CN111230845B

CN111230845B - Stretch bending type continuum robot unit and robot

Info

Publication number: CN111230845B
Application number: CN202010113187.1A
Authority: CN
Inventors: 陈贵敏; 王谷君; 李博; 陈雪峰; 梅雪松
Original assignee: Xian Jiaotong University
Current assignee: Xian Jiaotong University
Priority date: 2020-02-24
Filing date: 2020-02-24
Publication date: 2021-04-20
Anticipated expiration: 2040-02-24
Also published as: CN111230845A

Abstract

A stretch bending type continuum robot unit and a robot comprise a lower base with a C-shaped arm, a vertical flexible segment and an upper base with a C-shaped arm; the lower base with the C-shaped arm and the upper base with the C-shaped arm are oppositely arranged, the vertical flexible segment is located between the lower base with the C-shaped arm and the upper base with the C-shaped arm and is connected with the lower base with the C-shaped arm and the upper base with the C-shaped arm, and the lower base with the C-shaped arm and the upper base with the C-shaped arm are not in contact with each other. The single unit of the invention can bear large pressure load to obtain the function of changing rigidity, which means that the whole continuum robot can bear large load.

Description

Stretch bending type continuum robot unit and robot

Technical Field

The invention belongs to the field of continuum robots, and particularly relates to a stretch bending type continuum robot unit and a robot.

Background

The continuum robot has the characteristics of small diameter and multiple degrees of freedom, can adapt to complex structural environments with multiple obstacles and narrow and small limited working environments, and is widely applied to various fields and occasions. Most of the continuum robot units at present can be divided into two types: one type is a rigid unit that transmits motion through a gear or ball-hinge connection. Although the rigid unit structure can ensure high rigidity, the rigid unit structure has no self-adaptability, discontinuous motion space and relatively complex structure and is difficult to process. The other type is a flexible unit, the motion is transmitted through the deformation of the flexible segment, and the flexible unit has good self-adaptability and is easy to process. However, most flexible units are prone to buckling failure under compressive load, and the end effector has small load capacity.

Disclosure of Invention

The present invention is directed to a stretch-bending type continuum robot unit and a robot, which solve the above problems.

In order to achieve the purpose, the invention adopts the following technical scheme:

a stretch-bending type continuum robot unit comprises a lower base with a C-shaped arm, a vertical flexible segment and an upper base with a C-shaped arm; the lower base with the C-shaped arm and the upper base with the C-shaped arm are oppositely arranged, the vertical flexible segment is located between the lower base with the C-shaped arm and the upper base with the C-shaped arm and is connected with the lower base with the C-shaped arm and the upper base with the C-shaped arm, and the lower base with the C-shaped arm and the upper base with the C-shaped arm are not in contact.

Further, the lower base with the C-shaped arm comprises a lower base and a C-shaped arm group; one end of the C-shaped arm group is fixedly arranged on the upper surface of the lower base; the upper base with the C-shaped arm comprises an upper base and a C-shaped arm group; one end of the C-shaped arm group is fixedly arranged on the lower surface of the upper base, and the other ends of the two C-shaped arms are fixedly connected through the vertical flexible segments.

Furthermore, the concave sides of the two C-shaped arm groups are arranged oppositely; the C-shaped arm group comprises a plurality of C-shaped arms, and the C-shaped arms are arranged side by side to form the C-shaped arm group.

Furthermore, all be provided with the round through wires hole along edge circumference on upper base and the lower base.

Further, the vertical flexible segments are plate-shaped elastic bodies with uniform sections or variable sections.

Further, the stretch bending type continuum robot further comprises a rope; and a plurality of stretching and bending type continuum robot units are fixedly connected in sequence, and a plurality of ropes sequentially pass through the threading holes to form the stretching and bending type continuum robot.

Compared with the prior art, the invention has the following technical effects:

when the rope is pulled to apply pressure to the tail end of the unit, the upper base and the lower base are pressed, the vertical flexible segment is pulled, and the vertical flexible segment is bent and deformed under the action of force and moment, so that the upper base with the C-shaped arm is driven to move, and the upper base with the C-shaped arm generates relative movement relative to the lower base with the C-shaped arm. All the flexible segments only receive the stretch bending load when the continuum robot deforms, and the space deformation and the rigidity changing of the continuum robot can be realized through the retraction and the releasing of the ropes.

The invention has simple structure and low cost, and does not need to pass a complex processing mode;

according to the invention, a single unit can bear a large pressure load without buckling failure, and the rigidity can be changed, which means that the whole continuum robot can grab a heavy object;

the invention is easy to modularize and has high integration level.

The invention meets the requirements of different rigidity and narrow limited space by changing the sizes of the upper base, the lower base and the flexible segment with the C-shaped arm.

Drawings

FIG. 1 is a schematic diagram of a unit of the present invention

FIG. 2 is a schematic view of a C-shaped base of the present invention

FIG. 3 is a schematic view of a robot assembled into a continuum according to the present invention

In the figure, 1, a threading hole; 2. a lower base with a C-shaped arm; 3. a vertical flexible segment; 4. an upper base with a C-shaped arm.

Detailed Description

The invention is further described below with reference to the accompanying drawings:

referring to fig. 1 to 3, a stretch bending type continuum robot unit includes a lower base 2 with a C-shaped arm, a vertical flexible segment 3 and an upper base 4 with a C-shaped arm; the lower base 2 with the C-shaped arm and the upper base 4 with the C-shaped arm are oppositely arranged, the vertical flexible segment 3 is positioned between the lower base 2 with the C-shaped arm and the upper base 4 with the C-shaped arm and is connected with the lower base 2 with the C-shaped arm and the upper base 4 with the C-shaped arm, and the lower base 2 with the C-shaped arm and the upper base 4 with the C-shaped arm are not contacted with each other. When the device works, the upper base and the lower base are pressed and the vertical flexible segments are pulled, so that buckling instability caused by pressing is avoided; under the action of load, the vertical flexible segment is subjected to bending deformation, and relative movement is generated between the upper base and the lower base; the C-shaped arm curve is a C-shaped curve comprising a hyperbola, a parabola and the like. Relative motion refers to the relative motion between the upper and lower bases that occurs as a result of the flexible segments deforming under load.

The lower base 2 with the C-shaped arm comprises a lower base and a C-shaped arm group; one end of the C-shaped arm group is fixedly arranged on the upper surface of the lower base; the upper base 4 with the C-shaped arm comprises an upper base and a C-shaped arm group; one end of the C-shaped arm group is fixedly arranged on the lower surface of the upper base, and the other ends of the two C-shaped arms are fixedly connected through the vertical flexible segments 3.

The concave surfaces of the two C-shaped arm groups are oppositely arranged; the C-shaped arm group comprises a plurality of C-shaped arms, and the C-shaped arms are arranged side by side to form the C-shaped arm group.

And a circle of threading holes 1 are formed in the upper base and the lower base along the circumferential direction of the edge.

The vertical flexible segments 3 are plate-shaped elastic bodies with uniform sections or variable sections.

The stretch bending type continuum robot further comprises a rope; and a plurality of stretching and bending type continuum robot units are fixedly connected in sequence, and a plurality of ropes sequentially pass through the threading holes 1 to form the stretching and bending type continuum robot. The vertical flexible segment is fixedly connected with the C-shaped arm or connected with the C-shaped arm in a mechanical assembly mode. The bending deformation of the vertical segment and the horizontal segment forms the movement of the whole robot.

The number of the units of the whole continuum robot is N, the plurality of units are connected in sequence, the adjacent units form a certain angle, and the plurality of ropes sequentially penetrate through the threading holes formed in the circumference of the upper base and the lower base of each unit to form the continuum robot. Through the retraction and the extension of the rope, the space deformation motion and the rigidity change of the continuum robot can be realized.

The vertical flexible segments 3 in each two adjacent stretch-bending type continuum robot units are mutually perpendicular in space. The base is evenly provided with threading holes at the circumference of the position far away from the circle center, the rope passes through the threading holes, one end of the rope is connected with the controller at the tail part, and the other end of the rope is connected with the end effector of the continuum robot. For a continuum robot, the motion is transmitted through flexible segments.

The working process of the invention is as follows: when the rope is pulled to apply pressure to the tail end of the unit, the upper base and the lower base are pressed, the vertical flexible segment is pulled, the vertical flexible segment is subjected to bending deformation under the action of force and moment, and therefore the upper base with the C-shaped arm is driven to move, and the upper base with the C-shaped arm generates relative movement relative to the lower base with the C-shaped arm. All the flexible segments only receive the stretch bending load when the continuum robot deforms, and the space deformation and the rigidity changing of the continuum robot can be realized through the retraction and the releasing of the ropes.

Example 1:

a stretch-bending type continuum robot, as shown in FIG. 3, comprises a lower base 2 with a C-shaped arm, an upper base 4 with a C-shaped arm, and a vertical flexible segment 3. The cross-sectional shape of the vertical flexible segments is rectangular in cross-section. The C-shaped base is an arc-shaped C-shaped curve-like rigid base. One end of the vertical flexible segment is fixedly connected with the upper end of the C-shaped arm of the lower base, and the other end of the vertical flexible segment is fixedly connected with the lower end of the C-shaped arm of the upper base to form a continuum robot unit. A plurality of units are connected in sequence, the adjacent units form 90 degrees, a plurality of ropes sequentially pass through the threading holes which are arranged along the circumference of the upper base and the lower base of each unit, and the continuum robot is formed.

And the C-shaped base is evenly provided with 1mm threading holes at the circumference of the position far away from the circle center, one end of the rope penetrating through the threading holes is connected with the controller at the tail part, and the other end of the rope is connected with the end effector of the continuum robot.

The number of the units of the whole continuum robot is 10, every two continuum robot units are assembled, and the angle of the two continuum robot units is 90 degrees.

The C-arm is provided with an upper base 2, a lower base 4 which is a rigid body and a flexible segment 3 which is a deformable flexible material.

Claims

1. A stretch-bending type continuum robot unit, characterized by comprising a lower base (2) with a C-arm, a vertical flexible segment (3) and an upper base (4) with a C-arm; the lower base (2) with the C-shaped arm and the upper base (4) with the C-shaped arm are oppositely arranged, the vertical flexible segment (3) is positioned between the lower base (2) with the C-shaped arm and the upper base (4) with the C-shaped arm and is connected with the lower base (2) with the C-shaped arm and the upper base (4) with the C-shaped arm, and the lower base (2) with the C-shaped arm and the upper base (4) with the C-shaped arm are not in contact;

the lower base (2) with the C-shaped arm comprises a lower base and a C-shaped arm group; one end of the C-shaped arm group is fixedly arranged on the upper surface of the lower base; the upper base (4) with the C-shaped arm comprises an upper base and a C-shaped arm group; one end of the C-shaped arm group is fixedly arranged on the lower surface of the upper base, and the other ends of the two C-shaped arms are fixedly connected through a vertical flexible segment (3);

the concave sides of the two C-shaped arm groups are arranged oppositely; the C-shaped arm group comprises a plurality of C-shaped arms which are arranged side by side to form a C-shaped arm group;

and a circle of threading holes (1) are formed in the upper base and the lower base along the circumferential direction of the edge.

2. Stretch-bending type continuum robot unit according to claim 1, characterized in that the vertical flexible segments (3) are plate/beam-like elastomers of constant or varying cross-section.

3. A stretch-bending type continuum robot, characterized in that the stretch-bending type continuum robot unit according to any one of claims 1 to 2 further comprises a rope; and a plurality of stretching and bending type continuum robot units are fixedly connected in sequence, and a plurality of ropes sequentially pass through the threading holes (1) to form the stretching and bending type continuum robot.