Cam-assisted flexible continuum robot unit and robot

A robot and continuum technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems that affect the robot's operation accuracy, it is difficult to bear torsional load and pressure load, and it is easy to bend, so as to achieve simple structure, improve precision and load The effect of ability and easy structure

Pending Publication Date: 2021-12-21
XI AN JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since the flexible continuum robot is elastic and easy to bend, it is often difficult to withstand large torsional and compressive loads, which affects the operating accuracy of the robot. Therefore, it is urgent to study and design a new type of continuum robot to solve related problems.

Method used

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  • Cam-assisted flexible continuum robot unit and robot
  • Cam-assisted flexible continuum robot unit and robot
  • Cam-assisted flexible continuum robot unit and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0035] A cam-assisted flexible continuum robot includes an upper unit block 1 with a sliding fulcrum, a flexible structure 2, and a lower unit block 3 with cam-type contact assistance. The middle part of the flexible structure 2 has a rectangular cross-section. The unit blocks are installed and fixed through the interference fit between the two ends of the flexible structure 2 and the side grooves 102 of the upper unit block and the side grooves 302 of the lower unit block. Between two adjacent upper and lower unit blocks, the sliding fulcrum 101 and the cam-shaped contact assistant 301 are used to realize the high-cam motion of the continuum robot unit. The two adjacent unit blocks are sequentially arranged staggered by 90° along the axis direction of the overall continuum robot, and a plurality of driving wires pass through the threading through holes 4 in sequence. formed from this Figure 5 As shown, the overall continuum robot includes 9 continuum units.

[0036] The u...

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PUM

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Abstract

A cam-assisted flexible continuum robot unit comprises an upper unit block, a flexible structure, a cam higher pair and a lower unit block; the upper unit block and a lower unit block are connected through the flexible structure; the cam higher pair is arranged between the upper unit block and the lower unit block; and a plurality of threading through holes for wire driving are uniformly distributed on the peripheries of the upper unit block and the lower unit block. After the tail end of the continuum robot is subjected to pressure applied by driving wires, every two adjacent unit blocks are pressed, the unit blocks rotate around cylindrical contact auxiliary units, meanwhile, the corresponding flexible structures are bent and deformed, and therefore relative movement is generated between every two adjacent unit blocks. Furthermore, the deformation of the whole continuum robot in a larger space can be realized through the tightening and loosening of the driving wires.

Description

technical field [0001] The invention relates to the field of continuum robots, in particular to a cam-assisted flexible continuum robot unit and a robot. Background technique [0002] Compared with traditional rigid joint robots, continuum robots have the advantages of good flexibility and easy realization of super-redundant degrees of freedom, and are more suitable for working in small and limited spaces. The flexible unit has a series of advantages such as easy miniaturization, no need for lubrication, and smooth and continuous motion. Therefore, the combination design of the flexible unit and the continuum robot can break through some technical shackles, and has a very broad application in fields such as aviation and medical treatment. Application prospects. However, since the flexible continuum robot is elastic and easy to bend, it is often difficult to withstand large torsional and compressive loads, which affects the operating accuracy of the robot. Therefore, it is u...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J9/10
CPCB25J9/08B25J9/104
Inventor 陈贵敏闫旭宇孔正李博
Owner XI AN JIAOTONG UNIV
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