Search

CN-121989273-A - Multi-joint line drive continuum robot based on hollow elastomer

CN121989273ACN 121989273 ACN121989273 ACN 121989273ACN-121989273-A

Abstract

The invention discloses a multi-joint line drive continuous robot based on a hollow elastomer, which comprises a driver, an actuator and a traction line, wherein the actuator comprises a plurality of omnidirectional movement sections which are sequentially connected in a linear direction, one end of the traction line is connected with the driver, and the other end of the traction line sequentially penetrates through the plurality of omnidirectional movement sections to be fixedly connected with the omnidirectional movement sections far away from the driver. The invention has the omnidirectional movement capability, large bending angle and flexible operation.

Inventors

  • LI QIAOFENG
  • LIU XINYANG

Assignees

  • 浙江大学

Dates

Publication Date
20260508
Application Date
20260409

Claims (5)

  1. 1. A hollow elastomer-based multi-joint line drive continuum robot comprising: The driving device is provided with a driving device, The actuator comprises a plurality of omnidirectional movement sections which are sequentially connected along the linear direction; And one end of the traction wire is connected with the driver, and the other end of the traction wire sequentially penetrates through the omni-directional motion sections to be fixedly connected with the omni-directional motion sections far away from the driver.
  2. 2. The multi-joint line drive continuum robot based on the hollow elastic body according to claim 1, wherein each omnidirectional motion segment comprises a plurality of execution units which are sequentially arranged along a linear direction, each execution unit comprises a supporting circular ring, two first bearing supports, two second bearing supports, a cross shaft and a plurality of hollow cylindrical elastic bodies, a plurality of threading holes distributed along the circumferential direction are formed in the position, close to the outer edge, of each supporting circular ring, annular protrusions are arranged on the inner wall of each supporting circular ring, the two first bearing supports are longitudinally arranged on the outer side of each supporting circular ring, the two second bearing supports are transversely arranged on the inner side of each supporting circular ring, so that the two first bearing supports and the two second bearing supports are in crossed distribution, the two first bearing supports are respectively connected with the upper shaft end and the lower shaft end of the cross shaft through two second bearings, the two second bearing supports are respectively connected with the left shaft end and the right shaft end of the cross shaft of each adjacent execution unit, and each hollow bearing support is mounted on the inner side of each supporting circular ring in a transverse direction, so that the two first bearing supports and the two second bearing supports are respectively connected with the cross shaft end of each cross shaft through the two first bearing supports and the two second bearing supports, and the hollow bearing supports are respectively arranged on the cross shaft.
  3. 3. The hollow elastomer-based multi-joint line drive continuum robot according to claim 2, wherein the number of the traction lines is 3, and 3 traction lines are respectively arranged in the 3 threading holes distributed at 120 degrees intervals.
  4. 4. The hollow elastomer-based multi-joint line drive continuum robot is characterized in that the driver comprises a shell and a plurality of rudder units or a plurality of steering engine assemblies arranged in the shell, the rudder units or the steering engine assemblies are arranged at intervals from top to bottom, each steering engine assembly comprises a plurality of steering engine groups which are arranged in sequence from left to right, each steering engine group comprises a plurality of steering engine assemblies which are arranged in sequence and connected together, and one end of each traction line is connected with each steering engine assembly.
  5. 5. The multi-joint line drive continuum robot based on the hollow elastomer according to claim 4, wherein each steering engine assembly comprises a steering engine, a wire spool and a guide, the wire spool is mounted on an output shaft of the steering engine, the guide is fixed on one side of the steering engine, one end of a traction line is fixedly connected with the wire spool and is wound on the wire spool, and the other end of the traction line sequentially penetrates through a guide hole of the guide and a plurality of threading holes distributed correspondingly along the horizontal direction to be fixedly connected with the supporting circular ring far away from the steering engine.

Description

Multi-joint line drive continuum robot based on hollow elastomer Technical Field The invention relates to the technical field of line-driven continuous robots, in particular to a multi-joint line-driven continuous robot based on a hollow elastomer. Background The wire drive continuous robot is a bionic robot, has excellent flexibility, flexibility and safety, and has wide application prospect in the fields of medical service, post-disaster rescue and aerospace. The existing line-driven continuous robot, such as CN120921347A, consists of a driving box and a mechanical arm, wherein a plurality of driving units are arranged in the driving box, each driving unit consists of a motor and a winding winch and is used for carrying out winding and unwinding control on corresponding driving ropes, so that a motion driving force is provided for the mechanical arm, one end of the mechanical arm is connected with the driving box, the other end of the mechanical arm is used as an executing end, a load device or tool can be installed, and functions of detection, operation and the like are realized. The mechanical arm of the continuum robot adopts a rigid-flexible mixed structure form and is formed by connecting an immovable section and two movable action sections in series, the action sections are formed by a plurality of spacing discs in an axial orthogonal arrangement along the mechanical arm, and adjacent spacing discs are connected with a rotary joint in a combined way through flexible metal rods, so that the adjacent spacing discs are relatively rotated under the action of the tensile force of a driving rope, and the continuous bending motion of the mechanical arm is realized. Specifically, a plurality of through holes are formed in the circumferential position of each spacing disc, after the driving ropes sequentially penetrate through the through holes of each spacing disc, the tail ends of the driving ropes are fixed on the tail end structure of the action section, and particularly, a mode that four driving ropes are arranged on a single action section is adopted, the four driving ropes are symmetrically distributed in the circumferential direction of the spacing disc, and bending movement of the action section in the pitching direction and the yaw direction is achieved through tensioning and releasing of the ropes at the opposite positions. In order to provide certain rebound capability and structural stability for the action segment, flexible metal rods are arranged between the spacing plates to serve as elastic members, and the flexible metal rods can generate restoring force after being stressed and bent, so that the mechanical arm can restore to the original posture after the external force is relieved, the adjacent spacing plates are arranged in an orthogonal mode, each group of spacing plates can only generate bending in one plane, and multiple degrees of freedom motion is realized through multiple groups of orthogonal arrangement. However, the existing wire-driven continuous robot has the following technical problems: 1) The two adjacent spacing discs can only bend towards one direction (only one degree of freedom is provided, and the two adjacent spacing discs do not have omnidirectional movement capability), so that the flexibility is low, and the number of spacing discs is required to be larger under the same flexibility requirement; 2) Each movable section is driven by four traction wires, and the number of required motors is large; 3) Limited by the size, structural complexity and manufacturing cost of the drive system, only a small number of movable segments (2) are usually provided, and it is difficult to simultaneously realize multi-joint and high-freedom continuous bending motions under the premise of ensuring compact structure, and the adaptability of the drive system in complex and narrow environments is still limited. Accordingly, providing a hollow elastomer-based multi-joint line drive continuum robot is a problem that needs to be addressed by those skilled in the art. Disclosure of Invention In view of the above, the present invention provides a multi-joint line-driven continuum robot based on a hollow elastomer, which solves at least one of the above-mentioned technical problems. In order to achieve the above purpose, the present invention adopts the following technical scheme: A hollow elastomer-based multi-joint line drive continuum robot, comprising: The driving device is provided with a driving device, The actuator comprises a plurality of omnidirectional movement sections which are sequentially connected along the linear direction; And one end of the traction wire is connected with the driver, and the other end of the traction wire sequentially penetrates through the omni-directional motion sections to be fixedly connected with the omni-directional motion sections far away from the driver. The omnidirectional exercise section comprises a plurality of execution units which are sequential