Modular high-expansion-and-contraction-rate robot based on paper folding mechanism

A robotic and modular technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of limited robot application range, complex structure, high failure rate, etc., to achieve good flexibility and adaptability, firm structure, and easy operation flexible effects

Active Publication Date: 2021-08-03
YANSHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The high-capacity robot based on the origami mechanism disclosed in the above-mentioned patent application is mostly driven by pneumatics. The disadvantages of this driving method are: 1. The structure is complex and the failure rate is high; 2. The scope of

Method used

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  • Modular high-expansion-and-contraction-rate robot based on paper folding mechanism
  • Modular high-expansion-and-contraction-rate robot based on paper folding mechanism
  • Modular high-expansion-and-contraction-rate robot based on paper folding mechanism

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[0037] It should be noted that in order to facilitate the description of the structural features and simplified description of the present invention, in the description of the present invention, the terms "upper", "lower", "top", "bottom", "one side", "other side" , The orientation or positional relationship of "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, rather than the structure must have a specific orientation, constructed and operated.

[0038] like Figure 1 ~ 3 As shown, the modular high-teleshable rate robot based on the disclosure of the present invention includes a robot-end effector 1, a diafraction module 2, a base 3, and a drive module 4. The origami module 2 and the drive module 4 are mounted on both sides of the base 3, and the robot terminal actuator 1 is mounted on the end of the origami module 2 by the connection module 7, and the drive module 4 passes the telescopic to the origami module 2, and drives the robo...

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Abstract

The invention provides a modular high-expansion-and-contraction-rate robot based on a paper folding mechanism. The modular high-expansion-and-contraction-rate robot comprises a robot end effector, a connecting module, a paper folding module, a base and a driving module. The paper folding module and the driving module are installed on the two sides of the base respectively, the robot end effector is installed at the tail end of the paper folding module through the connecting module, and the driving module drives the paper folding module to stretch out and draw back so as to drive the robot end effector to move. The paper folding module is a Jilusvillage mode tubular paper folding mechanism, and the driving guide wire is a nickel-titanium memory alloy wire. According to the modular high-expansion-and-contraction-rate robot, the high expansion and contraction rate is realized in the axial direction, and the robot has good flexibility and adaptivity and can be applied to the fields of detection, search and rescue and the like.

Description

technical field [0001] The invention relates to a robot, in particular to a modular high-expandability robot based on an origami mechanism that can be used for detection and search and rescue. The invention belongs to the technical field of scalable robots. Background technique [0002] Common robots are mostly rigid body robots, which are widely used in production, life and other fields. However, for some special situations, such as the detection of unknown and extreme environments, and search and rescue in special environments, rigid body robots are not suitable. Fitting, therefore, research into deformable soft robots is becoming more and more extensive. [0003] For example, the patent application with application number 20200978966.8 discloses a high-capacity aerodynamic soft worm robot based on origami theory, which includes flexible drives, front and rear end covers, pneumatic feet, inflation and air extraction systems. The two ends of the flexible actuator are resp...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J9/08B25J18/02
CPCB25J9/104B25J9/08B25J18/025
Inventor 赵延治魏显贺徐东阳于海波
Owner YANSHAN UNIV
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