CN112873190A - Multi-section rope-driven continuous tensioning integral robot - Google Patents
Multi-section rope-driven continuous tensioning integral robot Download PDFInfo
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- CN112873190A CN112873190A CN202110042857.XA CN202110042857A CN112873190A CN 112873190 A CN112873190 A CN 112873190A CN 202110042857 A CN202110042857 A CN 202110042857A CN 112873190 A CN112873190 A CN 112873190A
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- rope
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
Abstract
The invention provides a continuous tensioning integral robot driven by multiple sections of ropes, which comprises a base; the centers of the basic units are provided with elastic connecting pieces and are elastically connected with the basic units; a plurality of connection mechanisms; and three driving mechanisms arranged in tandem; the driving mechanism comprises a plurality of ropes and a plurality of driving units for driving the ropes to move, and the front ends of the ropes are connected with the driving units. The invention designs a multi-section rope-driven continuous tensioning integral robot which integrates three deformation modes of stretching, bending and twisting and has flexible movement capability. The robot body designed by the invention has simple and flexible structure and good reconfigurability. The robot is based on the basic unit, the connecting mechanism and the base, the body structure of the robot is formed by the mutual connection of the spring and the rope, the modeling difficulty of dynamic analysis is reduced while the assembly is easy, the model accuracy is high, and a better control effect can be achieved.
Description
Technical Field
The invention relates to the technical field of multi-degree-of-freedom robots, in particular to a continuous robot for winding and grabbing large-size targets, and particularly relates to a continuous tensioning integral robot driven by multiple sections of ropes.
Background
In recent years, continuous robots have become a research hotspot in the robot field, and have very wide application, such as medical treatment, detection, aerospace and the like. Compare in traditional rigid robot, the continuum robot has more degrees of freedom, can realize nimble motion, and adaptability to different operational environment is stronger, except that the end can install the executor and accomplish the operation, the robot body can replace the function of executor, accomplishes big deformation actions such as snatching, winding.
The tension integral structure is composed of a compression member and a tension member, and the tension member and the compression member in the tension integral structure can be combined to be used as a drive to control the pose of the robot and can also be used as an actuator to realize the function of winding and grabbing a target object. The continuous robot applying the integral tensioning structure has the characteristics of light weight, low energy consumption and variable rigidity according to different prestress applied to the tensioning member.
At present, the application of the integral tensioning structure in the robot field is mostly concentrated in the spherical robot, and in recent years, the application field of the serial continuous robot is gradually emphasized. However, the research and application of the tandem tensioning whole robot are still very rare, the technology is relatively immature, and particularly the flexibility of the motion is yet to be enhanced. Therefore, the multi-section driven continuous tensioning integral robot with flexible motion capability and multiple deformation modes has important research significance.
Disclosure of Invention
In order to realize the rope-driven continuous robot for grabbing objects in a winding mode and improve the motion flexibility of the robot for tensioning the whole structure, the invention designs the continuous tensioning whole robot which integrates three deformation modes of stretching, bending and twisting and is driven by a plurality of sections of ropes and has flexible motion capability.
The technical means adopted by the invention are as follows:
a multi-segment rope driven continuous type tension monoblock robot comprising:
a base;
the plurality of basic units are annular and are positioned at the rear part of the base, and the plurality of basic units are coaxially arranged in front and back; elastic connecting pieces are arranged in the centers of all the basic units except the last basic unit and are elastically connected with the basic units;
the front end of the connecting mechanism is connected with the elastic connecting piece in the basic unit positioned in the front part, and the rear end of the connecting mechanism is connected with the outer wall of the basic unit positioned in the rear part; and
three driving mechanisms arranged in tandem, the driving mechanism at the front end being mounted on the front surface of the base, the driving mechanism at the middle being mounted on one of the base units located on the front side, and the driving mechanism at the rear being mounted on one of the base units located on the rear side;
the driving mechanism comprises a plurality of ropes and a plurality of driving units for driving the ropes to move, and the front ends of the ropes are connected with the driving units;
the rear end of the rope of the driving mechanism at the front end passes through the base and the plurality of basic units and is fixedly connected with the basic unit of the driving mechanism close to the middle;
the rear end of the rope of the driving mechanism in the middle is fixedly connected with the base unit of the driving mechanism close to the rear part after passing through the plurality of base units;
the rear end of the rope of the rear driving mechanism passes through the plurality of basic units and is fixedly connected with the basic unit at the rear end.
Further, elastic connecting piece is triangle-shaped, and all processes spring mounting groove I in every angle department thereof, the inner wall of elementary cell with the part processing that spring mounting groove I is corresponding has spring mounting groove II, and the both ends of spring penetrate respectively spring mounting groove I with in the spring mounting groove II to pass through the bolt fastening.
Further, the connecting mechanism is three connecting rods which are obliquely arranged.
Further, the driving unit comprises a driving motor support arranged on the base or the basic unit, a driving motor arranged on the driving motor support, a take-up reel arranged on the output end of the driving motor through a shaft cover and a key, and a direction-changing pulley arranged on the base or the basic unit, wherein the front end of the rope is connected with the take-up reel through the direction-changing pulley.
Further, the rope linearly passes through the plurality of basic units, the axes of the plurality of ropes in the same driving mechanism are parallel to the axis of the basic unit, and the two corresponding ropes in two adjacent driving mechanisms are coaxial.
Or the rope passes through a plurality of the basic units in a folding line, and the axis of the rope is intersected with the axis of the basic units.
Bending and telescoping deformation can be achieved by changing the length of the rope. If the driving lengths of the three groups of ropes are different, the robot can realize the motion mode of bending deformation, and if the driving lengths of the three groups of ropes are the same, the robot can realize the motion mode of stretching deformation. The rope threading mode is changed, the vertical string is changed into the oblique penetrating threading, and then the length of the driving rope is changed again, so that the motion modes of bending, stretching and twisting deformation of the robot can be realized.
Compared with the prior art, the invention has the following advantages:
1. the robot body designed by the invention has simple and flexible structure and good reconfigurability. The robot is based on the basic unit, the connecting mechanism and the base, the body structure of the robot is formed by connecting the spring and the rope, the modeling difficulty of dynamic analysis is reduced while the robot is easy to assemble, the model accuracy is high, and a better control effect can be achieved. Compared with the traditional continuous robot, such as an inflatable robot, the damaged body is difficult to repair. The robot parts designed by the invention can be flexibly assembled, and the damaged parts in the parts can be replaced and repaired.
2. The robot designed by the invention is very light and has high material utilization rate. The whole tensioning structure only consists of the tension members and the compression members with small mass, so that the proportion of rigid bodies is greatly reduced under the condition that the volume of the robot is the same, and the whole tensioning structure has the advantage of light weight compared with the traditional rigid body robot.
3. The robot designed by the invention has variable rigidity characteristic. By varying the tension of the drive cable, a variable stiffness characteristic is achieved, which allows the same configuration to be maintained under different end loads. Under the characteristic, the robot can adaptively lift heavy objects, and the power consumption is reduced.
4. The robot designed by the invention has three deformation capabilities of bending, stretching and twisting. The axial telescopic motion can reduce the occupied space of the robot in a non-working state, and the flexibility and the reachable working space of the robot are increased by using a multi-section driving mode. The combination of multiple motion modes expands the work task that the robot can realize.
5. The robot designed by the invention has strong expandability. Under the condition that the robot body can be wound and grabbed as an actuator, the tail end of the robot body can be added with a traditional end actuator to realize the function of cooperative work with the robot body. Meanwhile, different movement effects can be realized through the combination of different numbers or different sizes of basic units, so that different work tasks are completed.
For the above reasons, the present invention can be widely applied to the fields of robots and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a multi-segment rope-driven continuous tensioning robot according to an embodiment of the present invention (through which a rope passes in a straight line).
Fig. 2 is a comparison diagram of a base unit to which a drive mechanism is not attached and a base unit to which a drive mechanism is attached in the embodiment of the present invention (the left side is to which no drive mechanism is attached, and the right side is to which a drive mechanism is attached).
Fig. 3 is a schematic structural diagram of a driving unit according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of an elastic connecting member according to an embodiment of the present invention.
Fig. 5 is a view of a rope broken line passing through a rope in the embodiment of the invention.
Fig. 6 is a simulation schematic of a single-drive bending deformation scheme of the present invention.
Fig. 7 is a simulation diagram of the single-drive telescopic deformation scheme of the present invention.
FIG. 8 is a schematic diagram of a single drive torsional deformation scheme simulation of the present invention.
FIG. 9 is a schematic diagram of a simulation of a three-drive common application scheme of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1 to 9, a multi-segment rope driven continuous tension robot includes:
a base 1;
the base units 2 are annular and are positioned at the rear part of the base 1, and the base units 2 are coaxially arranged in front and back; elastic connecting pieces 3 are arranged in the centers of all the basic units 2 except the last basic unit 2 and are elastically connected with the basic units 2;
a plurality of connecting mechanisms 4, the foremost connecting mechanism 4 is located between the base 1 and the first elastic connecting piece 3 located at the front, and connects the base 1 with the first elastic connecting piece 3 located at the front, the other connecting mechanisms 4 are respectively located between two adjacent base units 2, and the front end of the connecting mechanism 4 is connected with the elastic connecting piece 3 located in the base unit 2 located at the front, and the rear end is connected with the side wall of the base unit 2 located at the rear; and
three driving mechanisms 5 arranged in tandem, the driving mechanism 5 at the front end being mounted on the front surface of the base 1, the driving mechanism 5 at the middle being mounted on one of the base units 2 located on the front side among the plurality of base units 2, and the driving mechanism 5 at the rear being mounted on one of the base units 2 located on the rear side among the plurality of base units 2;
the driving mechanism 5 comprises three ropes 6 and three driving units 7 for driving the ropes to move, and the front ends of the ropes 6 are connected with the driving units 7;
the rear end of the rope 6 of the driving mechanism 5 at the front end passes through the base 1 and the plurality of base units 2 and is fixedly connected with the base unit 2 close to the driving mechanism 5 in the middle;
the rear end of the rope 6 of the middle driving mechanism 5 passes through a plurality of base units 2 and is fixedly connected with the base unit 2 of the driving mechanism 5 close to the rear; the structure of the base unit 2 on which the drive mechanism 5 is mounted is such that there is only one more plate on which the drive mechanism is mounted than the other base units 2, as shown in fig. 2.
The rear end of the rope 6 of the rear drive mechanism 5 is passed through a plurality of the base units 2 and then fixedly connected to the base unit 2 at the rear end.
The connecting mechanism 4 is three connecting rods which are obliquely arranged.
The driving unit 7 comprises a driving motor support 71 mounted on the base 1 or the base unit 2, a driving motor 72 mounted on the driving motor support 71, a take-up reel 74 mounted on an output end of the driving motor 72 through a shaft cover 73 and a key, and a direction-changing pulley 75 mounted on the base 1 or the base unit 2 through a pulley bracket 76, wherein the front end of the rope 6 is connected with the take-up reel 74 through the direction-changing pulley 75.
The rope 6 is made of polyethylene nylon rope and other materials.
The basic unit 2 is made of 3D printing photosensitive resin or light alloy materials.
As shown in fig. 1, the rope 6 passes through a plurality of the base units 2 in a straight line, and the axes of the plurality of ropes 6 in one driving mechanism 5 are parallel to the axis of the base unit 2, and two corresponding ropes 6 in two adjacent driving mechanisms 5 are coaxial.
In the embodiment, another connection mode of the rope 6 is disclosed, and a cross lead wire is arranged for realizing the twisting motion, as shown in fig. 5, the rope 6 passes through a plurality of the basic units 2 in a broken line, and the axis of the rope 6 is intersected with the axis of the basic unit 2. As shown in fig. 5, A, B, C are numbers of three ropes 6, and the directions of the three ropes 6 are: A-A1-A2-A3-A4, B-B1-B2-B3-B4 and C-C1-C2-C3-C4. Different movement postures can be realized through different wiring combinations.
Fig. 6 is a schematic view of the bending deformation driven by a single rope according to the present invention.
Fig. 7 is a schematic view of the axial expansion and contraction of the present invention. The motion mode is a schematic diagram that the driving mechanism 5 drives three ropes 6 at the same time, and the robot performs axial motion from the original state when the driving lengths of the ropes 6 are the same.
Fig. 8 is a schematic view of the present invention. In the case of the cross-stringing of fig. 5, 3 ropes 6 are driven simultaneously by the same length. (a) In order to compare the original state with the torsional state, the robot reaches the point B after torsional motion from the point A. (b) And (c) an axial view and a plan view after twisting to the point B, respectively.
Fig. 9 is a schematic diagram of multi-stage driving according to the present invention. The 9 groups of drives simultaneously drive 9 ropes 6, and the robot has a motion diagram of independent bending among sections, so that the robot has higher flexibility under the condition of multi-section driving.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A multi-segment rope driven continuous tensioning whole robot is characterized by comprising:
a base;
the plurality of basic units are annular and are positioned at the rear part of the base, and the plurality of basic units are coaxially arranged in front and back; elastic connecting pieces are arranged in the centers of all the basic units except the last basic unit and are elastically connected with the basic units;
the front end of the connecting mechanism is connected with the elastic connecting piece in the basic unit positioned in the front part, and the rear end of the connecting mechanism is connected with the outer wall of the basic unit positioned in the rear part; and
three driving mechanisms arranged in tandem, the driving mechanism at the front end being mounted on the front surface of the base, the driving mechanism at the middle being mounted on one of the base units located on the front side, and the driving mechanism at the rear being mounted on one of the base units located on the rear side;
the driving mechanism comprises a plurality of ropes and a plurality of driving units for driving the ropes to move, and the front ends of the ropes are connected with the driving units;
the rear end of the rope of the driving mechanism at the front end passes through the base and the plurality of basic units and is fixedly connected with the basic unit of the driving mechanism close to the middle;
the rear end of the rope of the driving mechanism in the middle is fixedly connected with the base unit of the driving mechanism close to the rear part after passing through the plurality of base units;
the rear end of the rope of the rear driving mechanism passes through the plurality of basic units and is fixedly connected with the basic unit at the rear end.
2. The multi-segment rope driven continuous tensioning robot as claimed in claim 1, wherein the elastic connection member is triangular, a spring installation groove I is formed at each corner of the elastic connection member, a spring installation groove II is formed at a portion of the inner wall of the base unit corresponding to the spring installation groove I, and both ends of the spring penetrate into the spring installation groove I and the spring installation groove II respectively and are fixed by bolts.
3. A multi-segment rope driven continuous tensioning robot according to claim 2, wherein the linkage is three links arranged in an inclined manner.
4. A multi-segment rope driven continuous tensioning robot according to claim 2, wherein the driving unit comprises a driving motor support installed on the base or the base unit, a driving motor installed on the driving motor support, a take-up reel installed on an output end of the driving motor, and a direction-changing pulley installed on the base or the base unit, and the front end of the rope is connected with the take-up reel after passing through the direction-changing pulley.
5. A multi-segment rope driven continuous tensioning robot according to claim 1, wherein the rope passes through a plurality of said base units in a straight line, and the axes of a plurality of said ropes in one drive mechanism are parallel to the axis of said base unit, and two corresponding ropes in two adjacent drive mechanisms are coaxial.
6. A multi-segment rope driven continuous type tension monoblock robot as claimed in claim 1, wherein said rope passes through a plurality of said base units in a zigzag line, and an axis of said rope intersects an axis of said base units.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110042857.XA CN112873190A (en) | 2021-01-13 | 2021-01-13 | Multi-section rope-driven continuous tensioning integral robot |
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| CN202110042857.XA CN112873190A (en) | 2021-01-13 | 2021-01-13 | Multi-section rope-driven continuous tensioning integral robot |
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| CN112873190A true CN112873190A (en) | 2021-06-01 |
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| CN202110042857.XA Pending CN112873190A (en) | 2021-01-13 | 2021-01-13 | Multi-section rope-driven continuous tensioning integral robot |
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| CN113733093A (en) * | 2021-09-17 | 2021-12-03 | 清华大学深圳国际研究生院 | Method for predicting dynamic output of flexible mechanical arm based on modeling mode |
| CN114147766A (en) * | 2021-12-31 | 2022-03-08 | 中山大学 | Trunk-imitating continuous robot based on tension integral structure |
| CN114367969A (en) * | 2022-01-27 | 2022-04-19 | 山东大学 | Pipeline crawling robot based on tensioning principle |
| CN114587806A (en) * | 2022-02-16 | 2022-06-07 | 大连理工大学 | Supplementary intelligent wheelchair of endowment with continuous type arm |
| WO2023138071A1 (en) * | 2022-01-19 | 2023-07-27 | 苏州大学 | Under-actuated continuum mechanical arm |
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| CN114587806B (en) * | 2022-02-16 | 2023-02-03 | 大连理工大学 | Supplementary intelligent wheelchair of endowment with continuous type arm |
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