CN1288803A - Variable-rigidity, variable-direction and variable-length non-conjugate meshed flexible arm of robot - Google Patents
Variable-rigidity, variable-direction and variable-length non-conjugate meshed flexible arm of robot Download PDFInfo
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- CN1288803A CN1288803A CN 00127296 CN00127296A CN1288803A CN 1288803 A CN1288803 A CN 1288803A CN 00127296 CN00127296 CN 00127296 CN 00127296 A CN00127296 A CN 00127296A CN 1288803 A CN1288803 A CN 1288803A
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Abstract
The variable-rigidity variable-direction and varible-length non-conjugate meshed robot flexible arm comprises several chain links which are series-connected, and two sides of every chain link are respectively equipped with a group of pin holes, between adjacent two chain links a non-linear spring pin-shaft (or shape memory alloy, pin shapt) is added for connecting them together, and after they are connected, the external ring of pin hole portion of every chain link can be formed into flexible rack bar with non-conjugate surface, and said rack bar can be meshed with gear tooth of driving device.
Description
What the present invention relates to is a kind of flexible arm of robot, and particularly a kind of change rigidity, break-in, variable-length non-conjugate meshed flexible arm of robot belong to mechanical robot field.
The environment of in the narrow space that turns round at needs, operating according to nuclear power station steam generator inspection machine human, this robotlike's flexible arm both domestic and external adopts usually decides rigidity, the fixed length arm, monolithic devices is arranged on the structure, combined, flexible arm can be by metal, engineering plastics, materials such as carbon fiber are made, find through the literature search to this technical field: what the Foster Miller company of the U.S. adopted is the Robotics of a kind of CECIL of being called, the inner space that is used for the nuclear power station evaporimeter is checked, because the technical know-how of this Robotics can't be known its concrete principle and embodiment; Find that again China Patent No. is: 952262290, title: a kind of collapsible robot, this patent documentation claims: a kind of robot that is used to detect closed container, comprise support, the fuselage that links to each other with support, be connected with horn behind the fuselage, each horn by motor through the transmission mechanism rear drive, its special character be support and fuselage with the first arm between be connected by axle or gear shaft.This technology still comes with some shortcomings, as: the horn of robot is a rigidity, and because of the restriction of its structure, it can not especially carry out operation in the pipeline of bending in small space.
The objective of the invention is to overcome deficiency of the prior art, a kind of change rigidity, break-in, variable-length non-conjugate meshed flexible arm of robot are provided.
Technical scheme of the present invention is as follows: operation principle of the present invention be when flexible arm when turning round, rigidity diminishes; In the time of will operating after flexible arm enters narrow space, it is big that rigidity becomes automatically, thereby guarantee cantilever flexible arm existing enough rigidity in working space, and the power demand of drive system is very little again simultaneously.Cantilever flexible arm variable rigidity of the present invention does not need to support and guiding, not only can be applied to small space, can be applicable to the space on a large scale that the elongated cantilever flexible arm operation of any needs can't be supported and guide again yet.Become rigidity cantilever flexible arm by control, make it to change it according to application need and stretch out direction, length and rigidity, making it only needs less driving force when changing direction, have big rigidity behind the working space and can carry out the higher operation of needed precision to guarantee the cantilever flexible arm and enter.
The present invention is in series by a plurality of chain links, respectively there is one group of pin-and-hole the both sides of each chain link, two adjacent links are crossed the bearing pin that adds sleeve spring and are connected, and the outer ring that connects each pintle bore portion of back forms non-conjugated flexible rack, can with drive gear teeth meshing.The contact-making surface that adjacent link forms, can make flexible arm can only folk prescription to bending.Respectively there is one group of pin-and-hole adjacent two chain links and both sides separately, plug bearing pin after the hole heart assembling of the right pin-and-hole of chain link and the left pin-and-hole of chain link and spring is coaxial.According to the requirement of applied environment distance, can select the chain number that makes up, to change the total length of flexible chain.The field of conjugate action is arranged on chain link, thereby realize that by the engagement of drive unit and this field of conjugate action the cantilever of flexible arm is flexible, but be not conjugate planes between this field of conjugate action and the drive unit mesh tooth face.Spring adopts nonlinear spring, but nonlinear spring also can be used Hookean spring or cancellation spring instead, and when the cancellation spring, bearing pin need adopt marmem, with the rigidity of control flexible arm.When flexible arm enters the corner, thereby the pin diameter energising is shunk the bending stiffness of flexible arm is diminished, in case after entering in the small space, control system makes bearing pin recover the normal temperature shape, be that the pin diameter size becomes greatly, thereby make the bending stiffness of flexible arm cantilever extension become big.Can guarantee to obtain enough flexible arm cantilevers by appropriate design and stretch out rigidity pin diameter.Because the rigidity the when flexible arm among the present invention can be controlled it and turns round, so the angle of turning round of flexible arm can be implemented in change arbitrarily in 0～270 °, and can not increase the demand to system dynamic.On chain link, also can offer through hole, in whole flexible arm, form guide hole, as device paths such as camera, flushing machine and little grasping mechanisms.
The present invention has substantive distinguishing features and marked improvement, realized becoming the operation of rigidity, break-in, variable-length non-conjugate engagement cantilever flexible arm, and this operation need not to be supported in the side of flexible arm and guide in the neutralize realization of space medium and long distance on a large scale of narrow space.
Below in conjunction with accompanying drawing the present invention is further described:
Fig. 1 operation principle schematic diagram of the present invention
Fig. 2 structural representation of the present invention (one)
Fig. 3 structural representation of the present invention (two)
Fig. 4 structural representation of the present invention (three)
As shown in Figure 1, the present invention has the field of conjugate action on chain link 2, thereby flexible with the cantilever of the engagement realization flexible arm 1 of this field of conjugate action by drive unit 3, but is not conjugate planes between this field of conjugate action and drive unit 3 mesh tooth faces.
As Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, the present invention is in series by a plurality of chain links 2, respectively there is one group of pin-and-hole 4 both sides of each chain link 2, connect by adding the bearing pin 6 that overlaps nonlinear spring 5 between two adjacent chain links 2, the outer ring 8 that connects pin-and-hole 4 parts of each chain link 2 of back forms non-conjugated flexible rack, can with drive unit 3 gear teeth meshing.The contact-making surface 7 that adjacent link 2 forms can make flexible arm 1 folk prescription to bending.Respectively there is one group of pin-and-hole 4 adjacent two chain links and both sides separately, plug bearing pin 6 after the hole heart assembling of the right pin-and-hole 9 of one of them chain link and the left pin-and-hole 10 of another chain link and nonlinear spring 5 is coaxial.Nonlinear spring 5 also can be used Hookean spring or cancellation spring instead, and when the cancellation spring, bearing pin 6 needs to adopt marmem, with the rigidity of control flexible arm 1.When flexible arm 1 enters the corner, thereby the energising of bearing pin 6 diameters is shunk the bending stiffness of flexible arm 1 is diminished, in case after entering in the small space, control system makes bearing pin 6 recover the normal temperature shape, be that bearing pin 6 diameter dimensions become greatly, thereby make the bending stiffness of flexible arm 1 cantilever extension become big.Can guarantee to obtain enough flexible arms 1 cantilever by appropriate design and stretch out rigidity bearing pin 6 diameters.Because the rigidity the when flexible arm 1 among the present invention can be controlled it and turns round, so the angle of turning round of flexible arm 1 can be implemented in change arbitrarily in 0～270 °, and can not increase the demand to system dynamic.On chain link 2, also can offer through hole 11, in whole flexible arm 1, form guide hole, as taking the photograph device paths such as head, flushing machine and little grasping mechanism.
According to the requirement of applied environment distance, can select to make up chain link 2 numbers, to change the total length of flexible chain 1.Also can select simultaneously spring rate with the bending stiffness that changes flexible arm to satisfy application need.
Claims (4)
1, a kind of change rigidity, break-in, variable-length non-conjugate meshed flexible arm of robot, mainly comprise chain link (2), it is characterized in that being in series by a plurality of chain links (2), respectively there is one group of pin-and-hole (4) both sides of each chain link (2), between adjacent two chain links (2) by add the cover nonlinear spring (5) bearing pin (6) or marmem, bearing pin (6) connects, the outer ring that connects pin-and-hole (4) part of each chain link of back (2) forms non-conjugated flexible rack, can with drive unit (3) gear teeth meshing.
2, this change rigidity according to claim 1, break-in, variable-length non-conjugate meshed flexible arm of robot, its feature is that also respectively there is one group of pin-and-hole (4) adjacent two chain links and both sides separately, plugs bearing pin (6) after the hole heart assembling of the right pin-and-hole of chain link (2) and the left pin-and-hole of chain link and nonlinear spring is coaxial.
3, this change rigidity according to claim 1, break-in, variable-length non-conjugate meshed flexible arm of robot, its feature also are also to offer through hole (8) on chain link (2), form guide hole in whole flexible arm (1).
4, this change rigidity according to claim 1, break-in, variable-length non-conjugate meshed flexible arm of robot, its feature also is the requirement according to the applied environment distance, can select to make up chain link (2) number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00127296 CN1212914C (en) | 2000-11-07 | 2000-11-07 | Variable-rigidity, variable-direction and variable-length non-conjugate meshed flexible arm of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00127296 CN1212914C (en) | 2000-11-07 | 2000-11-07 | Variable-rigidity, variable-direction and variable-length non-conjugate meshed flexible arm of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1288803A true CN1288803A (en) | 2001-03-28 |
| CN1212914C CN1212914C (en) | 2005-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 00127296 Expired - Fee Related CN1212914C (en) | 2000-11-07 | 2000-11-07 | Variable-rigidity, variable-direction and variable-length non-conjugate meshed flexible arm of robot |
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| CN (1) | CN1212914C (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973037A (en) * | 2010-11-22 | 2011-02-16 | 北方工业大学 | Passive robot joint with adjustable rigidity elasticity |
| CN103192406A (en) * | 2013-04-08 | 2013-07-10 | 北京航空航天大学 | Robot joint driver with variable rigidity |
| CN104959980A (en) * | 2015-07-17 | 2015-10-07 | 哈尔滨工业大学 | Four-footed reversible crawling software robot based on smart materials |
| CN107148524A (en) * | 2014-12-29 | 2017-09-08 | 生活机器人学股份有限公司 | Direct acting telescoping mechanism and mechanical arm mechanism |
| CN107856061A (en) * | 2017-12-14 | 2018-03-30 | 苏州大学 | A kind of flexible arm stiffness variable armed lever |
| CN108698237A (en) * | 2016-02-29 | 2018-10-23 | 生活机器人学股份有限公司 | Direct acting telescoping mechanism and mechanical arm mechanism with the direct acting telescoping mechanism |
| CN109968364A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of chain type flexible mechanical arm suitable for the underwater automatic video frequency inspection of in-pile component |
-
2000
- 2000-11-07 CN CN 00127296 patent/CN1212914C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973037A (en) * | 2010-11-22 | 2011-02-16 | 北方工业大学 | Passive robot joint with adjustable rigidity elasticity |
| CN103192406A (en) * | 2013-04-08 | 2013-07-10 | 北京航空航天大学 | Robot joint driver with variable rigidity |
| CN103192406B (en) * | 2013-04-08 | 2015-10-28 | 北京航空航天大学 | A kind of robot articular driver of stiffness variable |
| CN107148524A (en) * | 2014-12-29 | 2017-09-08 | 生活机器人学股份有限公司 | Direct acting telescoping mechanism and mechanical arm mechanism |
| CN104959980A (en) * | 2015-07-17 | 2015-10-07 | 哈尔滨工业大学 | Four-footed reversible crawling software robot based on smart materials |
| CN108698237A (en) * | 2016-02-29 | 2018-10-23 | 生活机器人学股份有限公司 | Direct acting telescoping mechanism and mechanical arm mechanism with the direct acting telescoping mechanism |
| CN108698237B (en) * | 2016-02-29 | 2022-01-04 | 生活机器人学股份有限公司 | Direct-acting telescopic mechanism and mechanical arm mechanism with same |
| CN107856061A (en) * | 2017-12-14 | 2018-03-30 | 苏州大学 | A kind of flexible arm stiffness variable armed lever |
| CN109968364A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of chain type flexible mechanical arm suitable for the underwater automatic video frequency inspection of in-pile component |
| CN109968364B (en) * | 2017-12-27 | 2024-01-12 | 核动力运行研究所 | Chain type flexible mechanical arm suitable for automatic underwater video inspection of in-pile components |
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| Publication number | Publication date |
|---|---|
| CN1212914C (en) | 2005-08-03 |
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