Continuous-type robot with multi-degree-of-freedom movement function

Abstract

The invention discloses a continuous-type robot with a multi-degree-of-freedom movement function and relates to the field of robots. A robot tail end executing mechanism can be controlled, and a movement joint structure of the robot is simple. The continuous-type robot comprises a control box, a plurality of continuous joints, rotating joint connecting pipes, the executing mechanism and a drivingrope. The continuous joints are connected through the rotating joint connecting pipes, and each continuous joint is composed of a plurality of joint modules in series. The front end of the series-connected continuous joints is connected to the control box, and the tail end of the series-connected continuous joints is fixed to the executing mechanism. Through holes are formed in the joint modules,one end of the driving rope is fixed to the tail end of the series-connected continuous joints and penetrates through the through holes to penetrate through the continuous joints, and the other end ofthe driving rope is connected with the control box. The control box contracts or releases the driving rope. The section of each joint module is circular, and the joint modules at the front ends of the continuous joints can rotate in the circumferential direction. The joint structure of the robot is composed by overlapping of a plurality of joint discs and joint fixing plates, the structure is simple, and repairing or maintenance is convenient.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-freedom continuous robot. Background technique [0002] Compared with discrete robots such as traditional industrial robots, continuous robots have attracted the attention of scholars at home and abroad because of their excellent bending performance. Serial robots are inspired by biological structures such as elephant trunks and octopus tentacles. This type of robot can maneuver around obstacles and pass through narrow holes, so it is very suitable for use in unstructured environments. It has great application prospects in aerospace, nuclear power, urban rescue and other fields. [0003] However, in the prior art, the kinematic joints of the continuous robot have complex structures and high production costs, and the design of the joints is not conducive to the pose control of the camera at the end of the robot or the gripper. Contents of the invention [0004] The invention pro...

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Problems solved by technology

[0003] However, in the prior art, the kinematic joints of continuous robots have complex structures and high production costs, and the design of the joints is not conducive to the pose control of the camera at the end of the robot or the gripper.

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