CN111941406B

CN111941406B - Robot system

Info

Publication number: CN111941406B
Application number: CN202010864610.1A
Authority: CN
Inventors: 尹来容; 黄龙; 王金行; 刘北; 胡波
Original assignee: Changsha University of Science and Technology
Current assignee: Changsha University of Science and Technology
Priority date: 2020-08-25
Filing date: 2020-08-25
Publication date: 2022-11-15
Anticipated expiration: 2040-08-25
Also published as: CN111941406A

Abstract

A robotic system comprising: the device comprises a workbench, a bottom wheel, a machine body, a driving module, a control module, a hydraulic module, a communication module and a snake-shaped arm module; the workbench is arranged above the machine body, six bottom wheels are arranged below the machine body, the directions of the six bottom wheels are adjustable, and the driving module drives the bottom wheels to move through a transmission mechanism; the control module controls the first to fourth speed reducing motors and the rotating motor to move, and the communication module receives an external instruction and feeds back the external instruction to the control module to execute the instruction; the hydraulic module provides hydraulic power to the hose, the workstation top is equipped with the drive block shell.

Description

Robot system

Technical Field

The invention relates to the field of robots, in particular to a robot system.

Background

The snake-shaped arm robot can realize multi-degree-of-freedom bending movement, can flexibly move in a limited environment, and is widely applied to the fields of maintenance, detection, medical treatment and the like. The drive mode of snakelike arm robot mainly includes silk drive, pneumatic muscle drive and shape memory alloy drive, because silk drive mode can make snakelike arm robot occupation space little, low inertia of motion etc. show the advantage, by wide application in snakelike arm robot design.

In recent years, researchers at home and abroad successively propose a plurality of wire-driven serpentine arm robots with different configurations, which generally consist of a driving device and a plurality of same rotary joints. The existing rotary joints are divided into single-degree-of-freedom rotary joints (rigid hinge joints, flexible plates and cylindrical rolling joints) and two-degree-of-freedom rotary joints (spherical hinge joints or universal joints, flexible central rods and spherical rolling joints) according to the number of degrees of freedom.

The prior art wire-driven serpentine arm robot has the following disadvantages:

1. the wire-driven snakelike arm robot in the prior art does not have enough space to set up a hollow channel due to complicated structure, and realizes fluid transportation.

2. The prior art wire-driven serpentine arm robot has a joint rotation center usually at a symmetrical position of the joint, which causes the wire-driven serpentine arm robot to loose in bending motion or when the driving position is unchanged and external transverse force is applied to the wire.

3. The long-distance spraying structure in the prior art has single spraying direction or complex driving structure, and the vicinity of the spraying head does not have enough space and support for arranging a complex spraying head direction adjusting device.

4. The prior art spray structure can only realize the spray with one degree of freedom, such as the directional spray of a parallel spray head or the rotary spray, but can not realize the spray with two degrees of freedom.

5. The combination of the rotating disks in the prior art can only realize the relative motion of the two, but can not realize the combined motion of the two.

6. In the prior art, for the spraying structure matched with the mechanical arm, due to the limited space, an additional driving structure is difficult to be arranged to realize more complex functions.

Disclosure of Invention

In order to overcome the above problems, the present invention proposes a solution to solve the above problems simultaneously.

The technical scheme adopted by the invention for solving the technical problems is as follows: a robotic system, comprising: the device comprises a workbench, a bottom wheel, a machine body, a driving module, a control module, a hydraulic module, a communication module and a snake-shaped arm module; the workbench is arranged above the machine body, six bottom wheels are arranged below the machine body, the directions of the six bottom wheels are adjustable, and the driving module drives the bottom wheels to move through a transmission mechanism;

the serpentine arm module comprises: the device comprises a first gear motor, a second gear motor, a third gear motor, a fourth gear motor, a driving block shell, a spacing disc, a space connecting rod, a spring device, a first traction wire, a second traction wire, a third traction wire, a fourth traction wire, a valve, a rotating motor, a driving wheel, a transmission belt, a driven ring, an inner traction wire, a swing rod, a rotating disc, a fixed disc and a hose; the spray head is arranged on the fixed disc, the spray head is arranged on the rotating disc, a connecting column is arranged below the rotating disc, a connecting disc is arranged below the connecting column, a cylinder is arranged below the rotating disc, a limiting half ring is arranged on the lower wall of the cavity, the cylinder and the connecting disc are located in the cavity, and the center line of the cylinder is not overlapped with the center line of the rotating disc; the space connecting rod comprises a main body and lugs arranged above and below the main body, and a wire sleeve is arranged on the spacing disc;

the control module controls the first to fourth speed reducing motors and the rotating motor to move, and the communication module receives an external instruction and feeds back the external instruction to the control module to execute the instruction; the hydraulic module provides hydraulic power to the hose, and the driving block shell is arranged above the workbench;

the driving block comprises a driving block shell, wherein first to fourth speed reducing motors are arranged in the driving block shell, the first to fourth speed reducing motors are connected with wire discs, the four wire discs are correspondingly connected with first to fourth traction wires, a plurality of spacing discs are connected above the driving block shell, two space connecting rods are arranged between every two spacing discs, the two space connecting rods are divided into a first space connecting rod and a second space connecting rod, each hanging lug is provided with a round hole, a hanging ring is arranged below the uppermost spacing disc, a hanging ring is arranged above the lowermost spacing disc, hanging rings are arranged above and below the rest spacing discs, the first space connecting rod is aligned with the round hole center line of a hanging lug above the second space connecting rod, the first space connecting rod is aligned with the round hole center line of a hanging lug below the second space connecting rod, and the hanging rings are connected with the round holes through pivots; the first traction wire, the second traction wire, the third traction wire, the fourth traction wire and the fourth traction wire penetrate through the wire sleeve, and the upper ends of the first traction wire, the second traction wire and the fourth traction wire are connected in the wire sleeve of the uppermost spacing disc; on the spacing disc, the height of the wire sleeve is consistent with the height from the central line of the hanging ring circular hole to the edge of the spacing disc;

the valve is further arranged in the driving block shell, the driven ring is arranged at the upper end of the valve shell in a surrounding mode, the driven ring and the driving wheel are in transmission through the transmission belt, the driving wheel is driven by the rotating motor, a wire coil is arranged on the driven ring, the inner traction wire is wound on the wire coil, a central hole is formed in each partition disc, the hose penetrates through the central hole and extends along the stacking direction of the partition discs, the fixed disc is arranged at the upper end of the hose and is rotatably connected to the upper surface of the uppermost partition disc, and the rotating disc is arranged above the fixed disc;

the swing rod is arranged at the outer edge of the rotating disc, the inner traction wire is connected to the swing rod, the distances between the centers of the injection channel and the spraying channel and the center of the rotating disc are the same, when the rotating disc rotates relative to the fixed disc, the inflow channel is sequentially communicated with the injection channel and the spraying channel, the cylinder is abutted against the lower surface of the cavity, and the cylinder can be slidably abutted against or separated from the limit semi-ring; the spray channel penetrates through the rotating disc, and the spray channel does not penetrate through the rotating disc.

Furthermore, the upper end of the hose is connected with the fixed disc through a joint.

Further, the inner traction wire is connected with the wire coil through a coil spring.

Further, the cross section of the main body is an arc surface.

Furthermore, the outer surface of the hanging lug comprises a circular arc surface.

Further, the spring device is arranged between every two spacing discs.

Furthermore, the number of the spring devices between every two spacing discs is two.

Further, the first to fourth reduction motors are uniformly distributed along the circumference.

Furthermore, the driving block shell is cubic.

Furthermore, the axis of the round hole above each space connecting rod is perpendicular to the vertical plane where the axis of the round hole below is located.

The invention has the beneficial effects that: each rotary joint can realize two-degree-of-freedom rotation, the rotation center is no longer in the symmetrical position of the joint, and the axes of the two rotary pairs are always kept in the non-coplanar vertical state in the rotation process. The snakelike arm robot can ensure that the traction wire can not be loosened when the robot is in bending motion or is under the action of external transverse force. In addition, the invention can be used as a module for superposition, so that the module has more freedom degrees and more convenience for flexible movement in a complex limited environment, and the invention has a hollow channel structure so as to be convenient for transporting tools such as detection, spraying and the like.

Drawings

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

FIG. 1 is a schematic view of a linear configuration of the present invention

FIG. 2 is a schematic view of the structure of the present invention in a bent configuration in any direction

FIG. 3 is a side view of a single revolute joint structure of the present invention

FIG. 4 is a side view of the shaft of the connecting rod structure of the present invention

FIG. 5 is a perspective view of the integrated robotic system of the present invention

FIG. 6 is a schematic view of a spray structure of the present invention

FIG. 7 is a schematic view of a rotary disk structure of the present invention

FIG. 8 is a schematic view of the structure of the fixing plate of the present invention

In the figures, the reference numerals are as follows:

101-first geared motor, 102-second geared motor, 103-third geared motor, 104-fourth geared motor, 1-drive block housing, 2-spacer disk, 3-space linkage, 4-spring device, 5-first traction wire, 6-second traction wire, 7-third traction wire, 8-fourth traction wire, 9-valve, 10-rotating motor, 11-drive wheel, 12-drive belt, 13-driven ring, 14-internal traction wire, 15-swing rod, 16-rotating disk, 17-fixed disk, 18-inflow channel, 19-injection channel, 20-injection channel, 21-spray nozzle, 22-spray head, 23-connection column, 24-connection disk, 25-cylinder, 26-cavity, 27-limit half-ring, 28-suspension ring, 29-thread sleeve, 30-suspension lug, 31-body, 32-hose, 33-workbench, 34-bottom wheel, 35-body

Detailed Description

The invention has the following advantages:

1. aiming at the 1 st point of the background technology, a hollow channel is reserved through the shape trend of the two space connecting rods 3, and fluid conveying is realized.

2. Aiming at the point 2 in the background art, the position and angle conversion between the spacing discs 2 can be realized more flexibly through the positions of the hangers 30 of the two space connecting rods 3, and more flexible deformation is realized.

3. Aiming at the 3 rd point of the background technology, the inner traction wire 14 pulls the swing rod 15 to rotate, so that multidirectional spraying is realized.

4. In the 4 th point of the background art, two working modes of directional spraying or rotary spraying of the parallel spraying head are switched through the relative motion between the two rotating discs.

5. Aiming at the 5 th point of the background technology, the working mode switching of relative rotation and integral rotation is realized through the combination and separation of the limiting half ring 27 and the cylinder 25.

6. Aiming at the 6 th point of the background technology, a driving structure that a driving wheel 11 and a driven ring 13 are matched with a traction wire is designed, and multifunctional and more flexible movement is realized by one motor.

Note: the foregoing designs are not sequential, each of which provides a distinct and significant advance in the present invention over the prior art.

The specific scheme is as follows:

as shown in the figure: a robotic system, comprising: the device comprises a workbench 33, a bottom wheel 34, a machine body 35, a driving module, a control module, a hydraulic module, a communication module and a snake-shaped arm module; the workbench 33 is arranged above the machine body 35, six bottom wheels 34 are arranged below the machine body 35, the directions of the six bottom wheels 34 are adjustable, and the driving module drives the bottom wheels 34 to move through a transmission mechanism;

the serpentine arm module comprises: the device comprises a first speed reducing motor 101, a second speed reducing motor 102, a third speed reducing motor 103, a fourth speed reducing motor 104, a driving block shell 1, a spacing disc 2, a space connecting rod 3, a spring device 4, a first traction wire 5, a second traction wire 6, a third traction wire 7, a fourth traction wire 8, a valve 9, a rotating motor 10, a driving wheel 11, a driving belt 12, a driven ring 13, an inner traction wire 14, a swing rod 15, a rotating disc 16, a fixed disc 17 and a hose 32; the fixed disc 17 is internally provided with an inflow channel 18 and a cavity 26, the rotating disc 16 is internally provided with an injection channel 19, a spraying channel 20 and a spraying opening 21, the spraying channel 20 is communicated with the spraying opening 21, the rotating disc 16 is provided with a spray head 22, a connecting column 23 is arranged below the rotating disc 16, a connecting disc 24 is arranged below the connecting column 23, a cylinder 25 is arranged below the rotating disc 16, the lower wall of the cavity 26 is provided with a limit semi-ring 27, the cylinder 25 and the connecting disc 24 are positioned in the cavity 26, and the central line of the cylinder 25 is not coincident with the central line of the rotating disc 16; the space connecting rod 3 comprises a main body 31 and hanging lugs 30 arranged above and below the main body, and a wire sleeve 29 is arranged on the spacing disc 2.

As shown in the figure: the control module controls the first to fourth speed reducing motors and the rotating motor 10 to move, and the communication module receives an external instruction and feeds back the external instruction to the control module to execute the instruction; the hydraulic module provides hydraulic power to the hose 32, and the driving block shell 1 is arranged above the workbench 33;

the driving block comprises a driving block shell 1, wherein first to fourth speed reducing motors are arranged in the driving block shell 1, the first to fourth speed reducing motors are connected with wire discs, the four wire discs are correspondingly connected with first to fourth traction wires, a plurality of partition discs 2 are connected above the driving block shell 1, two space connecting rods 3 are arranged between every two partition discs 2, the two space connecting rods 3 are divided into a first space connecting rod and a second space connecting rod, each hanging lug 30 is provided with a circular hole, a hanging ring 28 is arranged below the uppermost partition disc 2, a hanging ring 28 is arranged above the lowermost partition disc 2, hanging rings 28 are arranged above and below the rest partition discs 2, the first space connecting rod is aligned with the circular hole center line of the hanging lug 30 above the second space connecting rod, the first space connecting rod is aligned with the circular hole center line of the hanging lug 30 below the second space connecting rod, and the hanging rings 28 are connected with the circular holes through pivots; the first to fourth traction wires pass through the wire sleeve 29, and the upper ends of the first to fourth traction wires are connected in the wire sleeve 29 of the uppermost spacing disc 2; on the spacing disc 2, the height of the wire sleeve 29 is consistent with the height of the center line of the circular hole of the hanging ring 28 from the edge of the spacing disc 2.

As shown in the figure: the valve 9 is further arranged in the driving block shell 1, the driven ring 13 is arranged at the upper end of the shell of the valve 9 in a surrounding mode, the driven ring 13 and the driving wheel 11 are driven through the transmission belt 12, the driving wheel 11 is driven by the rotating motor 10, a wire coil is arranged on the driven ring 13, the internal traction wire 14 is wound on the wire coil, a central hole is formed in each partition plate 2, the hose 32 penetrates through the central hole, the hose 32 extends along the stacking direction of the partition plates 2, the fixed plate 17 is arranged at the upper end of the hose 32, the fixed plate 17 is rotatably connected to the upper surface of the uppermost partition plate 2, and the rotating plate 16 is arranged above the fixed plate 17;

the swing rod 15 is arranged on the outer edge of the rotating disc 16, the inner traction wire 14 is connected to the swing rod 15, the distances between the centers of the injection channel 19 and the spraying channel 20 and the center of the rotating disc 16 are the same, when the rotating disc 16 rotates relative to the fixed disc 17, the inflow channel 18 is sequentially communicated with the injection channel 19 and the spraying channel 20, the cylinder 25 is abutted against the lower surface of the cavity 26, and the cylinder 25 can be slidably abutted against or separated from the limit half ring 27; the spray channels 19 extend through the rotary disc 16, and the spray channels 20 do not extend through the rotary disc 16.

As shown in the figure: the upper end of the hose 32 is connected with the fixed disc 17 through a joint. The inner pull wire 14 is connected to the spool by a coil spring. The cross section of the main body 31 is a cambered surface. The outer surface of the hanging lug 30 comprises a circular arc surface. The spring means 4 are arranged between every two spacer discs 2. The number of spring devices 4 between each two spacer discs 2 is two. The first to fourth reduction motors are uniformly distributed along the circumference. The driving block shell 1 is cubic. The axis of the round hole above each space connecting rod 3 is vertical to the vertical plane where the axis of the round hole below is located.

The working principle of the invention is as follows: the control module controls the rotary motor 10 to work, and the control module drives the wire coil to rotate through the transmission of the driving wheel 11, the transmission belt 12 and the driven ring 13, so that the inner traction wire 14 is driven to rotate, the swing rod 15 is driven to rotate, and the swing rod 15 drives the rotary disc 16 to rotate; the injection position is reached when the inflow channel 18 communicates with the injection channel 19; when the inflow channel 18 is communicated with the spraying channel 20, the cylinder 25 abuts against the stop half ring 27, the rotating disc 16 is continuously rotated along the current rotating direction, and the rotating disc 16 and the fixed disc 17 rotate together, so that rotary spraying is realized.

The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. A robotic system, comprising: the device comprises a workbench (33), a bottom wheel (34), a machine body (35), a driving module, a control module, a hydraulic module, a communication module and a snake-shaped arm module; the workbench (33) is arranged above the machine body (35), six bottom wheels (34) are arranged below the machine body (35), the directions of the six bottom wheels (34) are adjustable, and the driving module drives the bottom wheels (34) to move through a transmission mechanism;

the serpentine arm module comprises: the device comprises a first speed reducing motor (101), a second speed reducing motor (102), a third speed reducing motor (103), a fourth speed reducing motor (104), a driving block shell (1), a spacing disc (2), a space connecting rod (3), a spring device (4), a first traction wire (5), a second traction wire (6), a third traction wire (7), a fourth traction wire (8), a valve (9), a rotating motor (10), a driving wheel (11), a driving belt (12), a driven ring (13), an inner traction wire (14), a swing rod (15), a rotating disc (16), a fixed disc (17) and a hose (32); an inflow channel (18) and a cavity (26) are arranged in the fixed disc (17), a spraying channel (19), a spraying channel (20) and a spraying opening (21) are arranged in the rotating disc (16), the spraying channel (20) is communicated with the spraying opening (21), a spray head (22) is arranged on the rotating disc (16), a connecting column (23) is arranged below the rotating disc (16), a connecting disc (24) is arranged below the connecting column (23), a cylinder (25) is arranged below the rotating disc (16), a limiting half ring (27) is arranged on the lower wall of the cavity (26), the cylinder (25) and the connecting disc (24) are located in the cavity (26), and the central line of the cylinder (25) is not coincident with the central line of the rotating disc (16); the space connecting rod (3) comprises a main body (31) and hanging lugs (30) arranged above and below the main body, and a wire sleeve (29) is arranged on the spacing disc (2);

the control module controls the first to fourth speed reducing motors and the rotating motor (10) to move, and the communication module receives an external instruction and feeds back the external instruction to the control module to execute the instruction; the hydraulic module provides hydraulic power to the hose (32), and the driving block shell (1) is arranged above the workbench (33);

the novel wire drawing machine is characterized in that first to fourth speed reducing motors are arranged in a driving block shell (1), the first to fourth speed reducing motors are connected with wire discs, the four wire discs are correspondingly connected with first to fourth drawing wires, a plurality of spacing discs (2) are connected above the driving block shell (1), two space connecting rods (3) are arranged between every two spacing discs (2), the two space connecting rods (3) are divided into a first space connecting rod and a second space connecting rod, a round hole is formed in each hanging lug (30), a hanging ring (28) is arranged below the uppermost spacing disc (2), a hanging ring (28) is arranged above the lowermost spacing disc (2), hanging rings (28) are arranged above and below the rest spacing discs (2), the central lines of the round holes of the hanging lugs (30) above the first space connecting rod and the second space connecting rod are aligned, the central lines of the round holes of the hanging lugs (30) below the first space connecting rod and the second space connecting rod are aligned, and the hanging rings (28) are connected with the round holes through pivots; the first to fourth traction wires penetrate through the wire sleeve (29), and the upper ends of the first to fourth traction wires are connected in the wire sleeve (29) of the uppermost spacing disc;

the valve (9) is further arranged in the driving block shell (1), the driven ring (13) is arranged at the upper end of the shell of the valve (9) in a surrounding mode, the driven ring (13) and the driving wheel (11) are driven through the driving belt (12), the driving wheel (11) is driven by the rotating motor (10), a wire coil is arranged on the driven ring (13), the internal traction wire (14) is wound on the wire coil, a central hole is formed in each partition disc (2), the hose (32) penetrates through the central hole, the hose (32) extends along the stacking direction of the partition discs (2), the fixed disc (17) is arranged at the upper end of the hose (32), the fixed disc (17) is rotatably connected to the upper surface of the uppermost partition disc (2), and the rotating disc (16) is arranged above the fixed disc (17);

the swing rod (15) is arranged on the outer edge of the rotating disc (16), the internal traction wire (14) is connected to the swing rod (15), the distances between the centers of the spraying channel (19) and the spraying channel (20) and the center of the rotating disc (16) are the same, when the rotating disc (16) rotates relative to the fixed disc (17), the inflow channel (18), the spraying channel (19) and the spraying channel (20) are sequentially communicated, the cylinder (25) is abutted to the lower surface of the cavity (26), and the cylinder (25) can be slidably abutted to or separated from the limit half ring (27); the spray channels (19) extend through the rotary disc (16), the spray channels (20) not extending through the rotary disc (16); the spring device (4) is arranged between every two spacing discs (2); the number of the spring devices (4) between every two spacing discs (2) is two; the first to fourth speed reduction motors are uniformly distributed along the circumference; the driving block shell (1) is cubic; the axis of the round hole above each space connecting rod (3) is vertical to the vertical surface of the round hole below.

2. A robotic system as claimed in claim 1, wherein: the upper end of the hose (32) is connected with the fixed disc (17) through a joint.

3. A robotic system as claimed in claim 1, wherein: the inner traction wire (14) is connected with the wire coil through a coil spring.

4. A robotic system as claimed in claim 1, wherein: the cross section of the main body (31) is an arc surface.

5. A robotic system as claimed in claim 1, wherein: the outer surface of the hanging lug (30) comprises a circular arc surface.