptability, and it

Method used

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  • Multi-continuum robot modular unit, continuum robot and application
  • Multi-continuum robot modular unit, continuum robot and application
  • Multi-continuum robot modular unit, continuum robot and application

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0062] The first modular unit configuration of the continuum robot in the present invention includes: a fixed plate or spacer plate 11 , a long flexible piece 103 , and a short flexible piece 105 .

[0063] Furthermore, the fixed disk is composed of three structural disks: the upper fixed disk 101, the middle fixed disk 102 and the lower fixed disk 104. The three disks have order requirements, and the correct assembly of the three disks can achieve effective positioning with the flexible sheet.

[0064] Further, the flexible sheet includes a long flexible sheet 103 and a short flexible sheet 105, and changing the thickness, width, and spacing between two flexible sheets can change the stiffness of the execution arm of the continuum robot in the current segment; the continuum robot module Each small section of the unit is separated by a long flexible piece 103 and a short flexible piece 105 by a fixed plate 11. Wherein, a circle of lead holes 101-2 is arranged around the fixed ...

Embodiment 2

[0071] The modular unit 2 - 1 of the second type of continuum robot, etc., features a fixed plate, a flexible sheet 205 and a middle rod 204 . The fixed plate is used to fix and limit the layout of the flexible sheet. The flexible sheet is a highly elastic material. The middle rod 204 is a material with a higher modulus of elasticity than the flexible sheet 205, and the distance between the middle rods 204 can be adjusted according to different rigidities required.

[0072] Further continuum robot modular units are symmetrically arranged up and down.

[0073] The further upper and lower discs consist of three different discs respectively.

[0074] Further, a circle of lead holes is arranged on the inner side of the edge of the disc, and a lead hole with a slightly larger diameter is arranged in the middle of the disc.

[0075] Compared with the prior art, the second invention has the following technical effects: each small section of the present invention is composed of fou...

Embodiment 3

[0077] The modular unit of the third type of continuum robot is characterized by a flexible sheet 305, a flexible rod 304 and a fixed plate. The flexible sheet 305 includes at least one long or a short flexible sheet 305; the flexible rod 304 includes at least one long or a short flexible rod 305; a section of the fixed disk includes at least three discs .

[0078] The modular unit 3-1 etc. of the further continuum robot is composed of two interlaced discs.

[0079] The further two staggered disc parts are connected in two configurations.

[0080] The further shorter part is connected by flexible sheet 305 , and the longer part is connected by elastic rod 304 .

[0081] Further, the segments connected by the elastic rods 304 and the segments connected by the flexible sheet 305 are interleavedly connected to form a modular unit of the continuum robot.

[0082] Compared with the prior art, the third invention has the following technical effects: the present invention is compo...

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Abstract

The invention belongs to the technical field of continuum robots, particularly relates to a multi-continuum robot modular unit, a continuum robot and an application, and relates to ten continuum robot modular unit configurations which can be applied to operation tasks such as minimally invasive medical treatment and deep cavity maintenance according to the characteristics of the continuum robot modular units. A spring, a compliant mechanism, a spacing disc, a flexible rod, a flexible sheet, a fastening and locking ring and the like form seven unit configurations, so that the modularized variable stiffness characteristic of the continuum robot can be realized. According to the other three types, in the first type, motors are arranged in the modular units, so that the decoupling problem in the aspect of configuration is achieved. The second type is a modular unit formed by staggering the flexible sheets and the flexible rods, so that the continuum robot has certain torsional rigidity, and the flexible characteristic of continuous bending of the continuous arm can be realized. The third robot is a discrete continuum robot, the torsional rigidity of the structure is guaranteed through a Hooke hinge, and the compliance adaptability of a flexible arm is improved through the flexible sheets.

Description

technical field [0001] The invention belongs to the technical field of continuum robots, and in particular relates to a variety of continuum robot modular units, continuum robots and applications. Background technique [0002] Currently, since the first industrial revolution, machines have ranged from mechanization to electrification to programmable rigid-body robots. Rigid-body robots are widely used in industrial production and can be specifically programmed to perform a single task in an unstructured environment. Rigid robots face many problems when working in the medium or interacting with humans; rigid-body robots are composed of rigidly connected joints, which lead to many safety problems when interacting with humans. In engineering applications, a common practice is to separate the working space of humans and robots in the factory to reduce the incidents of robots hurting people. This space separation will increase the cost of industrial investment and the relative in...

Claims

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Application Information

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IPC IPC(8): B25J18/00B25J19/00
CPCB25J18/00B25J19/00Y02P90/02
Inventor 王红红杜敬利沈南阳李雨亨
Owner XIDIAN UNIV
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