A wire-driven continuum flexible robot

A continuum and line-driven technology, applied in the field of robotics, can solve problems such as narrow working space and environment, and achieve the effect of compact structure, strong anti-interference ability, and high tenderness

Active Publication Date: 2021-04-13
XI AN JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the narrow working space environment and many limitations, it is difficult for traditional linkage-type robots composed of rigid components to complete such tasks, which has also become a technical bottleneck in the development of robots in the above-mentioned application fields. related question

Method used

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  • A wire-driven continuum flexible robot
  • A wire-driven continuum flexible robot
  • A wire-driven continuum flexible robot

Examples

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Embodiment Construction

[0040] The following will refer to the attached Figure 1 to Figure 7 Specific examples of the present invention are described in more detail. Although specific embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and is not limited to the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0041] It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art should understand that they may use different terms to refer to the same component. The specification and claims do not use differences in nouns as a way of distinguishing components, but use differences in functions of components as a criterion for distinguishing. "Includes" or "comprises" mentioned throughout ...

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Abstract

Disclosed is a line-driven continuum flexible robot, wherein the mechanical arm includes n joint segments that can deflect between adjacent joint segments, each of the joint segments includes m rings, and the upper and lower sides of each ring are There are a plurality of through holes and threading holes on the surface, the centers of the through holes and the threading holes are distributed on the same circumference, and a plurality of threaded holes are provided on the cylindrical surface of the ring, and the through holes respectively pass through the Threaded holes, adjacent threaded holes are arranged at intervals of predetermined angles, fastening screws cooperate with the threaded holes to fasten the alloy wire passing through the through holes so that there is a rotational degree of freedom between adjacent rings to realize deflection movement , the wire harness passes through the threading hole to transmit the pulling force to the ring to deflect the joint segment, and the drive modules fixed to the chassis are evenly distributed on the outside of the bottom of the drive support frame in a ring shape, and the drive modules Connect two wire harnesses arranged at 180° to each other to apply a predetermined pulling force.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a line-driven continuum flexible robot. Background technique [0002] With the rapid development of civil aviation, there are higher requirements for the maintenance and overhaul of aero-engines. In order to complete the maintenance tasks of aero-engines more efficiently and accurately, quickly find problems, and prevent accidents, it is necessary to design an engine fault detection robot that can realize the task of engine fault detection. Due to the narrow working space environment and many limitations, it is difficult for traditional linkage-type robots composed of rigid components to complete such tasks, which has also become a technical bottleneck in the development of robots in the above-mentioned application fields. Related questions. [0003] The above information disclosed in this Background section is only for enhancement of understanding of the background of the inven...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/06B25J9/10B25J9/12
CPCB25J9/065B25J9/104B25J9/126
Inventor 杨来浩杨浙帅郭艳婕刘金鑫陈雪峰
Owner XI AN JIAOTONG UNIV
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