CN104369178A - Robot with flexible arms - Google Patents
Robot with flexible arms Download PDFInfo
- Publication number
- CN104369178A CN104369178A CN201410649799.7A CN201410649799A CN104369178A CN 104369178 A CN104369178 A CN 104369178A CN 201410649799 A CN201410649799 A CN 201410649799A CN 104369178 A CN104369178 A CN 104369178A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- robot
- screw rod
- flexible
- holder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention provides a robot with flexible arms. The robot comprises a body. The body comprises a front installation plate and a rear installation plate. The flexible arms are arranged on the body and each comprise a clamping assembly, screws, first steering engines and flexible pipes. The number of the screws of each flexible arm is three or more. The number of the first steering engines and the number of the flexible pipes are matched with the number of the screws. A slider-crank mechanism is arranged between each first steering engine and the corresponding screw. Each first steering engine can move in the length direction of the corresponding screw through the corresponding slider-crank mechanism. One end of each flexible pipe is connected to a shell of the corresponding first steering engine. The other end of each flexible pipe penetrates through the front installation plate to be installed together with the corresponding clamping assembly. Every three corresponding first steering engines move on the corresponding screws and pull the corresponding flexible pipes to move, and then the clamping assemblies swing in the preset direction; the flexible pipes are adopted, and therefore the arms of the robot have multiple freedom degrees and high flexibility.
Description
Technical field
The present invention relates to a kind of mechanical device, especially a kind of robot with flexible arm.
Background technology
Robotics is as strategic high-tech technology, and the dark attention by countries in the world, the target of Robot Design replaces people to finish the work, and usually needs arm.The arm of people has 7 degree of freedom, belong to series connection cantilever design, the robot arm copying the arm of people to design has a common feature: these robot arms are multiple rigid link and are in series or in parallel to form by joint, there is complex structure, volume is large, weight is large, big energy-consuming, high in cost of production are not enough.
Application number is disclose a kind of imitative trunk mechanical arm cell arrangement in the Chinese invention patent application of 201410171742.0, comprises pedestal, multiple artificial-muscle assembly, multiple middleware, multiple spring, end piece and flexible cover; Artificial-muscle assembly comprises driver, transmission mechanism and flexible screw assembly.This mechanical arm cell arrangement has multiple free degree, can be bending and flexible to multiple directions, various bending spatial form can be made, but this mechanical arm cell arrangement complex structure, the contraction of artificial-muscle or unfold and need to pass through decelerator, the moment of torsion of motor is delivered on screw rod by flexible link, the change of end piece relative position is realized by the rotation of screw rod, end piece can be delivered to smoothly in order to ensure Motor torque, may require that mechanical wall sacrificial section is flexible, such mechanical arm may be difficult to the action accomplishing similar winding, still have the space of improving further.
Summary of the invention
The object of the present invention is to provide that a kind of structure is simple, arm has multiple free degree and the robot with flexible arm flexible preferably.
To achieve these goals, the present invention adopts following technical scheme:
A kind of robot with flexible arm, comprise body, described body has the front mounting plate and rear installing plate that are parallel to each other, described body is provided with flexible arm, described flexible arm comprises clamp assemblies, two ends are fixedly mounted on the screw rod on described front mounting plate and described rear installing plate respectively, be arranged on the first steering wheel on described screw rod, and the flexible pipe to be connected with described first steering wheel, described screw rod has more than three or three, each described screw rod is parallel to each other and the arrangement in predetermined shape, quantity and the described screw rod of described first steering wheel and described flexible pipe match, slider-crank mechanism is provided with between each described first steering wheel and corresponding described screw rod, and described first steering wheel moves on the length direction of described screw rod by described slider-crank mechanism, each described flexible pipe one end is connected on the shell of described first steering wheel accordingly, the other end is installed together through described front mounting plate and described clamp assemblies.
Adopt technique scheme, by three motions of the first steering wheel on screw rod, corresponding flexible pipe is pulled to move, and then the clamp assemblies be installed together with flexible pipe is swung to predetermined direction, structure is simple, owing to have employed the arm of flexible pipe as robot, robot arm is made to have multiple free degree and good flexibility.
As a modification of the present invention, described clamp assemblies comprise be arranged on described flexible pipe pipe shaft on the first holder, the second holder being arranged on the end of described flexible pipe, the claw be rotatably connected on described first holder, the second steering wheel be arranged on described second holder, described claw is provided with and makes described claw trend towards the elastic component clamped, the output shaft of described second steering wheel is wound with tricing line, and one end that described tricing line is not wound on the output shaft of described second steering wheel is fixedly connected on described claw.By above-mentioned improvement, the holding action of clamp assemblies is controlled by the second steering wheel and tricing line, and action is comparatively soft.
As a modification of the present invention, described claw has three, and described tricing line has three, and one end of three described tricing lines is wound on the output shaft of same described second steering wheel, and the other end is separately fixed on three described claws.By above-mentioned improvement, effectively can improve the efficiency of movement of clamp assemblies, make the action of three claws have uniformity simultaneously.
As a modification of the present invention, described tricing line is nylon rope, elastic threads or steel wire rope.Nylon rope and elastic threads have certain elasticity, the holding action of clamp assemblies can be made softer, and adopt steel wire rope that the action of clamp assemblies can be made more accurate, not easily be delayed phenomenon, and the type of tricing line can be selected according to actual needs in nylon rope, elastic threads or steel wire rope.
As a modification of the present invention, control module, video module and audio-frequency module is provided with in described body, described video module is connected with described control module respectively with described audio-frequency module, described video module comprises and is arranged on wireless camera on described first holder and infrared lamp, and described audio-frequency module comprises the microphone be arranged on described first holder.By above-mentioned improvement, expand the function of robot further, control module and video module can allow clamp assemblies have and keep away the abilities such as barrier, target identification, tracking object, and control module and audio-frequency module conveniently can send action command to robot.
As a modification of the present invention, the bottom of described body is provided with crawler type walking mechanism.Crawler type walking mechanism can make robot can adapt to the walking in different terrain environment.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention has the robot of flexible arm.
In figure, corresponding sign is as follows:
1-body; 11-front mounting plate;
Installing plate after 12-; 2-flexible arm;
21-screw rod; 22-first steering wheel;
23-flexible pipe; 3-clamp assemblies;
31-first holder; 32-second holder;
33-claw; 34-second steering wheel;
35-tricing line; 4-belt walking mechanism.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described further.
As shown in Figure 1, a kind of robot with flexible arm that the present embodiment provides, comprises body 1, and body has the front mounting plate 11 and rear installing plate 12 that are parallel to each other, front mounting plate 11 and rear installing plate 12 can be similar plates, and concrete spacing between the two can be arranged according to actual needs.
Body 1 is provided with flexible arm 2, flexible arm 2 comprises the flexible pipe 23 that clamp assemblies 3, two ends are fixedly mounted on front mounting plate 11 and the screw rod 21 on rear installing plate 12 respectively, are arranged on the first steering wheel 22 on screw rod 21 and are connected with the first steering wheel 22.Screw rod 21 has more than three or three, and each screw rod 21 is parallel to each other and the arrangement in predetermined shape, and in the present embodiment, screw rod 21 has three, and three screw rods 21 are parallel to each other and in triangular arranged.It should be noted that, when screw rod 21 has more than three, each screw rod 21 needs equidistant rounded arrangement.
Quantity and the screw rod 21 of the first steering wheel 22 and flexible pipe 23 match, namely the first steering wheel 22 and flexible pipe 23 have three respectively in the present embodiment, slider-crank mechanism is provided with between each first steering wheel 22 and corresponding screw rod 21, slider-crank mechanism is conventional mechanism, the selection campaign of steering wheel output shaft can be changed to rectilinear motion by this slider-crank mechanism, because screw rod 21 is fixed on front mounting plate 11 and rear installing plate 22, cannot move, such first steering wheel 22 moves on the length direction of screw rod 21 by this slider-crank mechanism.One end of each flexible pipe 23 is connected on the shell of corresponding first steering wheel 22, the other end is installed together through front mounting plate 11 and clamp assemblies 3, article three, flexible pipe 23 is preferably also triangularly arranged with the installation site of clamp assemblies 3, certainly, when screw rod 21 has more than three, flexible pipe 23 also needs the quantity identical with screw rod 21, now the best rounded arrangement in installation site of flexible pipe 23 and clamp assemblies 3.
In the present embodiment, by three the first motions of steering wheel 22 on screw rod 21, corresponding flexible pipe 23 is pulled to move, like this, three flexible pipe length between front mounting plate 11 and clamp assemblies 3 can along with the first steering wheel 22 moving and changing on screw rod 21, thus make to be pulled to different positions from the clamp assemblies 3 that flexible pipe 23 is installed together, realize the swing of flexible arm.Due to the different length of three flexible pipes 23 between front mounting plate 11 with clamp assemblies 3 combines can diverse location residing for corresponding clamp assemblies 3, those skilled in the art also can obtain the relation between the diverse location of three the first steering wheels 22 on corresponding screw rod 21 and the position residing for clamp assemblies 3 by the account form that computerized algorithm etc. is conventional, realize to clamp assemblies 3 position accurate control, these are emphasis of the present invention not, no longer describes in detail herein.
Clamp assemblies 3 can commonly use conventional clamp assemblies, in the present embodiment, clamp assemblies 3 comprise be arranged on flexible pipe 23 pipe shaft on the first holder 31, the second holder 32 being arranged on the end of flexible pipe 23, the claw 33 be rotatably connected on the first holder 31, the second steering wheel 34 be arranged on the second holder 32, claw 33 is provided with and makes claw 33 trend towards the elastic component clamped, this elastic component is conventional elastic component, as spring or rubber sleeve, the mounting means of elastic component is also conventional mode, no longer describes in detail herein.It should be noted that, the first holder 31 and the second holder 32 are installed together with three flexible pipes simultaneously.
The output shaft of the second steering wheel 34 is wound with tricing line 35, tricing line 35 can be nylon rope, elastic threads or steel wire rope, nylon rope and elastic threads have certain elasticity, the holding action of clamp assemblies 3 can be made softer, and adopt steel wire rope that the action of clamp assemblies 3 can be made more accurate, not easily be delayed phenomenon, but the concrete rope of which kind of type that adopts can be selected according to actual needs as tricing line.
One end that tricing line 35 is not wound on the output shaft of the second steering wheel 34 is fixedly connected on claw 33.In the present embodiment, claw 33 matches with the quantity of tricing line 35 and the quantity of screw rod 21, and namely claw 33 has three, and tricing line 35 also has three.Article three, one end of tricing line 35 is wound on the output shaft of same second steering wheel 34, and the other end is separately fixed on three claws 33.The fixed position of tricing line 35 on claw 33 is preferably positioned at one end that claw 33 is connected with the first holder 31 away from claw 33.Like this, tricing line 35 is pulled to be wound on the output shaft of the second steering wheel 34 by the rotation of the second steering wheel 34 output shaft, and then pull claw 33 to open, realize the expansion action of clamp assemblies 3, when needing clamp assembly 33 to clamp, second steering wheel 34 reverses, and discharge the tricing line 35 be wound on the second steering wheel 34 output shaft, claw realizes pinching action under the effect of elastic component.
In order to expand the function of robot further, in the present embodiment, also be provided with control module, video module and audio-frequency module in body 1, control module, video module and audio-frequency module are arranged between front mounting plate 11 and rear installing plate 12, and are positioned at the below of screw rod 21.Video module is connected with control module respectively with audio-frequency module.Video module, audio-frequency module and control module are all conventional electronic modules.
Video module comprises and is arranged on wireless camera on the first holder and infrared lamp, wireless camera and infrared lamp are preferably disposed on the centre position of three claws 33, to obtain the better visual field, the effect of infrared lamp is in night as camera provides light source.In the present embodiment, camera adopts the wireless camera of 30W pixel, wireless transmission distance about 100 meters.Camera can gather the ambient image in robot front, and sends image to control module analyzing and processing, makes robot have like this and keeps away the abilities such as barrier, target identification, tracking object.
Audio-frequency module comprises the microphone be arranged on the first holder, and microphone can be arranged on by camera, and microphone is also preferably wireless microphone, is mainly used in receiving instruction or gathering ambient sound.
In addition, the bottom of the body 1 of the robot of the present embodiment is provided with crawler type walking mechanism 4, and crawler type walking mechanism 4 can make robot can adapt to the walking in different terrain environment.
Above by reference to the accompanying drawings to invention has been detailed description; but embodiments of the present invention are not limited in above-mentioned embodiment; those skilled in the art can make various distortion to the present invention according to prior art; crawler type walking mechanism 4 as gathered by above-described embodiment changes to common wheel minor walking mechanism etc., and these all belong to protection scope of the present invention.
Claims (6)
1. one kind has the robot of flexible arm, comprise body, it is characterized in that, described body has the front mounting plate and rear installing plate that are parallel to each other, described body is provided with flexible arm, described flexible arm comprises clamp assemblies, two ends are fixedly mounted on the screw rod on described front mounting plate and described rear installing plate respectively, be arranged on the first steering wheel on described screw rod, and the flexible pipe to be connected with described first steering wheel, described screw rod has more than three or three, each described screw rod is parallel to each other and the arrangement in predetermined shape, quantity and the described screw rod of described first steering wheel and described flexible pipe match, slider-crank mechanism is provided with between each described first steering wheel and corresponding described screw rod, and described first steering wheel moves on the length direction of described screw rod by described slider-crank mechanism, each described flexible pipe one end is connected on the shell of described first steering wheel accordingly, the other end is installed together through described front mounting plate and described clamp assemblies.
2. there is the robot of flexible arm as claimed in claim 1, it is characterized in that, described clamp assemblies comprise be arranged on described flexible pipe pipe shaft on the first holder, be arranged on the second holder of the end of described flexible pipe, be rotatably connected on the claw on described first holder, be arranged on the second steering wheel on described second holder, described claw is provided with and makes described claw trend towards the elastic component clamped, the output shaft of described second steering wheel is wound with tricing line, one end that described tricing line is not wound on the output shaft of described second steering wheel is fixedly connected on described claw.
3. there is the robot of flexible arm as claimed in claim 2, it is characterized in that, described claw has three, and described tricing line has three, article three, one end of described tricing line is wound on the output shaft of same described second steering wheel, and the other end is separately fixed on three described claws.
4. have the robot of flexible arm as claimed in claim 2 or claim 3, it is characterized in that, described tricing line is nylon rope, elastic threads or steel wire rope.
5. there is the robot of flexible arm as claimed in claim 2 or claim 3, it is characterized in that, control module, video module and audio-frequency module is provided with in described body, described video module is connected with described control module respectively with described audio-frequency module, described video module comprises and is arranged on wireless camera on described first holder and infrared lamp, and described audio-frequency module comprises the microphone be arranged on described first holder.
6. the robot with flexible arm as described in claim arbitrary in claim 1-3, is characterized in that, the bottom of described body is provided with crawler type walking mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410649799.7A CN104369178B (en) | 2014-11-14 | 2014-11-14 | A kind of robot with flexible arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410649799.7A CN104369178B (en) | 2014-11-14 | 2014-11-14 | A kind of robot with flexible arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104369178A true CN104369178A (en) | 2015-02-25 |
| CN104369178B CN104369178B (en) | 2016-01-27 |
Family
ID=52548501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410649799.7A Active CN104369178B (en) | 2014-11-14 | 2014-11-14 | A kind of robot with flexible arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104369178B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105291134A (en) * | 2015-12-07 | 2016-02-03 | 佛山市广工大数控装备技术发展有限公司 | Flexible bionic manipulator |
| CN108501019A (en) * | 2018-04-09 | 2018-09-07 | 王华银 | A kind of Simple manipulator |
| CN108908318A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of small-sized super redundancy flexible mechanical arm |
| CN109807858A (en) * | 2017-11-20 | 2019-05-28 | 上海交通大学 | The flat elastic link parallel institution in two turn one of space of large deformation driving |
| CN112478172A (en) * | 2020-11-12 | 2021-03-12 | 西安交通大学 | Passive quick grabbing manipulator suitable for rotor unmanned aerial vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4393728A (en) * | 1979-03-16 | 1983-07-19 | Robotgruppen Hb | Flexible arm, particularly a robot arm |
| WO1995018311A1 (en) * | 1992-07-07 | 1995-07-06 | Wentz John D | Flexible positioning appendage |
| CN101537612A (en) * | 2009-04-27 | 2009-09-23 | 辽宁聚智科技发展有限公司 | Crank block type mechanism arm |
| CN102069491A (en) * | 2010-12-04 | 2011-05-25 | 沈阳工业大学 | Rescue robot with flexible manipulator |
| KR20120028100A (en) * | 2010-09-14 | 2012-03-22 | 주식회사 이턴 | Wrist device for surgical tool |
| CN202507282U (en) * | 2012-01-16 | 2012-10-31 | 杜昕 | Mechanical hand of material carrying robot |
| CN204248878U (en) * | 2014-11-14 | 2015-04-08 | 福建省泉州市第七中学 | A kind of robot with flexible arm |
-
2014
- 2014-11-14 CN CN201410649799.7A patent/CN104369178B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4393728A (en) * | 1979-03-16 | 1983-07-19 | Robotgruppen Hb | Flexible arm, particularly a robot arm |
| WO1995018311A1 (en) * | 1992-07-07 | 1995-07-06 | Wentz John D | Flexible positioning appendage |
| CN101537612A (en) * | 2009-04-27 | 2009-09-23 | 辽宁聚智科技发展有限公司 | Crank block type mechanism arm |
| KR20120028100A (en) * | 2010-09-14 | 2012-03-22 | 주식회사 이턴 | Wrist device for surgical tool |
| CN102069491A (en) * | 2010-12-04 | 2011-05-25 | 沈阳工业大学 | Rescue robot with flexible manipulator |
| CN202507282U (en) * | 2012-01-16 | 2012-10-31 | 杜昕 | Mechanical hand of material carrying robot |
| CN204248878U (en) * | 2014-11-14 | 2015-04-08 | 福建省泉州市第七中学 | A kind of robot with flexible arm |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105291134A (en) * | 2015-12-07 | 2016-02-03 | 佛山市广工大数控装备技术发展有限公司 | Flexible bionic manipulator |
| CN105291134B (en) * | 2015-12-07 | 2017-03-08 | 佛山市广工大数控装备技术发展有限公司 | A kind of flexible bionic mechanical hand |
| CN109807858A (en) * | 2017-11-20 | 2019-05-28 | 上海交通大学 | The flat elastic link parallel institution in two turn one of space of large deformation driving |
| CN109807858B (en) * | 2017-11-20 | 2022-04-29 | 上海交通大学 | Large-deformation-driven spatial two-rotation one-flat elastic connecting rod parallel mechanism |
| CN108501019A (en) * | 2018-04-09 | 2018-09-07 | 王华银 | A kind of Simple manipulator |
| CN108908318A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of small-sized super redundancy flexible mechanical arm |
| CN112478172A (en) * | 2020-11-12 | 2021-03-12 | 西安交通大学 | Passive quick grabbing manipulator suitable for rotor unmanned aerial vehicle |
| CN112478172B (en) * | 2020-11-12 | 2022-07-12 | 西安交通大学 | Passive quick grabbing manipulator suitable for rotor unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104369178B (en) | 2016-01-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104369178B (en) | A kind of robot with flexible arm | |
| CN204248878U (en) | A kind of robot with flexible arm | |
| CN105840950B (en) | Stepped pipe pipeline robot | |
| CN205219114U (en) | Snakelike arm robot | |
| CN106914888B (en) | A kind of imitative trunk robot based on novel underactuatuated drive | |
| CN103303449B (en) | A kind of under-water operation robot | |
| CN205315946U (en) | Symmetry V type pipeline robot | |
| CN202707709U (en) | Hoop with variable diameter | |
| CN107053253B (en) | Super-redundancy manipulator | |
| CN105034019A (en) | Flexible mechanical arm | |
| CN108298084B (en) | Unmanned aerial vehicle with arm and capable of automatically grabbing object | |
| CN109623780B (en) | Camera robot for shooting multi-view continuum and using method thereof | |
| CN107471236B (en) | Driving device of robot paw | |
| CN102179813B (en) | Flexible inchworm-like robot | |
| CN204976667U (en) | Industrial robot base structure | |
| CN110253606B (en) | Soft tongs of imitative paper folding structure | |
| CN111376287B (en) | Robot and finger thereof | |
| CN105583850A (en) | Self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces | |
| CN104108432A (en) | Inspection robot for iron tower climbing | |
| CN106584484B (en) | Fuselage rotary overhead line operation robot structure and application | |
| CN108237519B (en) | Super-redundancy robot | |
| CN202716266U (en) | Wheel type mobile service robot | |
| CN104626137A (en) | Wiring structure of tail end executor of industrial robot | |
| CN103213142A (en) | Mechanical arm driven by plurality of electric pushing rods | |
| CN108223969B (en) | The double cable driving steering mechanism of pipe robot and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |