CN112276922A - Modular snake-shaped robot arm based on 3RRS parallel mechanism - Google Patents
Modular snake-shaped robot arm based on 3RRS parallel mechanism Download PDFInfo
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- CN112276922A CN112276922A CN202011255421.0A CN202011255421A CN112276922A CN 112276922 A CN112276922 A CN 112276922A CN 202011255421 A CN202011255421 A CN 202011255421A CN 112276922 A CN112276922 A CN 112276922A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 230000003068 static effect Effects 0.000 claims abstract description 32
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 claims description 17
- 238000012423 maintenance Methods 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 241000270295 Serpentes Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000011664 nicotinic acid Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention provides a modularized S-shaped robot arm based on a 3RRS parallel mechanism, which comprises a plurality of RRS parallel modules which are sequentially connected in series, wherein each RRS parallel module comprises a static platform, a movable platform and three branched chains arranged between the static platform and the movable platform, the upper ends of the three branched chains are arranged on the lower surface of the static platform to form a regular triangle, the lower ends of the three branched chains are arranged on the upper surface of the static platform to form a regular triangle, each branched chain comprises two side plates, a connecting rod and a steering engine, the lower ends of the two side plates are respectively and rotatably connected with the static platform, the lower ends of the connecting rods are respectively and rotatably connected with the upper ends of the two side plates, the upper ends of the connecting rods are hinged with the movable platform, the output ends of the steering engines are fixedly connected with the. The invention has the beneficial effects that: the target position can be accurately reached, the rigidity and the flexibility are high, the detection and maintenance tasks in narrow areas of the underground comprehensive pipe gallery can be completed, the rigidity of the RRS parallel module is high, and the requirement on the torque of the steering engine is low.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a modularized S-shaped robot arm based on a 3RRS parallel mechanism.
Background
At present, along with the continuous increase of the urbanization process, the construction length of the underground comprehensive pipe gallery is continuously increased, and the difficulty of the maintenance work of narrow and complex parts of the underground comprehensive pipe gallery is continuously increased. With the continuous development of science and technology, the application of snakelike arm is also more and more extensive, is used for solving the detection and maintenance work in narrow and small complicated workspace more. The snake-shaped mechanical arm is designed by taking a biological snake as a prototype and has the characteristics of small cross section area, contractibility, multiple degrees of freedom and large flexibility. However, the existing snake-shaped robot is composed of a plurality of joints, each joint is provided with a driver, and the tail end of the snake-shaped mechanical arm reaches a designated position by informing the drivers. However, the mechanism has insufficient flexibility and rigidity, cannot flexibly reach a target position, has small load, and has overlarge torque requirement on a driving motor.
Disclosure of Invention
In view of the above, in order to solve the problems in flexibility and rigidity of the existing serpentine manipulator, embodiments of the present invention provide a modular serpentine manipulator based on a 3RRS parallel mechanism.
The embodiment of the invention provides a modularized S-shaped robot arm based on a 3RRS parallel mechanism, which comprises a plurality of RRS parallel modules which are sequentially connected in series, wherein each RRS parallel module comprises a static platform, a movable platform positioned above the static platform and three branched chains arranged between the static platform and the movable platform, the upper ends of the three branched chains are arranged on the lower surface of the static platform to form a regular triangle, the lower ends of the three branched chains are arranged on the upper surface of the static platform to form a regular triangle, each branched chain comprises two side plates, a connecting rod and a steering engine which are symmetrically arranged relative to a vertical plane, the lower ends of the two side plates are respectively rotatably connected with the static platform, the lower ends of the connecting rods are respectively rotatably connected with the upper ends of the two side plates, the upper ends of the connecting rods are hinged with the movable platform, the output ends of the steering engines are fixedly connected with the connecting rods for, and the movable platform of any RRS parallel module is connected with the static platform of an adjacent RRS parallel module.
Furthermore, the rotating axes of the upper ends of the two side plates are overlapped, and the rotating axes of the lower ends of the two side plates are overlapped.
Furthermore, each branched chain also comprises a U-shaped bracket, the bracket is fixed on the static platform, and the lower ends of the two side plates are respectively and rotatably connected with the two opposite side surfaces of the bracket.
Furthermore, the lower end of the connecting rod is provided with a U-shaped rotating groove, and the upper ends of the two side plates are respectively and rotatably connected with two opposite side surfaces of the rotating groove.
Further, each curb plate upper end through the upper bearing with it rotates a groove side and rotates to be connected, the lower extreme through lower bearing with a side of support rotates to be connected, it is equipped with echelonment last mounting groove and last screw to rotate the groove side outside, the upper bearing set up in go up in the mounting groove, go up the screw and run through last bearing hole and threaded connection the curb plate, the side outside of support is equipped with echelonment lower mounting groove and lower bolt, the lower bearing set up in the mounting groove down, the bolt runs through down the lower bearing hole with the curb plate is connected through fastening nut.
Furthermore, a gasket is arranged between the side plate and the fastening nut.
Furthermore, the upper end of the connecting rod is hinged with the movable platform through a ball head fisheye, the lower end of the ball head fisheye is fixedly connected with the connecting rod, and the upper end of the ball head fisheye is embedded into the movable platform and connected with the movable platform through a fastening screw.
Furthermore, the steering engine is fixed between the two side plates, a clamping groove is formed in one side face of the rotating groove, the output end of the steering engine is a large steering engine arm, and the large steering engine arm is clamped into the clamping groove and fixed through mounting screws.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: the modular snake-shaped robot arm based on the 3RRS parallel mechanism is formed by connecting a plurality of RRS parallel modules in series, each RRS parallel module can be retracted inwards or expanded outwards, the movement of the movable platform relative to the static platform is adjusted by controlling the rotation angle of the steering engine at each branched chain, different rotation modes of the snake-shaped robot arm can be realized, the target position can be accurately reached, the rigidity and the flexibility are high, the detection and maintenance tasks of narrow areas of an underground comprehensive pipe gallery can be completed, the application value is high, meanwhile, the rigidity of the RRS parallel modules is high, and the requirement on the torque of the steering engine is low.
Drawings
FIG. 1 is a perspective view of an RRS parallel module;
FIG. 2 is a first front view of an RRS parallel module;
FIG. 3 is a first front view of an RRS parallel module;
FIG. 4 is a schematic cross-sectional view A-A of the RRS parallel module of FIG. 3;
FIG. 5 is a schematic view of the connection of the bracket 10 to the side plate 5 in FIG. 2;
FIG. 6 is a schematic view of the connection of the connecting rod 6 to the side plate 5 in FIG. 2;
FIG. 7 is a schematic diagram of a modular serpentine robotic arm extension based on a 3RRS parallel mechanism according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a modular serpentine robotic arm retraction based on a 3RRS parallel mechanism according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a 3RRS parallel mechanism based bending of a modular serpentine robot arm according to an embodiment of the present invention.
In the figure: the device comprises 1-RRS parallel modules, 2-static platforms, 3-movable platforms, 4-branched chains, 5-side plates, 6-connecting rods, 7-steering engines, 8-ball head fisheyes, 9-rotating grooves, 10-brackets, 11-upper bearings, 12-upper bolts, 13-lower bearings, 14-lower screws, 15-steering engine large arms, 16-mounting screws, 17-fixing nuts, 18-fastening screws and 19-fastening nuts.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 7, 8 and 9, an embodiment of the present invention provides a modular serpentine robot arm based on a 3RRS parallel mechanism, which includes a plurality of RRS parallel modules 1, and all the RRS parallel modules 1 are sequentially connected in series to form a serpentine long arm.
Specifically, referring to fig. 1, 2, 3 and 4, each RRS parallel module 1 includes a static platform 2, a dynamic platform 3 and three branched chains 4, the dynamic platform 3 is disposed above the static platform 2, the dynamic platform 3 and the static platform 2 are disposed opposite to each other up and down, and the static platform 2 and the dynamic platform 3 are both circular discs. The three branched chains 4 are dispersedly arranged between the static platform 2 and the movable platform 3 and are not interfered with each other. The upper ends of the three branched chains 4 are arranged on the lower surface of the static platform 2 to form a regular triangle, and the lower ends of the three branched chains 4 are arranged on the upper surface of the static platform 2 to form a regular triangle.
Each branched chain 4 comprises two side plates 5, a connecting rod 6 and a steering engine 7 which are symmetrically arranged relative to a vertical plane. The two side plates 5 are both oval and long-strip-shaped flat plates, the lower ends of the two side plates 5 are respectively rotatably connected with the static platform 2, the lower ends of the connecting rods 6 are respectively rotatably connected with the upper ends of the two side plates 5, the upper ends of the two side plates 5 rotate around the same horizontal straight line, and the rotating axes of the upper ends of the two side plates 5 are overlapped; the lower ends of the two side plates 5 rotate around the other horizontal straight line at the same time, the rotating axes of the lower ends of the two side plates 5 are overlapped, and the two horizontal straight lines are arranged in parallel.
Furthermore, each branched chain 4 further comprises a U-shaped support 10, the support 10 is fixed on the static platform 2, and the lower ends of the two side plates 5 are respectively rotatably connected with two opposite side surfaces of the support 10. The lower end of the connecting rod 6 is provided with a U-shaped rotating groove 9, and the upper ends of the two side plates 5 are respectively and rotatably connected with two opposite side surfaces of the rotating groove 9.
Specifically, referring to fig. 5 and 6, the notch of the rotating groove 9 and the opening of the bracket 10 are disposed opposite to each other, the upper ends of the two side plates 5 are located between the two side surfaces of the rotating groove 9, and the lower ends of the two side plates are located between the two side surfaces of the bracket 10. Each 5 upper ends of curb plate through last bearing 11 with 9 sides of rotating groove rotate to be connected, the lower extreme through lower bearing 13 with a side of support 10 rotates to be connected, 9 sides of rotating groove outside is equipped with echelonment last mounting groove and last screw 12, last bearing 11 set up in go up in the mounting groove, last screw 12 runs through 11 hole and threaded connection of last bearing curb plate 5, the side outside of support 10 is equipped with echelonment lower mounting groove and lower bolt 14, lower bearing 13 set up in the mounting groove down, bolt 14 runs through down bearing 13 hole with curb plate 5 connects through fastening nut 19, curb plate 5 with still be equipped with gasket 20 between the fastening nut to strengthen the fastening effect. So that the upper end of each side plate 5 can rotate around the upper screw 12 and the lower end can rotate around the lower bolt 14.
The output end of the steering engine 7 is fixedly connected with the connecting rod 6 and used for driving the connecting rod 6 to rotate. Specifically, the steering engine 7 is fixed between the two side plates 5, a clamping groove is formed in one side face of the rotating groove 9, the output end of the steering engine 7 is a steering engine large arm 16, and the steering engine large arm 16 is clamped into the clamping groove and fixed through a mounting screw 16. So that the steering engine 7 can drive the connecting rod 6 to rotate.
The upper end of the connecting rod 6 is hinged with the movable platform 3, the upper end of the connecting rod 6 is hinged with the movable platform 3 through a ball head fisheye 8, a fixing nut 17 is arranged at the upper part of the connecting rod 6, and the lower end of the ball head fisheye 8 is in threaded connection with the fixing nut 17, so that the lower end of the ball head fisheye 8 is fixedly connected with the connecting rod 6. The upper end of the ball head fisheye 8 is embedded into a clamping groove in the movable platform 3, and a fastening screw 18 is arranged on the upper portion of the movable platform 3, namely, the upper end of the ball head fisheye 8 is embedded into the movable platform 3 and connected through the fastening screw 18.
For any RRS parallel module 1, each branched chain 4 can independently extend and bend, namely, under the driving action of a steering engine 7, the connecting rod 6 and the two side plates 5 rotate relatively, and the motion of the movable platform 3 relative to the static platform 2 is adjusted.
Further, please refer to fig. 7, 8 and 9, for the modular serpentine robot arm based on the 3RRS parallel mechanism in the present application, the movable platform 3 of any one of the RRS parallel modules 1 is connected to the adjacent stationary platform 2 of the RRS parallel module 1, and each of the RRS parallel modules 1 is controlled by the steering engine 7 to move relative to the movable platform 3 and the stationary platform 2, so that different rotation modes of the serpentine robot arm can be realized, and the modular serpentine robot arm has an expanded state shown in fig. 7, a contracted state shown in fig. 8, and a bent state shown in fig. 9, has greater rigidity and flexibility, can accurately reach a target position, can complete detection and task maintenance of a narrow area of an underground utility tunnel, and can complete detection and maintenance tasks of the narrow area of the underground utility tunnel.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A modularization snakelike robot arm based on 3RRS parallel mechanism which characterized in that: comprises a plurality of RRS parallel modules which are connected in series in sequence, each RRS parallel module comprises a static platform, a movable platform which is arranged above the static platform and three branched chains which are arranged between the static platform and the movable platform, the upper ends of the three branched chains are arranged on the lower surface of the static platform to form a regular triangle, the lower ends of the three branched chains are arranged on the upper surface of the static platform to form a regular triangle, each branched chain comprises two side plates, a connecting rod and a steering engine which are symmetrically arranged relative to a vertical plane, the lower ends of the two side plates are respectively rotatably connected with the static platform, the lower ends of the connecting rods are respectively rotatably connected with the upper ends of the two side plates, the upper ends of the connecting rods are hinged with the movable platform, the output end of the steering engine is fixedly connected with the connecting rod and used for driving the connecting rod to rotate, and the movable platform of any RRS parallel module is connected with the static platform of an adjacent RRS parallel module.
2. The modular serpentine robotic arm based on a 3RRS parallel mechanism of claim 1, wherein: the rotating axes of the upper ends of the two side plates are overlapped, and the rotating axes of the lower ends of the two side plates are overlapped.
3. The modular serpentine robotic arm based on a 3RRS parallel mechanism of claim 1, wherein: each branched chain also comprises a U-shaped bracket, the bracket is fixed on the static platform, and the lower ends of the two side plates are respectively and rotatably connected with the two opposite side surfaces of the bracket.
4. The modular serpentine robotic arm based on a 3RRS parallel mechanism of claim 3, wherein: the lower end of the connecting rod is provided with a U-shaped rotating groove, and the upper ends of the two side plates are respectively and rotatably connected with the two opposite side surfaces of the rotating groove.
5. The modular serpentine robotic arm based on a 3RRS parallel mechanism of claim 4, wherein: each curb plate upper end through the upper bearing with it rotates a groove side and rotates to be connected, the lower extreme through lower bearing with a side of support rotates to be connected, it is equipped with echelonment last mounting groove and last screw to rotate the groove side outside, the upper bearing sets up in going up in the mounting groove, it runs through to go up the screw upper bearing hole and threaded connection the curb plate, the side outside of support is equipped with echelonment lower mounting groove and lower bolt, the lower bearing set up in the mounting groove down, the bolt runs through down the bearing hole with the curb plate is connected through fastening nut.
6. The modular serpentine robotic arm based on a 3RRS parallel mechanism of claim 5, wherein: and a gasket is also arranged between the side plate and the fastening nut.
7. The modular serpentine robotic arm based on a 3RRS parallel mechanism of claim 5, wherein: the upper end of the connecting rod is hinged with the movable platform through a ball head fisheye, the lower end of the ball head fisheye is fixedly connected with the connecting rod, and the upper end of the ball head fisheye is embedded into the movable platform and connected through a fastening screw.
8. The modular serpentine robotic arm based on a 3RRS parallel mechanism of claim 4, wherein: the steering wheel is fixed between the two side plates, a clamping groove is formed in one side face of the rotating groove, the output end of the steering wheel is a large steering wheel arm, and the large steering wheel arm is clamped into the clamping groove and fixed through mounting screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011255421.0A CN112276922A (en) | 2020-11-11 | 2020-11-11 | Modular snake-shaped robot arm based on 3RRS parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011255421.0A CN112276922A (en) | 2020-11-11 | 2020-11-11 | Modular snake-shaped robot arm based on 3RRS parallel mechanism |
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| CN112276922A true CN112276922A (en) | 2021-01-29 |
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| CN202011255421.0A Pending CN112276922A (en) | 2020-11-11 | 2020-11-11 | Modular snake-shaped robot arm based on 3RRS parallel mechanism |
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|---|---|---|---|---|
| KR100820321B1 (en) * | 2006-12-27 | 2008-04-07 | 한국원자력연구원 | A parallel robotic joint and its use for multi-linked mobile robot |
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| KR20180095171A (en) * | 2017-02-17 | 2018-08-27 | 부산대학교 산학협력단 | Series and parallel combined manipulator |
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| CN211654109U (en) * | 2020-01-29 | 2020-10-09 | 上海赢浩机电设备有限公司 | 3-RRS + UPU type four-degree-of-freedom motion simulator actuating mechanism |
| CN213918287U (en) * | 2020-11-11 | 2021-08-10 | 中国地质大学（武汉） | Modular snake-shaped robot arm based on 3RRS parallel mechanism |
-
2020
- 2020-11-11 CN CN202011255421.0A patent/CN112276922A/en active Pending
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| KR20180095171A (en) * | 2017-02-17 | 2018-08-27 | 부산대학교 산학협력단 | Series and parallel combined manipulator |
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| CN211654109U (en) * | 2020-01-29 | 2020-10-09 | 上海赢浩机电设备有限公司 | 3-RRS + UPU type four-degree-of-freedom motion simulator actuating mechanism |
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Non-Patent Citations (1)
| Title |
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| 汪满新 等: "计及重力的 3-ＲＲS 并联机构静刚度分析", 《农 业机械学报》, vol. 49, no. 11, 30 November 2018 (2018-11-30) * |
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