CN108942978B

CN108942978B - Flexible robot drive control panel and drive control box

Info

Publication number: CN108942978B
Application number: CN201810768259.9A
Authority: CN
Inventors: 徐文福; 刘天亮; 付亚南; 梁斌
Original assignee: Shenzhen Graduate School Harbin Institute of Technology
Current assignee: Shenzhen Graduate School Harbin Institute of Technology
Priority date: 2018-07-13
Filing date: 2018-07-13
Publication date: 2020-07-14
Anticipated expiration: 2038-07-13
Also published as: CN108942978A

Abstract

The invention discloses a flexible robot driving control panel and a driving control box, wherein the driving control panel is used for controlling a plurality of driving ropes, the driving ropes are uniformly distributed along the direction of a circumference and extend along the axial direction of the circumference, the driving control panel is provided with a plurality of steps with different heights corresponding to the driving ropes along the axial direction, and each step is provided with an installation structure, wherein the height of each step is in direct proportion to the height of each driving rope; along the diameter direction parallel to the steps on the circumference, the displacement of each mounting structure relative to the step is in direct proportion to the projection distance of the connecting line between the circle center of each driving rope and the circle center of the circumference on the step. According to the invention, through the plurality of steps which are arranged in a stepped manner and the mounting structures corresponding to the driving ropes on the steps, under the condition that the driving ropes are uniformly distributed along the circumference, the compact arrangement of all parts in the driving control box can be realized, the reduction of the envelope size of the whole driving control box is facilitated, and the applicable scene of the robot is improved.

Description

Flexible robot drive control panel and drive control box

Technical Field

The invention relates to the field of robots, in particular to a control device of a rope-driven flexible robot, and specifically relates to a drive control panel and a drive control box using the drive control panel.

Background

Currently, industrial robots with high efficiency and high precision have been widely applied in the manufacturing fields of electrical, chemical and mechanical industries, but the conventional industrial robots are limited by their excessive size or high rigidity, and cannot be adapted to extremely narrow and dangerous working environments, such as pipeline cleaning. Compared with the traditional mechanical arm, the flexible arm joint can realize bending, stretching and twisting of a plurality of continuous parts due to the inherent super-redundancy characteristic, and the motion and operation capacity in a limited space are far higher than that of the traditional multi-joint rigid connecting rod robot.

Considering that the operation arm of the flexible robot is limited by the limit length even if the operation arm has the telescopic function, the whole robot needs to be moved to complete the execution task in partial application scenes, the size of a drive control box of the robot is larger than that of an operation wall under the common condition, and the narrow space which the robot can enter is limited by the size of the drive control box, so that the reduction of the envelope size of the drive control box has positive significance for the robot to adapt to the extreme environment.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a flexible robot driving control panel which is used for solving the problems that the existing control box applying a guide rail sliding block system is difficult to realize compact arrangement, occupies large space and cannot be suitable for extreme environments requiring complete machine movement.

The invention also provides a flexible robot driving control surface box for solving the problems.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a flexible robot driving control panel is used for controlling a plurality of driving ropes, the driving ropes are uniformly distributed along the direction of a circumference and extend along the axial direction of the circumference, the driving control panel is provided with a plurality of steps with different heights corresponding to the driving ropes along the axial direction, and each step is provided with an installation structure, wherein the height of each step is in direct proportion to the height of each driving rope; along the diameter direction parallel to the steps on the circumference, the displacement of each mounting structure relative to the step is in direct proportion to the projection distance of the connecting line between the circle center of each driving rope and the circle center of the circumference on the step.

As a further improvement mode of the scheme, the device comprises a first step area and a second step area which are arranged in parallel, and the first step area and the second step area both comprise a plurality of steps.

As a further improvement of the scheme, the adjacent steps of the first step area and the second step area are equal in height.

As a further improvement of the above scheme, the height of each step in the first step area is gradually increased along the axial direction, and the endmost step is higher than any other step; in the second step area, the step adjacent to the highest step is lower than any other step, except the lowest step, other steps in the second step area are gradually increased along the axial direction and have the same height as the adjacent step in the first step area.

As a further improvement mode of the scheme, the steps are obliquely arranged in the diameter direction parallel to the steps on the relative circumference, and the adjacent steps of the first step area and the second step area are arranged in a staggered mode.

As a further improvement of the above, the mounting structure is a through hole penetrating the step.

The utility model provides a flexible robot drive control box, includes driving rope, shaft, drive arrangement and flexible robot drive control panel, is fixed with the shaft through mounting structure on each step, and the driving rope is driven by corresponding drive arrangement in order to stretch out and draw back to from the epaxial back of winding out of corresponding wheel along the circumferencial direction equipartition.

As a further improvement mode of the scheme, the driving device comprises a rotating motor and a wire spool, the wire spool is fixedly connected with a driving shaft of the rotating motor, the end part of the driving rope can be fixed on the wire spool, and the driving rope can be wound in a wire slot of the wire spool.

As a further improvement mode of the scheme, the driving device further comprises a wire protecting seat arranged along the periphery of the wire spool to seal the wire groove, and an opening for the driving rope to extend out is arranged on the wire protecting seat.

As a further improvement mode of the scheme, a driving rope support is arranged on the flexible robot driving control panel, the driving rope support is perpendicular to the axial direction, a plurality of rope holes are uniformly distributed in the driving rope support along the circumferential direction, and the driving ropes are correspondingly arranged in the rope holes in a penetrating mode.

The invention has the beneficial effects that:

according to the invention, through the plurality of steps which are arranged in a stepped manner and the mounting structures corresponding to the driving ropes on the steps, under the condition that the driving ropes are uniformly distributed along the circumference, the compact arrangement of all parts in the driving control box can be realized, the reduction of the envelope size of the whole driving control box is facilitated, and the applicable scene of the robot is improved.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a top view of one embodiment of a flexible robot drive control panel of the present invention;

FIG. 2 is a side view of one embodiment of a flexible robot drive control panel of the present invention;

FIG. 3 is a schematic perspective view of one embodiment of a flexible robot drive control panel of the present invention;

FIG. 4 is a schematic perspective view of one embodiment of the drive control box of the present invention;

fig. 5 is a schematic view of the combination of the drive rope, axle and drive means of the present invention.

Detailed Description

The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the descriptions of up, down, left, right, front, rear, etc. used in the present invention are only relative to the positional relationship of the respective components of the present invention with respect to each other in the drawings.

Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any combination of one or more of the associated listed items.

Referring to fig. 1 to 3, a top view, a side view and a perspective view of an embodiment of a flexible robot driving control panel of the present invention are respectively shown. As shown in fig. 1, the flexible robot driving control panel is generally rectangular as a whole, and is generally divided into a first step area 101 and a second step area 102 which are arranged in parallel along the positive direction of the illustrated X axis, and the first step area 101 and the second step area 102 are respectively provided with a plurality of steps along the positive direction of the illustrated Y axis, preferably, the first step area 101 sequentially includes a first step 11a, a second step 11b, a third step 11c, a fourth step 11d, a fifth step 11e and a sixth step 11f, and the second step area 102 sequentially includes a seventh step 11g, an eighth step 11h, a ninth step 11i, a tenth step 11j, an eleventh step 11k and a twelfth step 11 m.

Through holes 111 and through holes 112 are arranged on each step approximately along the X-axis direction, wherein the through holes 111 in the same area are distributed along an arc-shaped track to be used as an installation structure for fixing components such as a wheel shaft, and the second through holes 112 in the same area are distributed along a straight line to be used for fixing components such as a motor.

In this embodiment, each step is disposed obliquely with respect to the X-axis direction in fig. 1, and the adjacent steps of the first step region 101 and the second step region 102 are disposed in a staggered manner, so as to avoid the mutual interference of the components such as the motor, the wheel shaft, and the encoder mounted on the driving control panel, and reduce the area of the panel while satisfying the requirement for normal mounting of the above components.

As shown in fig. 2 and 3, each step on the driving control panel has a different height gradient, and preferably, the height of each step in the first step area 101 gradually increases along the positive direction of the Y axis, and the endmost sixth step 11f is higher than any other step. In the second stepped region 102, the twelfth step 11m adjacent to the highest sixth step 11f is lower than any other step. The heights of the other steps in the second stepped region 102 except for the lowermost twelfth step 11m gradually increase in the positive Y-axis direction. Further, the adjacent steps in the first step region 101 and the second step region 102 are equal in height except for the sixth step 11f and the twelfth step 11 m.

The front end of the driving control panel is preferably further fixed with a driving rope support 12, the driving rope support 12 is provided with a plurality of rope holes 121 uniformly distributed along the circumferential direction, and the axial direction of the circumference is the Y-axis direction in fig. 1. In this embodiment, 12 rope holes are preferably provided, i.e. the number of steps corresponds to the number of rope holes one by one. Meanwhile, the rope holes of the embodiment are distributed according to a certain rule, namely, one rope hole is formed in the highest point and the lowest point of the circumference, and other rope holes are symmetrically and uniformly distributed in a concentric mode through the circle centers of the two rope holes.

In the invention, the distribution rule of the steps and the through holes 111 is related to the distribution rule of the rope holes. Taking the distribution of the rope holes as an example, except the rope holes at the highest point and the lowest point, the other rope holes are in a group of two and have the same height, so the steps are divided into two step areas, and the adjacent steps in the two step areas are in a group and have the same height. Meanwhile, the height of each group of steps is proportional to the height of each corresponding group of rope holes, and the height is referred to as the height along the Z-axis direction in fig. 3 and is referred to the same reference plane. The term "proportional to" as used herein includes the equivalent case, as well as the following. In addition, along the X-axis direction (i.e. the diameter direction parallel to the step on the circumference), the displacement d (referring to fig. 1, the dotted line passes through the center of the circumference) of the through hole 111 relative to the step is proportional to the projection distance of the connecting line between the center of each rope hole and the center of the circumference on the step.

According to the above rule, the sixth step 11f corresponds to the highest rope hole, the twelfth step 11m corresponds to the lowest rope hole, and the 5 rope holes corresponding to the first step area 101, except the two rope holes, sequentially correspond to the first step 11a, the second step 11b, the third step 11c, the fourth step 11d and the fifth step 11e along the direction from bottom to top; for the 5 rope holes corresponding to the second step area 102, the seventh step 11g, the eighth step 11h, the ninth step 11i, the tenth step 11j and the eleventh step 11k sequentially correspond to each other along the direction from bottom to top.

According to the distribution of the rope holes in the embodiment, the lowest twelfth step 11m is separately positioned at the forefront of other steps, and the highest sixth step 11f is separately positioned at the rearmost of other steps, so that the wiring is more convenient, however, according to the arrangement, a separate protruding structure is formed at the front end and the rear section of the step area, and the twelfth step 11m is arranged at the rear part to be parallel to the sixth step 11f, so that the width of one step can be saved, and the area of the driving control panel is reduced.

Since the lowest twelfth step 11m is located at the end of the second step area 102, in order to facilitate the routing of the driving rope corresponding to the twelfth step 11m, a routing gap 103 is further provided between the first step area 101 and the second step area 102.

The step and the through hole of the present invention are distributed depending on the distribution of the string holes, and thus the present invention is not limited to the above-described embodiment. If the number of the rope holes is changed, the number of the steps and the number of the through holes are changed synchronously; when a group of rope holes with equal height does not exist, a group of steps with equal height does not need to be arranged.

Referring to fig. 4, a perspective view of one embodiment of the drive control box of the present invention is shown. As shown in the figure, the driving control box comprises a driving rope 2, a wheel shaft 3, a driving device and the flexible robot driving control panel 1. The wheel shafts 3 are correspondingly arranged on the steps through the through holes 111, and the driving devices are correspondingly arranged on the steps through the through holes 112. The driving rope 2 is wound out from the corresponding wheel shaft 3, passes through the corresponding rope hole and then is connected with the flexible arm, and is driven by the corresponding driving device to stretch and retract.

According to the invention, through the plurality of steps which are arranged in a stepped manner and the through holes 111 (mounting structures) which correspond to the rope holes (driving ropes) on the steps, under the condition that the driving ropes are uniformly distributed along the circumference, compact arrangement of all parts in the driving control box can be realized, the reduction of the envelope size of the whole driving control box is facilitated (the volume of the invention can be reduced to 1/4-1/3 of the volume of the existing control box), and the applicable scene of the robot is improved.

Referring to fig. 5, a schematic view of the drive rope, axle and drive arrangement of the present invention is shown. As shown in the figure, the driving device includes a rotating motor 41 and a wire spool 42, the wire spool 42 is fixedly connected with a driving shaft of the rotating motor 41, and a wire slot is arranged on the periphery of the wire spool 42. The end of the driving rope 2 is fixed on the wire spool, and extends out after being wound in the wire slot of the wire spool 42, and then is guided by the wheel shaft 3.

The invention can also directly and fixedly connect the driving shaft of the rotating motor 41 with the wheel shaft 3, and the end part of the driving rope 2 is directly and fixedly connected with the wheel shaft 3.

Since the depth of the raceway may be affected by the size of the spool 42 and may not be sufficient to completely confine the drive cord within the raceway, the present embodiment is further provided with a cord guard 43, the cord guard 43 being disposed along the periphery of the spool 42 to close the raceway and open the opening 431 through which the drive cord 2 protrudes in a set position.

The embodiment further comprises an encoder 51 for acquiring the motion state of the motor, and an encoder 52 for acquiring the motion state of the wheel shaft, and provides closed-loop feedback information of the control system.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A flexible robot driving control panel is used for controlling a plurality of driving ropes, wherein the driving ropes are uniformly distributed along the direction of a circumference and extend along the axial direction of the circumference, and the flexible robot driving control panel is characterized in that the driving control panel is provided with a plurality of steps with different heights along the axial direction corresponding to the driving ropes, each step is provided with a mounting structure, and the height of each step is in direct proportion to the height of each driving rope; along the diameter direction parallel to the steps on the circumference, the displacement of each mounting structure relative to the step is proportional to the projection distance of a connecting line between the circle center of each driving rope and the circle center of the circumference on the step.

2. The flexible robot driving control panel according to claim 1, comprising a first step area and a second step area arranged in parallel, each of the first step area and the second step area comprising a plurality of steps.

3. The flexible robot drive control panel of claim 2, wherein adjacent steps of the first step zone and the second step zone are of equal height.

4. The flexible robot drive control panel of claim 2, wherein the height of each step in the first step area gradually increases along the axial direction, and the endmost step is higher than any other step; in the second step area, the step adjacent to the highest step is lower than any other step, and the steps other than the lowest step in the second step area gradually increase in the axial direction and are as high as the adjacent step in the first step area.

5. The flexible robot driving control panel according to claim 2, wherein the step is disposed obliquely with respect to a diameter direction parallel to the step on the circumference, and the first step area is disposed to be staggered with respect to an adjacent step of the second step area.

6. The flexible robot drive control panel according to any one of claims 1 to 5, wherein the mounting structure is a through hole penetrating the step.

7. A flexible robot drive control box is characterized by comprising drive ropes, wheel shafts, drive devices and the flexible robot drive control panel of any one of claims 1 to 6, wherein the wheel shafts are fixed on the steps through the mounting structures, the drive ropes are driven by the corresponding drive devices to stretch and contract and are uniformly distributed along the circumferential direction after being wound out of the corresponding wheel shafts.

8. The flexible robot driving control box according to claim 7, wherein the driving device comprises a rotating motor and a wire spool, the wire spool is fixedly connected with a driving shaft of the rotating motor, an end of the driving rope can be fixed on the wire spool, and the driving rope can be wound in a wire slot of the wire spool.

9. The flexible robot driving control box according to claim 8, wherein the driving device further comprises a wire protecting seat disposed along a periphery of the wire spool to close the wire slot, and an opening for the driving rope to extend out is disposed on the wire protecting seat.

10. The flexible robot driving control box according to claim 7, wherein a driving rope support is arranged on the flexible robot driving control panel, the driving rope support is perpendicular to the axial direction, a plurality of rope holes are uniformly distributed on the driving rope support along the circumferential direction, and the driving ropes are correspondingly arranged in the rope holes in a penetrating manner.