CN113858065B - Continuum robot shape sensor encapsulation anchor clamps based on V type groove substrate - Google Patents
Continuum robot shape sensor encapsulation anchor clamps based on V type groove substrate Download PDFInfo
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- CN113858065B CN113858065B CN202111040538.1A CN202111040538A CN113858065B CN 113858065 B CN113858065 B CN 113858065B CN 202111040538 A CN202111040538 A CN 202111040538A CN 113858065 B CN113858065 B CN 113858065B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
- G02B6/46—Processes or apparatus adapted for installing or repairing optical fibres or optical cables
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Optics & Photonics (AREA)
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- Mechanical Engineering (AREA)
- Optical Transform (AREA)
Abstract
A continuum robot shape sensor packaging clamp based on a V-shaped groove substrate comprises a base tensioning device, a guide rail, a sliding block and a positioning device; the guide rail is installed between the left base tensioning device and the right base tensioning device through bolts, a plurality of sliding blocks are installed on the guide groove of the guide rail, and each sliding block is provided with two positioning devices. The invention can rapidly and accurately position the axial, circumferential and radial position accuracy of the fiber grating sensor, and can be freely adjustable in the axial and radial directions, thereby improving the packaging efficiency, the packaging accuracy and the adjustability.
Description
Technical Field
The invention belongs to the field of sensor packaging equipment, and particularly relates to a continuous body robot shape sensor packaging clamp based on a V-shaped groove base material.
Background
Due to the characteristics of small size, high flexibility, good adaptability and the like, the continuum robot can enter a narrow space and is widely applied to the fields of minimally invasive surgery, deep cavity detection, disaster relief and the like. Shape detection is very important during continuum control. Common three-dimensional shape detection modes include binocular vision, electromagnetic detection and fiber bragg grating shape sensors. Binocular vision is huge, so that the binocular vision cannot enter a narrow space; electromagnetic detection is limited in practical use because it is susceptible to electromagnetic interference. The fiber bragg grating shape sensor is widely applied to shape detection of a continuum robot due to the characteristics of magnetic field interference resistance, high precision, good instantaneity, good adaptability and the like, but is difficult to package due to the small package size.
The existing continuous body robot-shaped sensor packaging clamp has low packaging efficiency, low packaging precision and poor adjustability, so that the packaging precision of the shape sensor is low, the packaging variety is single, and the position precision of the shape sensor is low.
Disclosure of Invention
The invention aims to provide a continuous body robot shape sensor packaging clamp based on a V-shaped groove base material, so as to solve the problems.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a continuum robot shape sensor packaging clamp based on a V-shaped groove substrate comprises a base tensioning device, a guide rail, a sliding block and a positioning device; the guide rail is installed between the left base tensioning device and the right base tensioning device through bolts, a plurality of sliding blocks are installed on the guide groove of the guide rail, and each sliding block is provided with two positioning devices.
Further, the base tensioning device comprises a base, a reed, a pulley and a ratchet wheel; three ratchet wheels are arranged at the outer edge of the base in equal radian, reed plates are arranged on the side face of each ratchet wheel, the reed plates are fixedly arranged on the base, and the end parts of the reed plates are tightly pressed on the ratchet wheels; pulleys are arranged on the bases at the inner sides of the three ratchet wheels along the radial direction of each ratchet wheel.
Further, the ratchet wheel is fixedly arranged on the base through a ratchet wheel bracket; the pulley is fixedly arranged on the base through a pulley bracket; the three pulley brackets form a herringbone hole, and the pulleys are arranged in the herringbone hole.
Further, a rope winding groove is formed in the center of the ratchet wheel; a tensioning rope is wound in the rope winding groove and is connected with the optical fiber through a pulley.
Further, the positioning device comprises a chassis, a guide block, a spiral disc, a crotch disc and a center disc; the chassis, the spiral disc, the crotch disc and the central disc are coaxially arranged and are connected through bolts, the spiral disc is sleeved on the outer side of the central disc, and the crotch disc is arranged on one side of the spiral disc and one side of the central disc; the three guide blocks are arranged on the chassis in an equal radian.
Further, the chassis comprises a base, guide grooves, optical fiber placing grooves, substrate placing holes and a disc, wherein the base and the disc are vertically arranged, two mounting holes are formed in the base, three guide grooves are uniformly distributed on the disc along the circumferential direction of the circle, the guide blocks are in a stepped shape and are arranged in the guide grooves, the substrate placing holes are formed in the joint positions among the three guide grooves, and the three optical fiber placing grooves are uniformly distributed around the holes; the guide block comprises a step block and a cylinder, and the cylinder is arranged in the middle of the step block.
Further, three spiral grooves are uniformly distributed on the disk surface of the spiral disk, a round hole is formed in the middle of the spiral disk, the round hole is matched with the outer circular surface of the center disk, and the cylinder of the guide block is placed in the three spiral grooves of the spiral disk; the central disc is in a disc shape, a placement hole is formed in the center of the central disc, and three optical fiber passing grooves are uniformly distributed around the placement hole; the crotch plate is in a disc shape, and the center of the crotch plate is provided with a herringbone slot hole; a crotch plate is placed on one side of the spiral plate and one side of the central plate, the mounting holes of the crotch plate are aligned with the positioning holes on the chassis, and the screws are screwed into the positioning holes from one side of the crotch plate.
Furthermore, the guide rail is in a strip-shaped structure, and a graduated scale is arranged on the side surface of the guide rail; the bottom of the base is provided with a guide rail positioning groove, and the guide rails are arranged in the guide rail positioning groove and are mounted together through bolts.
Compared with the prior art, the invention has the following technical effects:
the invention can rapidly and accurately position the axial, circumferential and radial position accuracy of the fiber grating sensor. The base tensioning devices on two sides tension the rope through the rotating ratchet wheel so as to tension the optical fiber connected with the rope, so that the optical fiber is in a tensioning and straightening state in the whole packaging process; secondly, the substrate material is prepared by adopting high-performance nylon in a 3D printing mode, three V-shaped grooves with 120-degree intervals are uniformly distributed in the circumferential direction of the substrate, and the V-shaped grooves can ensure certain precision axial and radial precision; the optical fiber is pressed into the V-shaped groove from the optical fiber placing groove respectively by adopting the mode that three spiral grooves are tightly screwed into three guide blocks for clamping, so that the V-shaped groove of the optical fiber and the substrate is always kept in a close state in the pasting process, and the circumferential and radial precision of the shape sensor package is ensured; fourth, the guide rail and the sliding block are matched through the groove surface of the guide groove, and the axial precision of the sliding block in the axial direction of the guide rail is guaranteed by a graduated scale on the side edge of the guide rail.
Is adjustable in axial direction and radial direction
In order to ensure that the axial direction is adjustable, the diameter of the base material mounting hole is relatively large, the clamping between the optical fiber and the base material adopts a mode that three spiral grooves are tightly screwed into three guide blocks to clamp, and the optical fiber is pressed into the V-shaped groove from the optical fiber placing groove respectively to realize free clamping centering; in order to ensure axial adjustability, the guide rail and the sliding block are matched through the groove surface of the guide groove, positioning holes are formed in the side edges of the guide rail, axial positioning of the sliding block on the guide rail is realized through screwing in the screw, and the axial position of the sliding block on the guide rail is ensured through a graduated scale on the side edge of the guide rail.
The invention can rapidly and accurately position the axial, circumferential and radial position accuracy of the fiber grating sensor, and can be freely adjustable in the axial and radial directions, thereby improving the packaging efficiency, the packaging accuracy and the adjustability.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a continuum robotic shape sensor package furniture;
FIG. 2 is a schematic structural view of a base tensioner;
FIG. 3 is a schematic view of a base structure;
FIG. 4 is a schematic view of a ratchet mechanism;
FIG. 5 is a schematic view of a positioning device;
FIG. 6 is a schematic view of the chassis structure;
FIG. 7 is a schematic view of a guide block;
FIG. 8 is a schematic view of a spiral plate structure;
FIG. 9 is a schematic view of a baffle plate structure;
FIG. 10 is a schematic view of the structure of a center plate;
FIG. 11 is a schematic view of a slider structure;
fig. 12 is a schematic view of a rail structure.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
embodiment one:
referring to fig. 1 to 12, a novel robot shape sensor packaging jig is characterized by comprising a left base tensioning device 81, a right base tensioning device 81, a guide rail 82, N sliding blocks 83 and 2N positioning devices 84; the guide rail 82 is mounted between the left and right base tensioners 81 by bolts, and N sliders 83 are mounted on guide grooves of the guide rail 82 to be able to slide laterally on the guide rail 82, and each slider is mounted with left and right 2 sets of positioning devices 84 thereon.
Embodiment two:
this embodiment is substantially identical to embodiment one, and features are as follows:
the structure of the base tensioning device I comprises a base 7, six reeds 8, three pulleys 9 and three ratchet wheels 10; the base is provided with a guide rail positioning groove 71, a reed mounting hole 72, a ratchet bracket 73, a ratchet mounting hole 74, a pulley bracket 75, a pulley mounting hole 76 and a herringbone hole 77; the ratchet is cylindrical and is provided with a ratchet hole 101, ratchet teeth 102 and a rope winding groove 103; pulley 9 passes through the bolt and installs on pulley support 75 with pulley mounting hole 76, and ratchet 10 passes through the bolt, ratchet mounting hole 74 and ratchet hole 101 installs on ratchet support 73, and reed 8 passes through the screw and installs the hole 72 above the base, and the tip of reed 8 pastes on ratchet teeth 102 surface, prevents ratchet 10 reverse rotation, and the winding has the tensioning rope on the ratchet, then passes through the pulley, makes one end and optical fiber connection.
The structure of the positioning device IV comprises a chassis 2, three guide blocks 3, a spiral plate 4, a crotch plate 5 and a center plate 6; the structure of the chassis comprises a base 21 and a disc 22, wherein the base 21 and the disc 22 are vertically arranged, two mounting holes are formed in the base 21, three guide grooves 23 are uniformly distributed on the disc along the circumferential direction of a circle, the disc is in a stepped shape, a substrate placing hole 25 is formed in the middle of the disc, and three optical fiber placing grooves 24 are uniformly distributed around the holes; three mounting holes 26 are uniformly distributed in the middle of the three optical fiber placing grooves 24; the basal body of the guide block is a ladder block 31, and a cylinder 32 is arranged in the middle; three spiral grooves 41 are uniformly distributed on the surface of the spiral disc, and a round hole 42 is arranged in the middle of the spiral disc and matched with the outer circular 64 surface of the central disc; the central disk is in a disc shape, a substrate placement hole 61 is formed in the middle of the central disk, three optical fiber placement grooves 62 are uniformly distributed around the hole, three mounting holes 63 are uniformly distributed in the middle of the optical fiber placement grooves, and the outer surface of the central disk is a cylindrical surface 64; the crotch plate is in a disc shape, a herringbone slotted hole 52 is arranged in the middle, and three mounting holes 51 are uniformly distributed around the crotch plate; the three guide blocks 3 are installed in the guide grooves 23 of the chassis, the center plate 6 is placed on the side, with the guide grooves, of the disc 22 of the chassis 2, the installation holes 63 of the center plate 6 are aligned with the installation holes 26 on the chassis 2, the round holes 42 of the spiral plate 4 are matched with the outer cylindrical surfaces 64 of the center plate 6, the cylinders 32 of the guide blocks 3 are placed in the three spiral grooves 41 of the spiral plate 4, the crotch plate 5 is placed on one side of the spiral plate 4 and the center plate 6, the installation holes 51 of the crotch plate 5 are aligned with the positioning holes 26 on the chassis 2, and the screws are screwed into the positioning holes 26 from one side of the crotch plate 5.
The guide rail 1 is in a strip structure, two mounting holes 11 are respectively formed in the left side and the right side, a guide groove 12 is formed in the top, and a graduated scale 13 is arranged on the front side; the guide rail 1 is put into a guide rail positioning groove 71 of the base 7, the mounting holes 11 of the guide rail 1 and the mounting holes on the base 7 are aligned, and then the guide rail 1 and the mounting holes are mounted together by bolts; the lateral graduated scale 13 ensures the accurate position of the slide block 11 in the axial direction of the guide rail 1;
the sliding block 11 is of a cuboid structure, a groove surface 111 is arranged in the middle, a positioning hole 112 is arranged on the side edge, and four mounting holes 113 are formed in the top; the groove surface 111 of the sliding block 11 is matched with the guide groove 12 of the guide rail 1, the side positioning holes 112 are screwed into the screws to realize the axial positioning of the sliding block 11 on the guide rail 1, and two positioning devices IV are arranged on the left side and the right side of the upper surface of the sliding block 11.
The components are assembled according to an assembly drawing. Six tensioning ropes are respectively wound on ratchet wheels of the left base tensioning device and the right base tensioning device and then pass through pulleys. A layer of glue is coated in the V-shaped groove of the base material in advance, the base material sequentially penetrates through the base material placing holes of the positioning device, three optical fibers sequentially penetrate through the optical fiber placing grooves of the positioning device, two ends of each optical fiber are respectively connected with the tensioning ropes at the corresponding circumferential positions, and the ratchet wheels are screwed to straighten the optical fibers. And adjusting the axial position of the positioning device on the guide rail, and screwing the positioning screw on the sliding block. The spiral discs of the positioning devices are screwed respectively, the optical fibers are pressed into the V-shaped grooves of the base material through the guide blocks, and then glue is coated on grating areas again. After the glue is fixed, the spiral disc is unscrewed, the positioning screw is unscrewed, the tensioning rope is taken down, and the fiber grating shape sensor is taken out.
In order to improve the packaging efficiency, the base material of the fiber bragg grating-shaped sensor is prepared by adopting high-performance nylon in a 3D printing mode, three V-shaped grooves with 120-degree intervals are uniformly distributed in the circumferential direction of the base material, and rapid circumferential and radial positioning can be performed only by pressing the optical fiber into the V-shaped grooves during packaging; the spiral disc is screwed in the clamping process between the optical fibers and the base material, the cylindrical positions of the guide blocks are limited by the three spiral grooves of the spiral disc, so that the three guide blocks are driven to clamp simultaneously, the three optical fibers are pressed into the V-shaped grooves from the optical fiber placing grooves simultaneously, and the positioning efficiency is improved; the guide rail and the sliding block are matched through the groove surface of the guide groove, a positioning hole is formed in the side edge of the guide rail, and the sliding block is rapidly and axially positioned on the guide rail through screwing in a screw.
In order to ensure the installation precision, the base tensioning devices on two sides tension the rope through the rotating ratchet wheel so as to tension the optical fiber connected with the rope, and ensure that the optical fiber is in a tensioning and straightening state in the whole encapsulation process; secondly, the substrate material is prepared by adopting high-performance nylon in a 3D printing mode, three V-shaped grooves with 120-degree intervals are uniformly distributed in the circumferential direction of the substrate, and the V-shaped grooves can ensure certain precision axial and radial precision; the optical fiber is pressed into the V-shaped groove from the optical fiber placing groove respectively by adopting the mode that three spiral grooves are tightly screwed into three guide blocks for clamping, so that the V-shaped groove of the optical fiber and the substrate is always kept in a close state in the pasting process, and the circumferential and radial precision of the shape sensor package is ensured; fourth, the guide rail and the sliding block are matched through the groove surface of the guide groove, and the axial precision of the sliding block in the axial direction of the guide rail is guaranteed by a graduated scale on the side edge of the guide rail.
In order to ensure radial adjustability to adapt to packaging of fiber bragg grating shape sensors with different diameters, the diameter of a base material mounting hole is relatively large, three spiral grooves are adopted for clamping between an optical fiber and a base material by screwing three guide blocks for clamping, and the optical fiber is pressed into a V-shaped groove from an optical fiber placing groove and is fixed; in order to ensure axial adjustability, the guide rail and the sliding block are matched through the groove surface of the guide groove, positioning holes are formed in the side edges of the guide rail, axial positioning of the sliding block on the guide rail is realized through screwing in the screw, and the axial position of the sliding block on the guide rail is ensured through a graduated scale on the side edge of the guide rail.
Claims (4)
1. The continuous robot shape sensor packaging clamp based on the V-shaped groove base material is characterized by comprising a base tensioning device (81), a guide rail (82), a sliding block (83) and a positioning device (84); the guide rail (82) is arranged between the left base tensioning device (81) and the right base tensioning device (81) through bolts, a plurality of sliding blocks (83) are arranged on the guide groove of the guide rail (82), and each sliding block (83) is provided with two positioning devices (84);
the base tensioning device (81) comprises a base (7), a reed (8), a pulley (9) and a ratchet wheel (10); three ratchet wheels (10) are arranged at the outer edge of the base (7) in equal radian, reed (8) are arranged on the side face of each ratchet wheel (10), the reed (8) is fixedly arranged on the base (7), and the end part of the reed (8) is tightly pressed on the ratchet wheel (10); pulleys (9) are arranged on the base (7) at the inner sides of the three ratchet wheels (10) along the radial direction of each ratchet wheel (10);
the positioning device (84) comprises a chassis (2), a guide block (3), a spiral disc (4), a crotch disc (5) and a center disc (6); the chassis (2), the spiral disc (4), the crotch disc (5) and the central disc (6) are coaxially arranged, the spiral disc (4) is sleeved on the outer side of the central disc (6) through bolt connection, and the crotch disc (5) is arranged on one side of the spiral disc (4) and one side of the central disc (6); the three guide blocks (3) are arranged on the chassis (2) in equal radian;
the chassis comprises a base (21), guide grooves (23), optical fiber placing grooves (24), substrate placing holes (25) and a disc (22), wherein the base (21) and the disc (22) are vertically arranged, two mounting holes are formed in the base (21), three guide grooves (23) are uniformly distributed on the disc along the circumferential direction of the circle, the guide blocks (3) are arranged in the guide grooves (23) in a stepped shape, the substrate placing holes (25) are formed in the joint positions among the three guide grooves (23), and three optical fiber placing grooves (24) are uniformly distributed around the holes; the guide block comprises a step block (31) and a cylinder (32), and the cylinder (32) is arranged in the middle of the step block (31);
three spiral grooves (41) are uniformly distributed on the surface of the spiral disc, a round hole (42) is formed in the middle of the spiral disc, the round hole (42) is matched with the outer circular surface of the center disc, and the cylinder (32) of the guide block (3) is placed in the three spiral grooves (41) of the spiral disc (4); the central disk is in a disk shape, a placement hole (61) is arranged in the center, and three optical fiber passing grooves (62) are uniformly distributed around the placement hole (61); the crotch plate is in a disc shape, and a Y-shaped slot hole (52) is arranged at the center; a crotch plate (5) is placed on one side of the spiral plate (4) and the central plate (6), a mounting hole (51) of the crotch plate (5) is aligned with a positioning hole (26) on the chassis (2), and a screw is screwed into the positioning hole (26) from one side of the crotch plate (5).
2. The continuum robot shape sensor packaging clamp based on the V-groove substrate according to claim 1, wherein the ratchet wheel (10) is fixedly arranged on the base (7) through a ratchet wheel bracket (73); the pulley (9) is fixedly arranged on the base (7) through a pulley bracket (75); three pulley brackets (75) form a herringbone hole (77), and the pulley (9) is arranged in the herringbone hole (77).
3. A continuum robot shape sensor packaging jig based on V-groove substrates according to claim 2, characterized in that the ratchet wheel (10) is centrally provided with a rope groove (103); a tensioning rope is wound in the rope winding groove (103), and the tensioning rope is connected with the optical fiber through a pulley.
4. The continuous body robot shape sensor packaging clamp based on the V-shaped groove base material according to claim 1, wherein the guide rail (82) is in a strip-shaped structure, and a graduated scale (13) is arranged on the side surface of the guide rail (82); the bottom of the base (7) is provided with a guide rail positioning groove (71), and a guide rail (82) is arranged in the guide rail positioning groove (71) and is mounted together through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111040538.1A CN113858065B (en) | 2021-09-06 | 2021-09-06 | Continuum robot shape sensor encapsulation anchor clamps based on V type groove substrate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111040538.1A CN113858065B (en) | 2021-09-06 | 2021-09-06 | Continuum robot shape sensor encapsulation anchor clamps based on V type groove substrate |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113858065A CN113858065A (en) | 2021-12-31 |
| CN113858065B true CN113858065B (en) | 2023-05-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111040538.1A Active CN113858065B (en) | 2021-09-06 | 2021-09-06 | Continuum robot shape sensor encapsulation anchor clamps based on V type groove substrate |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506751A (en) * | 2011-10-31 | 2012-06-20 | 中国科学院长春光学精密机械与物理研究所 | Self-centering clamp for detecting optical element |
| CN203550976U (en) * | 2013-09-29 | 2014-04-16 | 同济大学 | Nondestructive packaging clamp of fiber grating sensing network |
| DE102015115925B3 (en) * | 2015-09-21 | 2016-12-08 | fos4X GmbH | Fiber optic chuck, fiber optic sensor and manufacturing process |
| CN106064358B (en) * | 2016-06-25 | 2018-06-01 | 上海大学 | Fiber grating shape sensor fixture |
| CN208952977U (en) * | 2018-08-23 | 2019-06-07 | 北京通为科技有限公司 | The package platforms of fiber-optic grating sensor |
| CN213984960U (en) * | 2021-01-11 | 2021-08-17 | 中国人民解放军火箭军工程大学 | Novel fiber grating packaging clamp |
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2021
- 2021-09-06 CN CN202111040538.1A patent/CN113858065B/en active Active
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