CN114227696A - Bionic rigid-flexible coupling variable-rigidity continuum robot and control method - Google Patents
Bionic rigid-flexible coupling variable-rigidity continuum robot and control method Download PDFInfo
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Abstract
A bionic rigid-flexible coupling variable-rigidity continuum robot and a control method are provided, the continuum robot comprises a robot body, a continuum mechanism, a main framework, a rigidity adjusting mechanism, a driving mechanism, a sensor unit, a control processing module and a power supply module, the continuum mechanism comprises a continuum mechanism I, a continuum mechanism II and a continuum mechanism III, the continuum mechanism I, the continuum mechanism II and the continuum mechanism III are composed of a plurality of circular rigid segments, elastic rods and compression springs, the rigidity adjusting mechanism is composed of a plurality of groups of friction sliding blocks, springs, pressing blocks, pull rods, connecting shafts, rotary discs, torsion springs and pull ropes, and the control method comprises a pose control method and a rigidity control method. The continuum robot has the advantages of compact structure, portability, smoothness, controllable rigidity and the like, and can realize winding and grabbing of objects.
Description
Technical Field
The invention belongs to the crossing field of robotics, control science, computer science and sensing technology, and particularly relates to a bionic rigid-flexible coupling variable-rigidity continuum robot and a control method.
Background
The traditional industrial mechanical arm consists of a rigid connecting rod and discrete joints, and the tail end of the mechanical arm reaches a specified working position by simulating the given track of the arm of a human in a large-range working space. However, the rigid mechanical arm has less freedom degree and insufficient flexibility, and inevitable rigid collision can occur in the face of a complex working environment, so that potential safety hazards exist. The continuum robot is a novel bionic robot, is different from a traditional operation mechanical arm, and the simulation objects of the bionic continuum robot are flexible biological organs such as elephant noses, octopus tentacles and the like. The main motion form of the bionic continuum robot is represented by the stretching and the bending deformation of an elastic structure, and the bionic continuum robot has better adaptability and flexibility compared with the traditional industrial mechanical arm, can generate the bending deformation according to the environment in a complex and narrow environment, avoids collision with the complex operation environment, has very strong obstacle avoidance capacity and environment adaptability, and has very great application value in application scenes that the traditional industrial mechanical arm is difficult to work, such as rescue, medical treatment, deep cavity detection and the like. However, the stiffness of the continuum robot is limited, and it is difficult to complete the task in the face of operation with high requirements for partial accuracy and stiffness, so researchers have proposed stiffness adjustment methods, such as patent publication nos: CN107718040A discloses a robot rigidity-controllable joint and a rigidity control method thereof, which utilizes the thermal effect of current to change the shape of a shape memory alloy sheet metal, change the distance between an outer layer elastic framework and an inner layer elastic framework of a rigidity-variable structure part, and realize the wall thickness change of the rigidity-variable structure part, thereby switching the rigidity-controllable joint between a rigid working state and a flexible working state, but the problem of slow response speed of rigidity change caused by the temperature change time in the control process is solved; patent publication No.: CN202622798U discloses a magnetorheological continuum robot manipulator, which can adjust the magnetic field strength of magnetorheological fluid acting in a hose by changing the current of a coil, thereby controlling the rheological property of the magnetorheological fluid, realizing the conversion between liquid and solid, and playing the role of adjusting the rigidity and damping of the whole manipulator, but has the problems of complex structure, poor stability, slow response, heat generation interference of a magnetic circuit and the like in practical application. Aiming at the problems that the flexibility and rigidity of structural joints of the conventional continuum robot are difficult to balance, the driving mode is low and complex in rigidity, the load of the operation tail end is small and the control precision is not high, the defects of various continuum robots in the patents are overcome, the invention provides the bionic rigid-flexible coupling variable-rigidity continuum robot and the control method, and the bionic rigid-flexible coupling variable-rigidity continuum robot has certain help effect on widening the application range and the scene of the continuum robot.
Disclosure of Invention
Aiming at the problems that the bionic continuous robot cannot bear excessive load when being in contact operation with certain precision requirements and people invent various variable-rigidity continuous mechanisms by utilizing internal antagonism, a negative pressure blocking mechanism, shape memory alloy and the like, but most of the variable-rigidity continuous mechanisms have the defects of inconvenience in control, small variable rigidity, slow response speed and the like, the bionic rigid-flexible coupling variable-rigidity continuous robot and the control method are designed, and the variable-rigidity continuous robot has the advantages of adaptability and flexibility, capability of bearing certain load, large variable rigidity, high response speed and convenience in control.
The invention provides a bionic rigid-flexible coupling rigidity-variable continuum robot, which consists of a robot body, a continuum mechanism, a main framework, a rigidity adjusting mechanism, a driving mechanism, a control processing module, a sensor unit and a power supply, the machine body is used for installing, fixing and supporting the mechanism, the unit and the module, the continuum mechanism realizes the bending and winding functions of the robot, the main framework penetrates through the center of the continuum mechanism to serve as a framework, the rigidity adjusting mechanism realizes the rigidity adjusting function of the robot, the driving mechanism realizes the control of the continuum mechanism, the main framework and the rigidity adjusting mechanism, the control processing module realizes the driving of the driving mechanism, the sensor unit realizes the detection of the pose of the robot, and the power supply supplies power to each mechanism, unit and module of the robot;
the machine body comprises a first motor base, a second motor base, a third motor base, a first shell, a second shell and a third shell, wherein the first motor base is arranged at the lower end of the first shell and the upper end of the second shell, the second motor base is arranged at the lower end of the second shell and the upper end of the third shell, the third motor base is arranged at the lower end of the third shell, and the base is arranged at the upper end of the first shell;
the continuous body mechanism comprises a continuous body mechanism I, a continuous body mechanism II and a continuous body mechanism III, and consists of circular rigid segments, elastic rods and compression springs, wherein the elastic rods penetrate through slotted holes in at least 2 circular rigid segments to connect at least 2 circular rigid segments in series, the compression springs are sleeved on the elastic rods and arranged between each circular rigid segment, and the continuous body mechanism I, the continuous body mechanism II and the continuous body mechanism III are sequentially connected in series to form a three-section assembly;
the main framework penetrates through central holes in all circular rigid segments of the first continuum mechanism, the second continuum mechanism and the third continuum mechanism, the farthest end of the main framework is fixed with the circular rigid segment at the farthest end of the third continuum mechanism, the nearest end of the main framework is fixed with the circular rigid segment at the nearest end of the first continuum mechanism, and compression springs sleeved on the main framework are arranged among all the circular rigid segments.
As a further improvement of the structure of the invention, the proximal circular rigid segment of the second continuum mechanism is adjacent to the distal circular rigid segment of the first continuum mechanism, the proximal circular rigid segment of the third continuum mechanism is adjacent to the distal circular rigid segment of the second continuum mechanism, the second continuum mechanism is axially twisted by forty degrees relative to the first continuum mechanism, the third continuum mechanism is axially twisted by forty degrees relative to the second continuum mechanism, one end of each of the three elastic rods of the first continuum mechanism is fixed to the slot hole on the most distal circular rigid segment of all the circular rigid segments of the first continuum mechanism, the other end of each of the three elastic rods of the first continuum mechanism extends out of the slot hole on the most proximal circular rigid segment of all the circular rigid segments, one end of each of the three elastic rods of the second continuum mechanism is fixed to the slot hole on the most distal circular rigid segment of all the circular rigid segments of the second continuum mechanism, the other end of the elastic rod of the third continuous body mechanism penetrates through all the circular rigid segments of the first continuous body mechanism and is flush with the other ends of the three elastic rods of the first continuous body mechanism, one end of each elastic rod of the third continuous body mechanism is fixed to the groove hole of the circular rigid segment at the farthest end of all the circular rigid segments of the third continuous body mechanism, and the other end of each elastic rod of the third continuous body mechanism penetrates through all the circular rigid segments of the second continuous body mechanism and all the circular rigid segments of the first continuous body mechanism and is flush with the other ends of the three elastic rods of the first continuous body mechanism after extending out of the groove holes of all the circular rigid segments of the third continuous body mechanism.
The structure of the invention is further improved, the rigidity adjusting mechanism comprises a friction sliding block, a spring, a pressing block, a pull rod, a connecting shaft, a turntable, a torsional spring and a pull rope, and the pressing block is arranged on each circular rigid segment and is arranged in a groove at the edge of the circular rigid segment; the spring is sleeved on the middle positioning cylinder of the pressing block; the central groove of the friction sliding block is sleeved with a spring and is arranged in the guide groove of the pressing block; the pull rod is hinged with the pressing block through a connecting shaft; the connecting rod is hinged with the pull rod through a connecting shaft; the friction sliding blocks, the springs, the pressing blocks, the pull rods, the connecting rods and the connecting shafts are divided into three groups in each circular rigid segment and are uniformly distributed in the grooves of the circular rigid segments; the rotary table is hinged with the three groups of connecting rods through connecting shafts, and the main framework penetrates through a middle through hole of the rotary table; one end of the torsion spring is fixed on the horizontal through hole of the turntable, and the other end of the torsion spring is fixed on the horizontal through hole of the circular rigid segment; one end of the pull rope is fixed on the pull rope hole of the connecting rod, and the other end of the pull rope penetrates through the pull rope hole and the wire passing hole of the circular rigid segment and is fixed on the winches, and the pull ropes on all the circular rigid segments in the first continuum mechanism, the second continuum mechanism and the third continuum mechanism are respectively fixed on the three winches.
As a further improvement of the structure of the invention, the driving mechanism comprises push rod motors, push rod motor connecting pieces, winch motors and winches, the middle parts of nine push rod motors are fixed with the first motor base, the rear ends of the nine push rod motors are fixed with the second motor base, the nine push rod motor connecting pieces are respectively fixed with the shaft of one push rod motor and are arranged in the guide groove of the first motor base, the three winch motors are fixed with the third motor base, and the three winches are respectively fixed with the shaft of one winch motor.
As the structure of the invention is further improved, the sensor unit comprises a camera and an infrared distance measuring sensor; the camera is fixed on the base, and the three infrared distance measuring sensors are uniformly distributed and fixed on the circular rigid segment at 120 degrees.
The invention provides a control method of a bionic rigid-flexible coupling variable-rigidity continuum robot, which comprises a robot rigidity control method and is characterized in that:
the robot rigidity control method specifically comprises the following steps:
when the winch motor rotates and looses the pull rope, the torsion spring rotates to drive the rotary disc to rotate and return to the initial position, so that the pressure of the friction slide block on the elastic rod is reduced, the three elastic rods are locked, the rigidity performance of the continuum mechanism is improved, when the winch motor rotates and looses the pull rope, the torsion spring rotates to drive the rotary disc to rotate and return to the initial position, and the three elastic rods are loosened, the rigidity control can be realized;
the robot pose control method specifically comprises the following steps:
s1: inputting given end pose data to a control processing module
S2: the control processing module calculates the motor propulsion displacement required by reaching a given terminal pose
S3: the control processing module controls the push rod motor to correspondingly stretch and retract
S4: the sensor unit measures the actual terminal pose and transmits the pose to the control processing module
S5: the control processing module judges whether the actual terminal pose reaches the given terminal pose, if not, the step 2 is carried out; if yes, the pose control is finished.
Has the advantages that:
the bionic rigid-flexible coupling rigidity-variable continuum robot has the advantages of compact structure by adopting a method of adding a rigidity adjusting mechanism on a circular rigid segment of a continuum mechanism and adjusting pose and rigidity by using a motor; the device is provided with a rigidity adjusting mechanism, and the tightness of the pull rope adjusts the friction force between the friction slide block and the elastic rod to realize the controllable rigidity; all the mechanisms are controlled by nine push rod motors and three winch motors controlled by the control processing module, so that the mechanism has the advantage of simple control; the full mechanical design, rigidity control and pose control are separated, and the device has the advantage of quick response.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a perspective view of the continuum robot overall mechanism of the present invention;
FIG. 3 is a perspective view of the continuum robot of the present invention;
FIG. 4 is a view showing the internal structure of the body of the continuum robot of the present invention;
FIG. 5 is a top view of the body of the continuum robot of the present invention;
FIG. 6 is a perspective view of the continuum mechanism of the continuum robot of the present invention;
FIG. 7 is a perspective view of a continuum mechanism of the continuum robot of the present invention;
FIG. 8 is a three-dimensional view of a continuum mechanism of the continuum robot of the present invention;
FIG. 9 is a perspective view of the stiffness adjustment mechanism of the continuum robot of the present invention, shown as 1;
FIG. 10 is a perspective view of the stiffness adjustment mechanism of the continuum robot of the present invention, shown as FIG. 2;
FIG. 11 is a schematic diagram of the continuum robot with the stiffness adjustment mechanism increased in stiffness;
fig. 12 is a perspective view of a drive mechanism of the continuous body robot according to the present invention 1;
fig. 13 is a perspective view of a drive mechanism of the continuous body robot according to the present invention;
FIG. 14 is a flowchart of a pose control method of the continuum robot of the present invention;
fig. 15 is a schematic diagram of a continuum mechanism position adjustment state of the continuum robot of the present invention.
Reference numerals: 1. a body; 1-1, a motor base I; 1-2, a motor base II; 1-3, motor base III; 1-4, a base; 1-5, a first shell; 1-6 and a second shell; 1-7, shell III; 2. a continuum mechanism; 2-1, a continuum mechanism I; 2-2, a second continuum mechanism; 2-3, a continuum mechanism III; 2-4, round rigid segments; 2-5, elastic rod; 2-6, compressing the spring; 3. a main framework; 4-1, a friction sliding block; 4-2, a spring; 4-3, briquetting; 4-4, a pull rod; 4-5, connecting rod; 4-6, connecting shaft; 4-7, a turntable; 4-8, torsion spring; 4-9, pulling rope; 5. a drive mechanism; 5-1, a push rod motor; 5-2, a push rod motor connecting piece; 5-3, a winch motor; 5-4, a winch; 6. a control processing module; 7. a sensor unit; 7-1, a camera; 7-2, infrared distance measuring sensors; 8. a power source.
Detailed Description
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
example (b): referring to fig. 1, a bionic rigid-flexible coupling rigidity-variable continuum robot is composed of a robot body 1, a continuum mechanism 2, a main framework 3, a rigidity adjusting mechanism 4, a driving mechanism 5, a control processing module 6, a sensor unit 7 and a power supply 8, wherein the robot body 1 is used for installing, fixing and supporting the mechanisms, the units and the modules, the continuum mechanism 2 achieves the bending winding function of the robot, the main framework 3 penetrates through the center of the continuum mechanism 2 to serve as the framework, the rigidity adjusting mechanism 4 achieves the rigidity adjusting function of the robot, the driving mechanism 5 achieves the control of the continuum mechanism 2, the main framework 3 and the rigidity adjusting mechanism 4, the control processing module 6 achieves the driving of the driving mechanism 5, the sensor unit 7 achieves the detection of the pose of the robot, the power supply 8 is each mechanism of the robot, The unit and the module are powered.
Referring to fig. 2, 3, 4 and 5, the machine body 1 comprises a first motor base 1-1, a second motor base 1-2, a third motor base 1-3, a base 1-4, a first shell 1-5, a second shell 1-6 and a third shell 1-7, wherein the first motor base 1-1 is arranged at the lower end of the first shell 1-5 and the upper end of the second shell 1-6, the second motor base 1-2 is arranged at the lower end of the second shell 1-6 and the upper end of the third shell 1-7, the third motor base 1-3 is arranged at the lower end of the third shell 1-7, and the base 1-4 is arranged at the upper end of the first shell 1-5.
Referring to fig. 2, 6, 7 and 8, the continuum mechanism 2 comprises a continuum mechanism I2-1, a continuum mechanism II 2-2 and a continuum mechanism III 2-3, and is composed of circular rigid segments 2-4, elastic rods 2-5 and compression springs 2-6, the elastic rods 2-5 pass through slotted holes on the circular rigid segments 2-4 to connect the circular rigid segments 2-4 in series, the compression springs 2-6 are sleeved on the elastic rods 2-5 and are arranged between the circular rigid segments 2-4, the continuum mechanism I2-1, the continuum mechanism II 2-2 and the continuum mechanism III 2-3 are sequentially connected in series to form a three-segment assembly, and the circular rigid segments 2-4 at the near end of the continuum mechanism II 2-2 and the circular rigid segments 2-4 at the far end of the continuum mechanism I2-1 4 are adjacent, a proximal circular rigid segment 2-4 of the continuum mechanism three 2-3 is adjacent to a distal circular rigid segment 2-4 of the continuum mechanism two 2-2, the continuum mechanism two 2-2 is axially twisted by forty degrees relative to the continuum mechanism one 2-1, the continuum mechanism three 2-3 is axially twisted by forty degrees relative to the continuum mechanism two 2-2, one end of three elastic rods 2-5 of the continuum mechanism one 2-1 is fixed to a slot on a distal circular rigid segment 2-4 of the plurality of circular rigid segments 2-4 of the continuum mechanism one 2-1, the other end of each elastic rod 2-5 of the continuum mechanism two 2-2 extends out of a slot on a proximal circular rigid segment 2-4 of the plurality of circular rigid segments 2-4, and one end of each elastic rod 2-5 of the continuum mechanism two 2-2 is fixed to a slot on a distal circular rigid segment 2-4 of the continuum mechanism two 2-2 The groove hole on the most distal circular rigid segment 2-4 in the plurality of circular rigid segments 2-4 extends out of the groove holes of the plurality of circular rigid segments 2-4 of the second continuum mechanism 2-2, the other end of the groove hole passes through the plurality of circular rigid segments 2-4 of the first continuum mechanism 2-1 and is flush with the other end of the three elastic rods 2-5 of the first continuum mechanism 2-1, one end of each of the three elastic rods 2-5 of the third continuum mechanism 2-3 is fixed on the groove hole on the most distal circular rigid segment 2-4 in the plurality of circular rigid segments 2-4 of the third continuum mechanism 2-3, and the other end of the groove hole extends out of the groove holes of the plurality of circular rigid segments 2-4 of the third continuum mechanism 2-3 and then passes through the plurality of circular rigid segments 2-4 of the second continuum mechanism 2-2, and a plurality of round rigid segments 2-4 which penetrate through the continuum mechanism I2-1 and are flush with the other ends of the three elastic rods 2-5 of the continuum mechanism I2-1.
The main framework 3 penetrates through central holes in all circular rigid segments 2-4 of the first continuum mechanism 2-1, the second continuum mechanism 2-2 and the third continuum mechanism 2-3, the farthest end of the main framework is fixed with the circular rigid segment 2-4 at the farthest end of the third continuum mechanism 2-3, the nearest end of the main framework is fixed with the circular rigid segment 2-4 at the nearest end of the first continuum mechanism 2-1, and compression springs 2-5 sleeved on the main framework 3 are arranged among all the circular rigid segments 2-4.
Referring to fig. 9 and 10, the rigidity adjusting mechanism 4 comprises a friction sliding block 4-1, a spring 4-2, a pressing block 4-3, a pull rod 4-4, a connecting rod 4-5, a connecting shaft 4-6, a rotary table 4-7, a torsion spring 4-8 and a pull rope 4-9, the friction sliding block 4-1, the spring 4-2, the pressing block 4-3, the connecting shaft 4-6, the rotary table 4-7, the torsion spring 4-8 and the pull rope 4-9 are installed on each circular rigid segment 2-4, and the pressing block 4-3 is installed in a groove at the edge of each circular rigid segment 2-4; the spring 4-2 is sleeved on the middle positioning cylinder of the pressing block 4-3; the central groove of the friction sliding block 4-1 is sleeved with the spring 4-2 and is arranged in the guide groove of the pressing block 4-3; the pull rod 4-4 is hinged with the pressing block 4-3 through a connecting shaft 4-6; the connecting rod 4-5 is hinged with the pull rod 4-4 through a connecting shaft 4-6; the friction sliding block 4-1, the spring 4-2, the pressing block 4-3, the pull rod 4-4, the connecting rod 4-5 and the connecting shaft 4-6 are divided into three groups in each circular rigid segment 2-4 and are uniformly distributed in the grooves of the circular rigid segments 2-4; the rotary tables 4-7 are hinged with the three groups of connecting rods 4-5 through connecting shafts 4-6, and the main framework 3 passes through the middle through hole of the rotary tables 4-7; one end of the torsion spring 4-8 is fixed on the horizontal through hole of the turntable 4-7, and the other end is fixed on the horizontal through hole of the round rigid segment 2-4; one end of the pull rope 4-9 is fixed on a pull rope hole of the connecting rod 4-5, the other end of the pull rope passes through the pull rope hole and the wire running hole of the circular rigid segment 2-4 and is fixed on the winch 5-4, and the pull ropes 2-9 on all the circular rigid segments 2-4 in the first continuum mechanism 2-1, the second continuum mechanism 2-2 and the third continuum mechanism 2-3 are respectively fixed on the three winches 5-4.
Referring to fig. 4, 5, 12 and 13, the driving mechanism 5 includes a push rod motor 5-1, a push rod motor connecting piece 5-2, a winch motor 5-3 and a winch 5-4, the middle parts of the nine push rod motors 5-1 are fixed with the motor base I1-1, the rear ends of the nine push rod motors are fixed with the motor base II 1-2, the nine push rod motor connecting pieces 5-2 are respectively fixed with a shaft of the push rod motor 5-1 and are placed in a guide groove of the motor base I1-1, the three winch motors 5-3 are fixed with the motor base III 1-3, and the three winches 5-4 are respectively fixed with a shaft of the winch motor 5-3.
The pose control method comprises the following steps:
referring to fig. 15, when the push rod motor 5-1 moves, the push rod motor connecting piece 5-2 may be driven to move along the guide groove of the motor base 1-1, further drive the elastic rod 2-6 to extend and retract, further drive the circular rigid segment 2-4 fixed at one end of the elastic rod 2-6 to tilt, so as to drive the continuum mechanism 2-1, the continuum mechanism two 2-2 or the continuum mechanism three 2-3 to which the circular rigid segment 2-4 belongs to bend by extruding or stretching the compression spring 2-5, thereby respectively controlling the bending of the continuum mechanism one 2-1, the continuum mechanism two 2-2 and the continuum mechanism three 2-3 to realize pose control.
The rigidity control method comprises the following steps:
referring to fig. 11, when the winch motor 5-3 rotates, the pulling rope 4-12 is driven to extend and contract, the connecting rod 4-5 is further driven to move and the rotating disc 4-7 is driven to rotate, the rotation of the rotating disc 4-7 further drives the other two connecting rods 4-5 located in the same circular rigid segment 2-4 to move, the movement of the connecting rod 4-5 further drives the pulling rod 4-4 to move and the pressing block 4-3 to move, so that the friction sliding block 4-1 is further driven to adjust the pressure on the elastic rod 2-6 through the action of the spring 4-2, and a static friction force exists when the elastic rod 2-6 moves axially relative to the circular rigid segment 2-4, the three elastic rods 2-6 are locked, the rigidity performance of the continuum mechanism 2 is improved, when the winch motor 5-3 rotates and loosens the pull rope 4-9, the torsion spring 4-8 rotates to drive the rotary table 4-7 to rotate and return to the initial position, the pressure of the friction sliding block 4-1 on the elastic rods 2-6 is enabled to return to zero, and the three elastic rods 2-6 are loosened, so that the rigidity control can be realized.
Referring to fig. 1, 2, 3 and 4, the sensor unit comprises two cameras 7-1 and three infrared distance measuring sensors 7-2, wherein the two cameras 7-1 are respectively installed on a base 1-4 and used for detecting the position of the tail end of the robot, the three groups of infrared distance measuring sensors 7-2 are respectively installed on a first continuum mechanism 2-1, a second continuum mechanism 2-2 and a third continuum mechanism 2-3, and the three infrared distance measuring sensors 7-2 are fixed on a circular rigid segment 2-4 in a group and used for detecting the angle and the distance between the circular rigid segments 2-4 to estimate the position and the posture of the tail end of the robot.
Referring to fig. 1, the control processing module 6 is composed of a data acquisition and storage unit and a processing and control processor, and the data processing unit acquires pose information of the sensor unit; the processing and control processor completes the processing of the data acquired by the sensor unit, and the driving control functions of 9 push rod motors and 3 winch motors.
Referring to fig. 1, the power supply 8 provides power to the drive mechanism 5, the control and processing module 6 and the sensor unit 7.
Referring to fig. 14, the robot pose control steps are as follows:
s1: inputting given end pose data to a control processing module
S2: the control processing module calculates the motor propulsion displacement required by reaching a given terminal pose
S3: the control processing module controls the push rod motor to correspondingly stretch and retract
S4: the sensor unit measures the actual terminal pose and transmits the pose to the control processing module
S5: the control processing module judges whether the actual terminal pose reaches the given terminal pose, if not, the step 2 is carried out; if yes, the pose control is finished.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, but any modifications or equivalent variations made according to the technical spirit of the present invention are within the scope of the present invention as claimed.
Claims (7)
1. A bionic rigid-flexible coupling rigidity-variable continuum robot comprises a robot body (1), a continuum mechanism (2), a main framework (3), a rigidity adjusting mechanism (4), a driving mechanism (5), a control processing module (6), a sensor unit (7) and a power supply (8), wherein the robot body (1) is used for installing, fixing and supporting the mechanism, the unit and the module, the continuum mechanism (2) realizes the bending and winding functions of the robot, the main framework (3) penetrates through the center of the continuum mechanism (2) to serve as the framework, the rigidity adjusting mechanism (4) realizes the rigidity adjusting function of the robot, the driving mechanism (5) realizes the control of the continuum mechanism (2), the main framework (3) and the rigidity adjusting mechanism (4), the control processing module (6) realizes the driving of the driving mechanism (5), and the sensor data of the sensor unit (7) are processed and stored, the sensor unit (7) realizes the detection of the pose of the robot, and the power supply (8) supplies power to each mechanism, unit and module of the robot;
the machine body (1) comprises a motor base I (1-1), a motor base II (1-2), a motor base III (1-3), a base (1-4), a shell I (1-5), a shell II (1-6) and a shell III (1-7), wherein the motor base I (1-1) is installed at the lower end of the shell I (1-5) and the upper end of the shell II (1-6), the motor base II (1-2) is installed at the lower end of the shell II (1-6) and the upper end of the shell III (1-7), the motor base III (1-3) is installed at the lower end of the shell III (1-7), and the base (1-4) is installed at the upper end of the shell I (1-5);
the continuum mechanism (2) consists of a continuum mechanism I (2-1), a continuum mechanism II (2-2) and a continuum mechanism III (2-3) and consists of circular rigid segments (2-4), elastic rods (2-5) and compression springs (2-6), the elastic rod (2-5) passes through the slotted holes on at least 2 circular rigid segments (2-4) to connect the at least 2 circular rigid segments (2-4) in series, the compression springs (2-6) are sleeved on the elastic rods (2-5) and arranged between each circular rigid segment (2-4), the first continuum mechanism (2-1), the second continuum mechanism (2-2) and the third continuum mechanism (2-3) are sequentially connected in series to form a three-section assembly;
the main framework (3) penetrates through central holes in all circular rigid segments (2-4) of the first continuum mechanism (2-1), the second continuum mechanism (2-2) and the third continuum mechanism (2-3), the farthest end of the main framework is fixed with the circular rigid segment (2-4) at the farthest end of the third continuum mechanism (2-3), the nearest end of the main framework is fixed with the circular rigid segment (2-4) at the nearest end of the first continuum mechanism (2-1), and compression springs (2-5) sleeved on the main framework (3) are arranged among all the circular rigid segments (2-4).
2. The biomimetic rigid-flexible coupled variable stiffness continuum robot of claim 1, wherein: the proximal circular rigid segment (2-4) of the second continuum mechanism (2-2) is adjacent to the distal circular rigid segment (2-4) of the first continuum mechanism (2-1), the proximal circular rigid segment (2-4) of the third continuum mechanism (2-3) is adjacent to the distal circular rigid segment (2-4) of the second continuum mechanism (2-2), the second continuum mechanism (2-2) is axially twisted by forty degrees relative to the first continuum mechanism (2-1), the third continuum mechanism (2-3) is axially twisted by forty degrees relative to the second continuum mechanism (2-2), and one end of the three elastic rods (2-5) of the first continuum mechanism (2-1) is fixed to the most distal circular rigid segment (2-4) of all the circular rigid segments (2-4) of the first continuum mechanism (2-1) 2-4), the other end of which extends out of the groove hole on the nearest circular rigid segment (2-4) in all the circular rigid segments (2-4), one end of three elastic rods (2-5) of the second continuum mechanism (2-2) is fixed on the groove hole on the farthest circular rigid segment (2-4) in all the circular rigid segments (2-4) of the second continuum mechanism (2-2), the other end of which extends out of the groove holes of all the circular rigid segments (2-4) of the second continuum mechanism (2-2), passes through all the circular rigid segments (2-4) of the first continuum mechanism (2-1) and is flush with the other end of the three elastic rods (2-5) of the first continuum mechanism (2-1), and one end of the three elastic rods (2-5) of the third continuum mechanism (2-3) is fixed on the third continuum mechanism (2-4) The groove hole on the most distal circular rigid segment (2-4) in all the circular rigid segments (2-4) of the continuous body mechanism three (2-3) is extended by the other end of the groove hole, and then the groove hole passes through all the circular rigid segments (2-4) of the continuous body mechanism two (2-2) and passes through all the circular rigid segments (2-4) of the continuous body mechanism one (2-1) and is flush with the other ends of the three elastic rods (2-5) of the continuous body mechanism one (2-1).
3. The biomimetic rigid-flexible coupled variable stiffness continuum robot of claim 1, wherein: the rigidity adjusting mechanism (4) comprises a friction sliding block (4-4), a spring (4-5), a pressing block (4-6), a pull rod (4-7), a connecting rod (4-8), a connecting shaft (4-9), a rotary table (4-10), a torsion spring (4-11) and a pull rope (4-12), and is installed on each circular rigid segment (2-4), and the pressing block (4-6) is installed in a groove at the edge part of each circular rigid segment (2-4); the spring (4-5) is sleeved on the middle positioning cylinder of the pressing block (4-6); the central groove of the friction sliding block (4-4) is sleeved with the spring (4-5) and is arranged in the guide groove of the pressing block (4-6); the pull rod (4-7) is hinged with the pressing block (4-6) through a connecting shaft (4-9); the connecting rod (4-8) is hinged with the pull rod (4-7) through a connecting shaft (4-9); the friction sliding blocks (4-4), the springs (4-5), the pressing blocks (4-6), the pull rods (4-7), the connecting rods (4-8) and the connecting shafts (4-9) are divided into three groups in each circular rigid segment (2-4) and are uniformly distributed in the grooves of the circular rigid segments (2-4); the rotary tables (4-10) are hinged with the three groups of connecting rods (4-8) through connecting shafts (4-9), and the main framework (3) penetrates through a through hole in the middle of each rotary table (4-10); one end of the torsion spring (4-11) is fixed on the horizontal through hole of the turntable (4-10), and the other end of the torsion spring is fixed on the horizontal through hole of the circular rigid segment (2-4); one end of each pull rope (4-12) is fixed to a pull rope hole of the connecting rod (4-8), the other end of each pull rope passes through the pull rope hole and the wire feeding hole of the circular rigid segment (2-4) and is fixed to the winch (5-4), and the pull ropes (4-12) on all the circular rigid segments (2-4) in the continuum mechanism I (2-1), the continuum mechanism II (2-2) and the continuum mechanism III (2-3) are respectively fixed to the three winches (5-4).
4. The biomimetic rigid-flexible coupled variable stiffness continuum robot of claim 1, wherein: the driving mechanism (5) comprises a push rod motor (5-1), a push rod motor connecting piece (5-2), a winch motor (5-3) and a winch (5-4), the middle parts of nine push rod motors (5-1) are fixed with a motor base I (1-1), the rear ends of the nine push rod motors are fixed with a motor base II (1-2), the nine push rod motor connecting pieces (5-2) are respectively fixed with a shaft of one push rod motor (5-1) and are arranged in guide grooves of the motor base I (1-1), the three winch motors (5-3) are fixed with a motor base III (1-3), and the three winches (5-4) are respectively fixed with a shaft of one winch motor (5-3).
5. The biomimetic rigid-flexible coupled variable stiffness continuum robot of claim 1, wherein: the sensor unit (7) comprises a camera and an infrared distance measuring sensor; the camera is fixed on the base, and three infrared distance measuring sensors are uniformly distributed and fixed on the circular rigid segments (2-4) at 120 degrees.
6. The biomimetic rigid-flexible coupled variable stiffness continuum robot of claim 1, wherein: the continuous body mechanism I (2-1), the continuous body mechanism II (2-2) and the continuous body mechanism III (2-3) are wrapped with flexible shells.
7. The control method of the bionic rigid-flexible coupling variable-rigidity continuum robot according to any one of claims 1-6, comprising a robot rigidity control method and is characterized in that:
the robot rigidity control method specifically comprises the following steps:
when the winch motor (5-3) rotates, the pull rope (4-12) is driven to stretch and contract, the connecting rod (4-8) is further driven to move and the rotating disc (4-10) is driven to rotate, the rotating disc (4-10) further drives the other two connecting rods (4-8) positioned in the same circular rigid segment (2-4) to move, the connecting rod (4-8) further drives the pull rod (4-7) to move and the pressing block (4-6) to move, so that the friction sliding block (4-4) is further driven to adjust the pressure on the elastic rod (2-6) through the action of the spring (4-5), and static friction force exists when the elastic rod (2-6) axially moves relative to the circular rigid segment (2-4), the three elastic rods (2-6) are locked, the rigidity performance of the continuum mechanism (2) is improved, when the winch motor (5-3) rotates and loosens the pull rope (4-12), the torsion spring (4-11) rotates to drive the rotating disc (4-10) to rotate and return to the initial position, so that the pressure of the friction sliding block (4-4) on the elastic rods (2-6) returns to zero, and the three elastic rods (2-6) are loosened, and the rigidity control can be realized;
the robot pose control method specifically comprises the following steps:
s1: inputting given end pose data to a control processing module
S2: the control processing module calculates the motor propulsion displacement required by reaching a given terminal pose
S3: the control processing module controls the push rod motor to correspondingly stretch and retract
S4: the sensor unit measures the actual terminal pose and transmits the pose to the control processing module
S5: the control processing module judges whether the actual terminal pose reaches the given terminal pose, if not, the step 2 is carried out; if yes, the pose control is finished.
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