CN106142073B - A kind of adjustment device and method of adjustment promoted for continuous humanoid robot with pose - Google Patents
A kind of adjustment device and method of adjustment promoted for continuous humanoid robot with pose Download PDFInfo
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- CN106142073B CN106142073B CN201610590142.7A CN201610590142A CN106142073B CN 106142073 B CN106142073 B CN 106142073B CN 201610590142 A CN201610590142 A CN 201610590142A CN 106142073 B CN106142073 B CN 106142073B
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- humanoid robot
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- continuous humanoid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- Robotics (AREA)
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Abstract
The present invention relates to a kind of adjustment devices and method of adjustment promoted for continuous humanoid robot with pose.Including linear advancement component, straight line adjustment component, rotation adjustment component and hold assembly, linear advancement component drives continuous humanoid robot to do the linear motion moved forward or back to bending channel, straight line adjustment component drives continuous humanoid robot to do the linear motion that left and right translates relative to bending channel, rotary part drives continuous humanoid robot to make rotating motion relative to bending channel, and hold assembly is used to clamp continuous humanoid robot.As shown from the above technical solution, the present invention firmly grasps continuous humanoid robot by hold assembly, it pushes continuous humanoid robot to enter bending channel using linear advancement component, further adjusts whole posture of the continuous humanoid robot relative to bending channel using straight line adjustment component and rotation adjustment component；Reduce the location conflicts and collision between continuous humanoid robot and bending channel, improves passability of the continuous humanoid robot by bending channel.
Description
Technical field
The present invention relates to automatic control technology fields, and in particular to a kind of tune promoted for continuous humanoid robot with pose
Engagement positions and method of adjustment.
Background technique
Continuous humanoid robot is made of single hop or the connection of multistage flexible structure, has imitated trunk, octopus arm and mammality
The characteristics of biologic-organs compliant movement such as tongue of animal, can be submissive and neatly change own form.With conventional rigid work
Industry robot compares, and continuity robot, which is more suitable for being applied to, collapses the complicated non-knot such as building, crooked pipeline, human body alimentary canal
In structure environment, have a extensive future.
Continuous humanoid robot only has its end that can actively be bent at present, and other parts do not have actively curved function
Can, during intervening and passing through bending channel, due to the complexity in outer bend channel, continuous humanoid robot inevitably can be with
It interferes or collides between external environment, gently then cannot accurately intervene bending channel and complete specified task, it is heavy then can give
Damage is brought by human organs such as example slim and frahile alimentary canal of intervention object, blood vessels, to bring very big pain to patient；Or
Collapse the body construction that continuous humanoid robot can be destroyed in the hazardous environments such as building.
Summary of the invention
The purpose of the present invention is to provide a kind of adjustment devices promoted for continuous humanoid robot with pose, which can
To change the integral position and posture of continuous humanoid robot in intervention procedure.
To achieve the above object, the invention adopts the following technical scheme: pushing away including linear advancement component, setting in straight line
Component, the rotation adjustment component being arranged on straight line adjustment component and setting are adjusted in rotation adjustment section into the straight line on component
Hold assembly on part, the linear advancement component drive continuous humanoid robot to do the straight line moved forward or back to bending channel
Movement, the linear motion that the straight line adjustment component drives continuous humanoid robot to do left and right translation relative to bending channel, institute
The rotary part stated drives continuous humanoid robot to make rotating motion relative to bending channel, and the hold assembly is used to the company of clamping
Ideotype robot；The linear advancement component is equipped with the first slide block guide rail mechanism and driving of connection straight line adjustment component
Straight line adjusts the first motor leadscrew-nut mechanism that component realizes linear motion；The straight line adjustment component is equipped with connection rotation
The the second slide block guide rail mechanism and driving rotation adjustment component of modulation integeral part realize the second motor lead screw spiral shell of linear motion
Parent agency；It is connected between the rotation adjustment component and hold assembly by the fit system of axis and bearing, the rotation
The first motor gear mechanism that driving hold assembly forms rotary motion is additionally provided on adjustment component.
The first slide block guide rail machine that the linear advancement component includes the pedestal of horizontal direction arrangement, is set on the base
Structure and first motor leadscrew-nut mechanism；The first slide block guide rail mechanism includes along base length direction disposed in parallel two
The first guide rail of item and the first sliding block being separately positioned on the first guide rail are constituted between first sliding block and the first guide rail
It is slidably matched, and the first sliding block is mutually fixed with straight line adjustment component；The first motor leadscrew-nut mechanism includes first
Thick stick, the first nut matched with the first lead screw, driving the first lead screw rotation first motor, connect first motor and first
The first motor bracket of the first shaft coupling of thick stick, fixed first motor, the setting direction of first lead screw and the first guide rail phase
In parallel.
The straight line adjustment component includes the straight line adjustment bracket of horizontal direction arrangement, setting on straight line adjustment bracket
The second slide block guide rail mechanism and the second motor leadscrew-nut mechanism；The described straight line adjustment bracket respectively with the first sliding block and the
One nut is mutually fixed, the second slide block guide rail mechanism include along base width direction two the second guide rails disposed in parallel with
And it is separately positioned on the second sliding block on the second guide rail, it constitutes and is slidably matched between second sliding block and the second guide rail, and
Second sliding block is connected with rotation adjustment component；The second motor leadscrew-nut mechanism includes the second lead screw and the second lead screw
Second motor of the second nut, driving the second lead screw rotation that match, the second shaft coupling for connecting the second motor and the second lead screw
The setting direction of device, the second electric machine support for fixing the second motor, second lead screw is parallel with the second guide rail.
The rotation adjustment component includes that the rotational adjustment bracket of horizontal direction arrangement and setting are rotating adjustment branch
First motor gear mechanism on frame, the rotational adjustment bracket is mutually fixed with the second sliding block and the second nut respectively, described
Rotational adjustment bracket be equipped with vertical direction arrangement the first connecting shaft, the first connecting shaft be equipped with angular contact bearing, it is described
Angular contact bearing be connected with hold assembly, the first motor gear mechanism include third motor, with third motor export
The first driven gear the first connected driving gear of axis and be meshed with the first driving gear, the first motor gear
Mechanism driving hold assembly makes rotating motion around the axis of the first connecting shaft.
The hold assembly includes the left holding frame and right holding frame of pairing setting, the left holding frame and right holding frame
One end by the second connection axis connection, and left holding frame and when right holding frame pairing, form closed ring structure, described
The lower section of left holding frame is equipped with the open column shape interconnecting piece of connection rotational adjustment bracket, the outer wall of the interconnecting piece and the first driven tooth
Wheel is connected, and the inner wall of the interconnecting piece is connected with the outer wall of angular contact bearing, and the hold assembly further includes driving right holding frame
The second motor gear mechanism to realize hold assembly open or close is rotated, the second motor gear mechanism includes the 4th
Motor, the second driving gear being connected with the 4th motor output shaft and the second driven tooth being meshed with the second driving gear
Wheel, second driven gear are arranged in the second connecting shaft, the second motor gear mechanism drive right holding frame around
The axis of second connecting shaft makes rotating motion.
First guide rail is the blocky guide rail that section is square, and the section of first sliding block is in inverted concave, described
The first sliding block be in contact by the steel ball being arranged on the first sliding block with the first guide rail and along the direction that the first guide rail limits sliding.
As shown from the above technical solution, the present invention firmly grasps continuous humanoid robot by hold assembly, utilizes linear advancement portion
The continuous humanoid robot of the movement progress of part enters bending channel, using the movement of straight line adjustment component and rotation adjustment component into one
Whole posture of the continuous humanoid robot of successive step relative to bending channel；The device largely reduces continuous type machine
Location conflicts and collision between people and bending channel improve passability of the continuous humanoid robot by bending channel, expand
The application range of continuous humanoid robot.
Another object of the present invention is to provide a kind of tune promoted for continuous humanoid robot with the adjustment device of pose
Adjusting method, comprising the following steps:
(1), continuous humanoid robot is clamped by hold assembly；
(2), continuous humanoid robot is pushed to move to bending channel by linear advancement component；
(3), judge the position spacing between continuous humanoid robot and bending channel, if position spacing meets error requirements,
Then enter next step；It is on the contrary then using straight line adjustment component and rotation adjustment component come adjust continuous humanoid robot position and
Posture, and return to the position spacing rejudged between continuous humanoid robot and bending channel；
(4), judge whether continuous humanoid robot completely intervenes bending channel, judging result is on the contrary to be to complete to promote
Then return step (2).
The continuous humanoid robot is made of multistage flexible joint, and each flexible joint is able to achieve bending motion and opposite
The axis of later section flexible joint realizes rotary motion.
As shown from the above technical solution, method provided by the invention is adjustable not yet completely into the continuous of bending channel
The first attitude angle of humanoid robot and the position of head-end, it is whole relative to bending so as to further adjust continuous humanoid robot
The form in channel avoids location conflicts and collision between continuous humanoid robot and bending channel.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of linear advancement component in the present invention；
Fig. 3 is the structural schematic diagram of straight line adjustment component in the present invention；
Fig. 4 is the structural schematic diagram of rotation adjustment component and hold assembly in the present invention；
Fig. 5 is that rotation adjustment component removes the structural schematic diagram after the first driven gear in the present invention；
Fig. 6 is the attachment structure schematic diagram of the left holding frame of rotation adjustment component and right holding frame in the present invention；
Fig. 7 is the explosive view of rotation adjustment component in the present invention；
Fig. 8 is the structural schematic diagram of continuous humanoid robot of the invention；
Fig. 9 is the structural schematic diagram that linear advancement component of the present invention promotes continuous humanoid robot；
Figure 10 structural schematic diagram of continuous humanoid robot in bending channel when being not using the present invention；
Figure 11 structural schematic diagram of continuous humanoid robot in bending channel when being using the present invention；
Figure 12 is the flow diagram of method of adjustment of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing:
A kind of adjustment device promoted for continuous humanoid robot with pose as shown in Figure 1, including linear advancement component
1, be arranged on linear advancement component 1 straight line adjustment component 2, be arranged in straight line adjustment component 2 on rotation adjustment component 3 with
And the hold assembly 4 on rotation adjustment component 3 is set, linear advancement component 1 is bolted in external environment, plays
The effect of other component is directly contacted and supported with the external world；Linear advancement component 1 drives continuous humanoid robot 100 logical to bending
Road 200 does the linear motion moved forward or back, and straight line adjustment component 2 drives continuous humanoid robot 100 relative to bending channel 200
The linear motion of left and right translation is done, rotary part 3 drives continuous humanoid robot 100 to make rotating motion relative to bending channel 200,
Hold assembly 4 is used to clamp continuous humanoid robot 100；Linear advancement component 1 first equipped with connection straight line adjustment component 2 is sliding
Block guide rail mechanism and driving straight line adjustment component 2 realize the first motor leadscrew-nut mechanism of linear motion；Straight line adjustment section
Part 2 is equipped with the second slide block guide rail mechanism of connection rotation adjustment component 3 and driving rotation adjustment component realizes linear motion
The second motor leadscrew-nut mechanism；Connected between rotation adjustment component 3 and hold assembly 4 by the fit system of axis and bearing
It connects, the first motor gear mechanism that driving hold assembly 4 forms rotary motion is additionally provided on rotation adjustment component 3.
Further, as shown in Fig. 2, linear advancement component 1 includes the pedestal 11 of horizontal direction arrangement, is arranged in pedestal 11
On the first slide block guide rail mechanism 12 and first motor leadscrew-nut mechanism 13；First slide block guide rail mechanism 12 includes along pedestal 11
The first sliding block 122 length direction two the first guide rails 121 disposed in parallel and be separately positioned on the first guide rail 121, the
It constitutes and is slidably matched between one sliding block 122 and the first guide rail 121, and the first sliding block 122 is fixed with straight line adjustment 2 phase of component；I.e.
First slide block guide rail mechanism 12 is responsible for the next component of connection, while the movement of next component being limited in and is prolonged along the first guide rail 121
In long rectilinear direction；First motor leadscrew-nut mechanism 13 include the first lead screw 131, matched with the first lead screw 131 the
The first of first motor 133, connection first motor 133 and the first lead screw 131 that one nut 132, the first lead screw 131 of driving rotate
The first motor bracket 135 of shaft coupling 134, fixed first motor 133, the setting direction of the first lead screw 131 and the first guide rail 121
It is parallel；The straight line that i.e. first motor leadscrew-nut mechanism 13 is responsible for converting the rotary motion of first motor to next component is transported
Dynamic, linear advancement component 1 is responsible for the continuous humanoid robot 100 of driving and does the linear motion to move forward and backward to bending channel 200, together
Shi Zuowei next stage straight line adjusts the supporting body of component 2, rotation adjustment component 3 and hold assembly 4.
Preferably, first motor bracket 135 is U-shaped, is responsible for fixed first motor 133, guarantees that first motor 133 is run
When can stablize output torque；First shaft coupling is in cylinder type, is responsible for the output shaft and the first lead screw 131 of first motor 133
It picks up and, be the rotary motion of the first lead screw 131 by the rotary motion transmitting of first motor 133；First nut 132 is in cylinder
Type is arranged on the first lead screw 131, and the straight line for being responsible for converting the rotary motion of the first lead screw 131 to straight line adjustment component 2 is transported
It is dynamic.
Further, as shown in figure 3, straight line adjustment component 2 includes the straight line adjustment bracket 21 of horizontal direction arrangement, setting
The second slide block guide rail mechanism 22 and the second motor leadscrew-nut mechanism 23 on straight line adjustment bracket 21；Straight line adjusts bracket 21
It is fixed respectively with the first sliding block 122 and 132 phase of the first nut, the second slide block guide rail mechanism 22 includes flat along 11 width direction of pedestal
Two the second guide rails 221 of row setting and the second sliding block 222 for being separately positioned on the second guide rail 221, the second sliding block 222 with
It constitutes and is slidably matched between second guide rail 221, and the second sliding block 222 is connected with rotation adjustment component 3；That is the second slide block guide rail machine
Structure 22 is responsible for the next component of connection, while the movement of next component being limited in the extended rectilinear direction of the second guide rail 221；
Second motor leadscrew-nut mechanism 23 includes the second lead screw 231, matches with the second lead screw 231 the second nut 232 drives the
Second motor 233 of two lead screws 231 rotation, the second motor 233 of connection and the second lead screw 231 second shaft coupling 234, fix the
Second electric machine support 235 of two motors 233, the setting direction of the second lead screw 231 are parallel with the second guide rail 221；I.e. second electricity
Machine leadscrew-nut mechanism 23 is responsible for converting the rotary motion of the second motor to the linear motion of next component, and straight line adjusts component
2 are responsible for the linear motion that upper and lower translation is done in the continuous 100 local inclination channel 200 of humanoid robot of driving, while revolving as next stage
The supporting body of modulation integeral part 3 and hold assembly 4.
Further, as shown in Figure 4, Figure 5, rotation adjustment component 3 includes the rotational adjustment bracket 31 of horizontal direction arrangement
And the first motor gear mechanism 32 on rotational adjustment bracket 31 is set, rotational adjustment bracket 31 respectively with the second sliding block
222 and 232 phase of the second nut fix, i.e. the straight line tune that passes through the second slide block guide rail mechanism 22 and upper level of rotational adjustment bracket 31
Straight line adjustment bracket 21 in integeral part 2 is connected, and adjusts the second nut 232 in component 2 by the straight line of bolt and upper level
It is connected；Rotational adjustment bracket 31 is equipped with the first connecting shaft 33 of vertical direction arrangement, and the first connecting shaft 33 is equipped with angular contact
Bearing 34, angular contact bearing 34 are connected with hold assembly 4, i.e., angular contact bearing 34 is arranged in the first connecting shaft 33, are responsible for company
The hold assembly 4 of next stage is connect, and the movement of hold assembly 4 is limited on the direction of rotation of the first connecting shaft axis；The
One motor gear mechanism 32 include third motor 321, the first driving gear 322 for being connected with 321 output shaft of third motor and
The first driven gear 323 being meshed with the first driving gear 322, first motor gear mechanism 32 drive hold assembly 4 around the
The axis of one connecting shaft 33 makes rotating motion；The first driving gear 322 being meshed is being rotated with the setting of the first driven gear 323
It adjusts on bracket 31, and is responsible for converting the rotary motion of third motor 321 to the rotary motion of next stage.Rotation adjustment component
3, which are responsible for the continuous 100 local inclination channel 200 of humanoid robot of driving, does the rotary motion around the first connecting shaft axis, with the company of adjusting
The whole form relative to bending channel 200 of ideotype robot 100, while the supporting body as junior's hold assembly 4.
Further, as shown in Fig. 4, Fig. 6, Fig. 7, hold assembly 4 includes the left holding frame 41 and right clamping that pairing is arranged
Frame 42, left holding frame 41 is connect with one end of right holding frame 42 by the second connecting shaft 43, and left holding frame 41 and right holding frame
Closed ring structure is formed when 42 pairing；One end of namely left holding frame 41 and right holding frame 42 uses hinge-like hinge
Structure and by the second connecting shaft 43 be connected；The lower section of left holding frame 41 is equipped with the open column shape of connection rotational adjustment bracket 31
Interconnecting piece 411, the outer wall of the interconnecting piece 411 are connected with the first driven gear 323, the inner wall and angular contact axis of the interconnecting piece 411
34 outer wall is held to be connected, hold assembly 4 further include drive the rotation of right holding frame 42 with realize 4 open or close of hold assembly the
Two motor gear mechanisms 44, the second motor gear mechanism 44 include the 4th motor 441, are connected with 441 output shaft of the 4th motor
Second driving gear 442 and the second driven gear 443 being meshed with the second driving gear 442, the second driven gear 443 are set
It sets in the second connecting shaft 43, the second motor gear mechanism 44 drives right holding frame 42 to do around the axis of the second connecting shaft 43 to rotate
Movement.I.e. left holding frame 41 is responsible for realizing that the axis around the first connecting shaft rotates, and right holding frame 42 is responsible for realizing around the second connection
The axis of axis rotates, and matches with left holding frame 41 to ring structure, the two is collectively formed, and plays opening and closing clamping
Component 4 is to realize the release to continuity robot 100 and firmly grasp.
Further, the first guide rail 121 is the blocky guide rail that section is square, and the section of the first sliding block 122 is in inverted concave,
First sliding block 122 is in contact with the first guide rail 121 by the steel ball being arranged on the first sliding block 122 and is limited along the first guide rail 121
Direction sliding.First slide block guide rail mechanism 12 is used to connect linear advancement component and straight line adjusts component, on the one hand limits
Unwanted movement between each component, on the other hand ensure that can neatly move in the direction indicated, not by other directions
The interference of upper power and torque.The structure and 122 phase of the first guide rail 121 and the first sliding block of second guide rail 221 and the second sliding block 222
Together, details are not described herein.
The course of work of middle regulator of the present invention is as follows:
Firstly, clamping continuous humanoid robot by hold assembly；Specifically: in the rotary motion of the second motor gear mechanism
Under drive, the right holding frame in hold assembly is rotated around the axis of the second connecting shaft, continuous humanoid robot is firmly grasped, such as Fig. 8 institute
Show, which is made of multistage flexible joint 110, each flexible joint 110 be able to achieve bending motion and relatively after
The axis of a pair of of flexible joint realizes rotary motion.
Secondly, as shown in figure 9, in linear advancement component under the action of first motor leadscrew-nut mechanism, linear advancement
Component driving continuous type Robot straight line moved into bending channel a distance X(distance X length answer it is sufficiently small, to keep away
Exempt from continuous humanoid robot and bending channel in progradation to interfere), it gets involved in bending channel, calculates at this time continuous
Position spacing between humanoid robot and bending channel, if position spacing meets error requirements, continuous humanoid robot and bending are logical
Location conflicts and collision do not occur for road, then linear advancement component pushes continuous humanoid robot to continue to intervene bending channel；It is on the contrary then
Using the continuous humanoid robot of motor adjustment of straight line adjustment component and rotation adjustment component not yet completely into the head of bending channel
The position for holding attitude angle and head-end cooperates each joint end of continuous humanoid robot to be actively bent the change with terminal angle angle,
Whole posture of the continuous humanoid robot relative to bending channel is further adjusted, calculates primary continuous type machine at this time again later
Position spacing between people and bending channel judges whether to need to continue to adjust, repeats this process until position spacing
Meet error requirements, primary propulsion is finally completed with this；
Finally, above-mentioned movement is repeated, until connection humanoid robot completely intervenes bending channel.
As shown in Figure 10, continuous humanoid robot 100 can only lean on the active of its end under conditions of not by other devices
When bending and twisting action intervention bending channel 200,3 points of meetings of A, B, C and bending channel 200 in Fig. 8 are interfered.Such as figure
Shown in 11, after the present apparatus, continuous humanoid robot 100 will not then be interfered with bending channel 200.
In conclusion the present invention provides one kind, and continuous humanoid robot can be pushed to enter bending channel, and in intervention procedure
In can further change the device of continuous humanoid robot entirety posture, the device by adjust continuous humanoid robot not yet completely into
Head end attitude angle and the head-end position for entering bending channel cooperate each joint end of continuous humanoid robot actively bending and end appearance
The change at state angle further adjusts posture when continuous humanoid robot intervention bending channel, reduce continuous humanoid robot with it is curved
Location conflicts and collision between triton road improve the passability that continuous humanoid robot passes through bending channel.
As shown in figure 12, the present invention also provides a kind of tune promoted for continuous humanoid robot with the adjustment device of pose
Adjusting method, comprising the following steps:
(1), continuous humanoid robot is clamped by hold assembly；
(2), continuous humanoid robot is pushed to move to bending channel by linear advancement component；
(3), judge the position spacing between continuous humanoid robot and bending channel, if position spacing meets error requirements,
Then enter next step；It is on the contrary then using straight line adjustment component and rotation adjustment component come adjust continuous humanoid robot position and
Posture, and return to the position spacing rejudged between continuous humanoid robot and bending channel；
(4), judge whether continuous humanoid robot completely intervenes bending channel, judging result is on the contrary to be to complete to promote
Then return step (2).
Continuous humanoid robot is made of multistage flexible joint, and each flexible joint is able to achieve bending motion and opposite later section
The axis of flexible joint realizes rotary motion.
In step (1), the 4th motor drives the second driving wheel and the rotation of the second driven wheel, to drive right holding frame around the
The axis of two connecting shafts rotates, to firmly grasp continuous humanoid robot.
The beneficial effects of the present invention are: the present invention is that one kind is driven by motor, and continuous humanoid robot can be pushed to enter curved
Triton road, and the device of continuous humanoid robot entirety posture can be further changed in intervention procedure, have adjust it is high-efficient, make
With the feature that effect is obvious, compact-sized, cost is relatively low, applied widely.The device largely reduces continuous type
Location conflicts and collision between robot and bending channel improve passability of the continuous humanoid robot by bending channel,
It reduces and is brought in a variety of occasions such as human body alimentary canal detection, pipe detection, ruins search and rescue using continuous humanoid robot
Risk, increase real work space and the independence of continuous humanoid robot, expanded the application range of continuous humanoid robot.
Embodiment described above only describe the preferred embodiments of the invention, not to model of the invention
It encloses and is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical side of the invention
The various changes and improvements that case is made should all be fallen into the protection scope that claims of the present invention determines.
Claims (8)
1. a kind of adjustment device promoted for continuous humanoid robot with pose, it is characterised in that: including linear advancement component
(1), it is arranged in the rotation tune of straight line adjustment component (2), setting in straight line adjustment component (2) on linear advancement component (1)
The hold assembly (4) of integeral part (3) and setting in rotation adjustment component (3), the linear advancement component (1), which drives, to be connected
Ideotype robot (100) does the linear motion moved forward or back to bending channel (200), and straight line adjustment component (2) is driven
Move the linear motion that continuous humanoid robot (100) does left and right translation relative to bending channel (200), the rotary part (3)
Continuous humanoid robot (100) is driven to make rotating motion relative to bending channel (200), the hold assembly (4) is used to clamp
Continuous humanoid robot (100)；The first sliding block that the linear advancement component (1) is equipped with connection straight line adjustment component (2) is led
The first motor leadscrew-nut mechanism of linear motion is realized in rail mechanism and driving straight line adjustment component (2)；The straight line tune
Integeral part (2) is equipped with the second slide block guide rail mechanism of connection rotation adjustment component (3) and driving rotation adjustment component is realized
Second motor leadscrew-nut mechanism of linear motion；Between described rotation adjustment component (3) and hold assembly (4) by axis and
The fit system of bearing connects, and is additionally provided with driving hold assembly (4) in rotation adjustment component (3) and forms rotary motion
First motor gear mechanism.
2. the adjustment device according to claim 1 promoted for continuous humanoid robot with pose, it is characterised in that: described
Linear advancement component (1) include the pedestal (11) of horizontal direction arrangement, the first slide block guide rail machine on pedestal (11) be set
Structure (12) and first motor leadscrew-nut mechanism (13)；The first slide block guide rail mechanism (12) includes along pedestal (11) length
The first sliding block (122) direction two the first guide rails (121) disposed in parallel and be separately positioned on the first guide rail (121),
It constitutes and is slidably matched between first sliding block (122) and the first guide rail (121), and the first sliding block (122) and straight line adjust
Component (2) is mutually fixed；The first motor leadscrew-nut mechanism (13) includes the first lead screw (131) and the first lead screw (131)
The first motor (133) of the first nut (132), driving the first lead screw (131) rotation that match connects first motor (133)
With the first motor bracket (135) of the first shaft coupling (134) of the first lead screw (131), fixed first motor (133), described the
The setting direction of one lead screw (131) is parallel with the first guide rail (121).
3. the adjustment device according to claim 2 promoted for continuous humanoid robot with pose, it is characterised in that: described
Straight line adjustment component (2) include horizontal direction arrangement straight line adjustment bracket (21), setting straight line adjustment bracket (21) on
The second slide block guide rail mechanism (22) and the second motor leadscrew-nut mechanism (23)；Described straight line adjustment bracket (21) respectively with
First sliding block (122) and the first nut (132) are mutually fixed, and the second slide block guide rail mechanism (22) includes along pedestal (11) width
The second sliding block degree direction two the second guide rails (221) disposed in parallel and be separately positioned on the second guide rail (221)
(222), it constitutes and is slidably matched between second sliding block (222) and the second guide rail (221), and the second sliding block (222) and rotation
Modulation integeral part (3) is connected；The second motor leadscrew-nut mechanism (23) includes the second lead screw (231) and the second lead screw
(231) the second motor (233), the second motor of connection of the second nut (232), driving the second lead screw (231) rotation that match
(233) with the second shaft coupling (234) of the second lead screw (231), fix the second electric machine support (235) of the second motor (233), institute
The setting direction for stating the second lead screw (231) is parallel with the second guide rail (221).
4. the adjustment device according to claim 3 promoted for continuous humanoid robot with pose, it is characterised in that: described
Rotation adjustment component (3) include horizontal direction arrangement rotational adjustment bracket (31) and be arranged in rotational adjustment bracket (31)
On first motor gear mechanism (32), the rotational adjustment bracket (31) respectively with the second sliding block (222) and the second nut
(232) it mutually fixes, the rotational adjustment bracket (31) is equipped with the first connecting shaft (33) of vertical direction arrangement, the first connection
Axis (33) is equipped with angular contact bearing (34), and the angular contact bearing (34) is connected with hold assembly (4), first electricity
The first driving gear (322) that machine gear mechanism (32) includes third motor (321), is connected with third motor (321) output shaft
And the first driven gear (323) being meshed with the first driving gear (322), the first motor gear mechanism (32) drive
Dynamic hold assembly (4) make rotating motion around the axis of the first connecting shaft (33).
5. the adjustment device according to claim 4 promoted for continuous humanoid robot with pose, it is characterised in that: described
Hold assembly (4) include pairing setting left holding frame (41) and right holding frame (42), the left holding frame (41) and right folder
The one end for holding frame (42) is connected by the second connecting shaft (43), and is formed and sealed when left holding frame (41) and right holding frame (42) pairing
The ring structure closed, the lower section of the left holding frame (41) are equipped with the open column shape interconnecting piece of connection rotational adjustment bracket (31)
(411), the outer wall of the interconnecting piece (411) is connected with the first driven gear (323), the inner wall and angular contact of the interconnecting piece (411)
The outer wall of bearing (34) is connected, and the hold assembly (4) further includes driving right holding frame (42) rotation to realize hold assembly
(4) the second motor gear mechanism (44) of open or close, the second motor gear mechanism (44) include the 4th motor
(441), it the second driving gear (442) for being connected with the 4th motor (441) output shaft and is mutually nibbled with the second driving gear (442)
The second driven gear (443) closed, second driven gear (443) are arranged on the second connecting shaft (43), and described the
Two motor gear mechanisms (44) drive right holding frame (42) to make rotating motion around the axis of the second connecting shaft (43).
6. the adjustment device according to claim 2 promoted for continuous humanoid robot with pose, it is characterised in that: described
The first guide rail (121) be the blocky guide rail that is square of section, the section of first sliding block (122) is in inverted concave, described
First sliding block (122) is in contact and along the first guide rail by the steel ball being arranged on the first sliding block (122) with the first guide rail (121)
(121) the direction sliding limited.
7. a kind of adjustment side promoted for continuous humanoid robot with the adjustment device of pose according to claims 1 to 6
Method, comprising the following steps:
(1), continuous humanoid robot is clamped by hold assembly；
(2), continuous humanoid robot is pushed to move to bending channel by linear advancement component；
(3), judge the position spacing between continuous humanoid robot and bending channel, if position spacing meets error requirements, then into
Enter next step；Position and appearance on the contrary then that continuous humanoid robot is adjusted using straight line adjustment component and rotation adjustment component
State, and return to the position spacing rejudged between continuous humanoid robot and bending channel；
(4), judge whether continuous humanoid robot completely intervenes bending channel, judging result be to complete to promote, it is on the contrary then return
It returns step (2).
8. the method for adjustment according to claim 7 promoted for continuous humanoid robot with the adjustment device of pose, special
Sign is: the continuous humanoid robot is made of multistage flexible joint, and each flexible joint is able to achieve bending motion and opposite
The axis of later section flexible joint realizes rotary motion.
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| CN108071910B (en) * | 2017-12-08 | 2019-10-11 | 中国人民解放***箭军工程设计研究院 | A kind of pose adjustment device |
| CN110279469A (en) * | 2019-05-16 | 2019-09-27 | 中国科学院深圳先进技术研究院 | A kind of robot |
| CN114248252A (en) * | 2021-12-08 | 2022-03-29 | 清华大学 | Crawling robot |
| CN114633904B (en) * | 2022-03-14 | 2023-01-17 | 哈尔滨工业大学 | Automatic leveling type heavy-load plane microgravity simulation platform |
| CN114789438B (en) * | 2022-03-30 | 2023-08-29 | 中国科学院合肥物质科学研究院 | Interactive robot motion unit |
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| WO2013036909A1 (en) * | 2011-09-09 | 2013-03-14 | Children's National Medical Center | Enhanced control of flexible endoscopes through human-machine interface |
| DE102013002818A1 (en) * | 2013-02-19 | 2014-08-21 | Rg Mechatronics Gmbh | Holding device for a surgical instrument and a lock and method for operating a robot with such a holding device |
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| CN102210610A (en) * | 2011-03-17 | 2011-10-12 | 北京航空航天大学 | Pushing mechanism for minimally invasive surgical robot |
| CN103083784A (en) * | 2013-02-25 | 2013-05-08 | 中国科学院自动化研究所 | Catheter or guide wire operating device for vessel interventional operation |
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