CN114559466A - Variable-rigidity executing device for rescue robot - Google Patents
Variable-rigidity executing device for rescue robot Download PDFInfo
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- CN114559466A CN114559466A CN202210141566.0A CN202210141566A CN114559466A CN 114559466 A CN114559466 A CN 114559466A CN 202210141566 A CN202210141566 A CN 202210141566A CN 114559466 A CN114559466 A CN 114559466A
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- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 239000010410 layer Substances 0.000 description 147
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 6
- 239000011248 coating agent Substances 0.000 description 5
- 238000000576 coating method Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005253 cladding Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000011247 coating layer Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Abstract
The invention provides a variable-rigidity execution device for a rescue robot, which comprises a framework platform assembly, a translational mechanical arm assembly and a layer interference serial chain assembly, wherein the translational mechanical arm assembly and the layer interference serial chain assembly are symmetrically distributed on two sides of the framework platform assembly respectively, a first end of the layer interference serial chain assembly is connected with a balance baffle in the framework platform assembly, and a second end of the layer interference serial chain assembly is connected with a second end of a chain tail end member in the translational mechanical arm assembly. The mounting end of the layer interference series chain is connected with the second mounting end of the balance baffle plate, and the inserting plate of the layer interference series chain is connected with the notch of the layer interference limiting chain; two adjacent layers interfere the chain link and pass through fixed knot cap fixed connection, and two adjacent layers interfere the spacing chain link and interfere the spacing chain link through the third layer and connect. The invention can reduce the secondary damage to the object, changes the rigidity timely based on the layer interference principle to prevent the object from being extruded, and realizes the flexible contact and rigid bearing of the object.
Description
Technical Field
The invention relates to the technical field of rescue equipment, in particular to a variable-rigidity executing device for a rescue robot.
Background
The rescue after-delivery robots which are mature in the prior art and put into application can mostly finish tasks such as material carrying, personnel transferring, equipment arrangement and the like, and have certain carrying and operating capabilities, such as a 'creeper' rescue robot designed by the Japan crosswalk police department in research and development and a RoboCue rescue robot used by the Japan Tokyo fire-fighting hall and the like. The rescue back-delivering robot has the main challenges that a trapped wounded person is rescued and transferred to a safe area, the trapped wounded person is inevitably in direct contact with a human body in the rescue operation process, the flexibility and rigidity of a mechanism and the coating performance of the mechanism on the human body influence the human body, the mechanical structure, a sensing device and the robot are relatively complex to control, a rescue execution mechanism serves as a key part of the back-delivering rescue robot, and the performance of the rescue execution mechanism has a decisive influence on the overall operation performance of the rescue robot.
The patent of the invention with the current publication number of CN104944280A discloses a rescue manipulator which has the advantages of flexible clamping, high clamping efficiency, no falling of a clamped object, reliable operation and the like, but all components are made of rigid materials and cannot adapt to the shape of a human body, the self-adaptive flexible contact and omnibearing coating of the structure of the human body cannot be realized in the process of lifting the human body, the driving mode is hydraulic driving, so that the safety of the rescue process is difficult to ensure, and secondary damage can be caused to the rescued object due to the overlarge hydraulic driving force.
The invention patent with the publication number of CN107891919A discloses a soft rescue robot jointly driven by an air pressure flexible shaft, which adopts an air pressure driving mode to bend a soft pipeline and prevent obstacles from entering the interiors of ruins, thereby effectively avoiding the collision of trapped people or the interiors of easily collapsed ruins in the working process, but the soft robot made of flexible materials has less rigid bearing structure and limited bearing capacity, and cannot finish large-load rescue operations such as transferring a rescued object.
The invention patent with publication number CN113415357A discloses a multifunctional rescue and post-delivery robot, which realizes rescue and post-delivery work of wounded without human participation, and has high automation degree, but at this time, the wounded needs to be able to stand and climb up the robot by itself, and then the wounded is transported out by the robot, but this kind of situation is only suitable for the situation that the wounded does not hurt the legs, and can stand to walk, and this way cannot be adopted for the situation that the wounded cannot walk upright.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a variable-rigidity executing device for a rescue robot, wherein steel wire ropes with symmetrical two ends in a balance baffle plate pull layers to interfere the deformation of a middle layer interference serial chain and a layer interference limiting chain in a serial chain assembly, so that the layer interference serial chain assembly can adapt to the shape of an object and completely wrap the object, and the self rigidity of the layer interference serial chain assembly can be timely changed to realize self-locking so as to fix the position and posture of the object, thereby realizing flexible contact and rigid bearing on the object and comprehensively ensuring the safety of the object.
The invention provides a variable-rigidity execution device for a rescue robot, which comprises a framework platform assembly, a translational mechanical arm assembly and a layer interference serial chain assembly, wherein the translational mechanical arm assembly and the layer interference serial chain assembly are symmetrically distributed on two sides of the framework platform assembly respectively, a first end of the layer interference serial chain assembly is connected with a balance baffle in the framework platform assembly, and a second end of the layer interference serial chain assembly is connected with a second end of a chain tail end member in the translational mechanical arm assembly. Framework platform subassembly, it includes section bar frame, balanced baffle and lifting telescopic rod, the inside of balanced baffle is equipped with the fixed pulley, and first wire rope is located the inside outer end of balanced baffle, first wire rope's first end and the output of first cylinder are connected, first wire rope's second end pass in proper order first through-hole and second through-hole with layer interference series chain subassembly middle level disturbs spacing chain and connects, and second wire rope is located the inside centre of balanced baffle, second wire rope's first end and the output of second cylinder are connected, second wire rope's second end pass first through-hole with layer interference series chain subassembly middle level disturbs series chain and connects. The translational mechanical arm assembly comprises a first electric push rod, a connecting rod assembly, a chain storage box and rollers, wherein the first end of a first rotating rod in the connecting rod assembly is connected with the output end of the first electric push rod, the first end of a rocker in the connecting rod assembly is connected with a shell of the chain storage box, the shell of the first electric push rod is fixedly connected with the middle of a second fixed rod in the connecting rod assembly, a second electric push rod and a chain end member are arranged inside the lower end of the chain storage box, the output end of the second electric push rod is connected with the mounting end of a layer interference limiting chain through the chain end member, and the rollers are symmetrically arranged outside the lower end of the chain storage box. The layer interference series chain assembly comprises an air cylinder, a layer interference series chain and a layer interference limiting chain, wherein a shell of the air cylinder is fixedly connected with a mounting end at the upper part of the connecting plate, a mounting end of the layer interference series chain is connected with a second mounting end of the balance baffle plate, and a plug board of the layer interference series chain is connected with a limiting notch of the layer interference limiting chain; the layer interference series chain comprises layer interference chain links and fixed buckle caps, the adjacent two layers of interference chain links are fixedly connected through the fixed buckle caps, and the inserting plate of the first layer interference chain link penetrates through the notch of the second layer interference chain link to be connected with the groove of the fixed buckle cap; the layer disturbs spacing chain, and it includes layer interference spacing chain link and roller, and adjacent two layers disturb spacing chain link and disturb spacing chain link connection through the third layer, the inserted sheet that first layer disturbed spacing chain link with the spacing notch connection that second layer disturbed spacing chain link, the inserted sheet that third layer disturbed spacing chain link and the spacing notch connection that first layer disturbed spacing chain link.
Preferably, in the framework platform assembly, the first mounting end of the first-stage telescopic rod in the lifting telescopic rod is fixedly connected with the lower end of the middle part of the profile frame, the second mounting end of the first-stage telescopic rod in the lifting telescopic rod is fixedly connected with the first mounting end of the second-stage telescopic rod in the lifting telescopic rod through an electric lead screw, the second mounting end of the second-stage telescopic rod in the lifting telescopic rod is fixedly connected with the center of the upper part of the connecting plate, and the lower part of the connecting plate is connected with the first mounting end of the balance baffle.
Preferably, the connecting rod assembly comprises a first rotating rod, a rocker, a first fixing rod, a second fixing rod, an execution connecting rod and a third fixing rod, wherein the second end of the first rotating rod is fixedly connected with the first fixing end outside the chain storage box, the first mounting end of the rocker is fixedly connected with the second fixing end outside the chain storage box, the two ends of the first fixing rod are respectively connected with the first mounting ends of the second fixing rod and the third fixing rod, the second mounting ends of the second fixing rod and the third fixing rod are respectively fixedly connected with the first mounting end and the second mounting end of the section frame, and the two ends of the execution connecting rod are respectively connected with the third mounting end of the first fixing rod and the second mounting end of the rocker.
Preferably, in the layer interference series chain, a first through hole is formed in the middle of a chain link of the layer interference chain, and a notch and an inserting plate are respectively formed in the first side face and the second side face of the chain link of the layer interference chain; in the layer disturbs spacing chain, the middle part and both ends that the layer disturbed spacing chain link all are equipped with the second through-hole, the first side and the second side that the layer disturbed the spacing chain link are equipped with spacing notch and inserted sheet respectively, the both ends of roller respectively with the layer disturbs the roller shaft hole fixed connection of spacing chain link.
Preferably, the profile frame is of a rectangular structure, a plurality of cross beams are arranged along the length direction of the profile frame, the outer surface of the upper end of the balance baffle is a plane, the outer surface of the lower end of the balance baffle is an arc, and the axes of the first-stage telescopic rod, the electric lead screw and the second-stage telescopic rod are on the same straight line.
Preferably, the first steel wire ropes are symmetrically distributed on two sides of the second steel wire rope, the first steel wire ropes and the second steel wire ropes are symmetrically distributed on two ends of the balance baffle, and the number of the first steel wire ropes is twice that of the second steel wire ropes.
Preferably, the notch of the layer interference chain link is arc-shaped, the arc length of the notch is greater than that of the inserting plate, and the inserting plate slides along the arc in the notch, so that the layer interference series chain can rotate relatively at a certain angle.
Preferably, the spacing notch that the layer disturbed the spacing link is circular-arcly, the arc length of spacing notch is greater than the arc length of inserted sheet, the inserted sheet unilateral rotates in spacing notch, prevents that the roller from producing to interfere the direction of rotation and the spacing chain off tracking of layer interference, the axis of roller with the axis that the layer disturbed the roller shaft hole of spacing link is on same straight line.
Preferably, the number of the layer interference serial chain assemblies is equal to that of the translation mechanical arm assemblies, in the layer interference serial chain assemblies, the axes of two adjacent layer interference chain links are parallel to each other, and the axes of two adjacent rollers are parallel to each other; the layer disturbs the chain link with fixed knot cap constitution first chain, layer disturbs spacing chain link and roller constitution second chain.
Compared with the prior art, the invention has the following advantages:
1. the invention can reduce secondary damage to objects, realize the shape self-adaptation of the layer interference series chain and the objects when supporting and holding the objects, change the rigidity in time, thereby being capable of adapting to the shapes of the objects when coating the objects, change the rigidity in time based on the layer interference principle to prevent the objects from being extruded, realize the flexible contact and rigid bearing of the objects, and comprehensively ensure the safety of the objects.
2. The invention has the function of fixing objects, and can change the self rigidity in due time after the object is supported and embraced, thereby realizing self-locking and fixing the pose of the object.
3. The multi-arm combined type multi-arm combined conveying device has higher bearing capacity, the designed multi-arm combined work not only disperses the gravity of conveyed objects, but also changes the rigidity according to the layer interference principle, and the bearing capacity and the deformation capacity of the whole device are improved.
Drawings
Fig. 1 is an overall structural view of a variable stiffness actuating device for a rescue robot according to the present invention;
FIG. 2 is a partial structural view of a variable stiffness actuating device for a rescue robot according to the invention;
FIG. 3 is a structural diagram of a lifting telescopic rod and a balance baffle in the variable stiffness actuating device for the rescue robot;
fig. 4 is a structural diagram of a translational mechanical arm assembly in the variable stiffness actuating device for the rescue robot according to the invention;
FIG. 5 is a structural diagram of a layer interference serial chain assembly in the variable stiffness actuating device for the rescue robot according to the present invention;
FIG. 6 is a structural diagram of a layer interference series chain in the variable stiffness actuating device for the rescue robot according to the invention;
FIG. 7 is a partial exploded view of a layer interfering with a series chain in the variable stiffness actuator for a rescue robot according to the present invention;
FIG. 8 is a structural diagram of a layer interference series chain in the variable stiffness actuating device for the rescue robot according to the present invention;
fig. 9 is a structural diagram of a layer interference limiting chain in the variable stiffness actuating device for the rescue robot according to the present invention;
fig. 10 is an internal structure view of a chain receiving box in the variable stiffness actuating device for the rescue robot according to the present invention;
fig. 11 is a layout diagram of pulleys and steel cables of a balance baffle plate in the variable stiffness actuating device for the rescue robot.
The main reference numbers:
a frame platform component 1, a section bar frame 11, a balance baffle 12, a fixed pulley 121, a first steel wire rope 122, a second steel wire rope 123, a lifting telescopic rod 13, a primary telescopic rod 131, an electric lead screw 132, a secondary telescopic rod 133, a connecting plate 134, a translational mechanical arm component 2, a first electric push rod 21, a connecting rod component 22, a first rotating rod 221, a rocker 222, a first fixing rod 223, a second fixing rod 224, an execution connecting rod 225, a third fixing rod 226, a chain storage box 23, a second electric push rod 231, a chain end component 232, a roller 24, a layer interference series chain component 3, a first air cylinder 31, a layer interference series chain 32, a first layer interference chain link 321, a notch 3211, an inserting plate 3212, a first through hole 3213, a fixed buckle cap 322, a second layer interference chain link 323, a layer interference limit chain 33, a first layer interference limit link 331, a limit notch 3311, an inserting plate 3312 and a second through hole 3313, a roller spindle hole 3314, a roller 332, a second tier interfering curb link 333, a third tier interfering curb link 334, and a second cylinder 34.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The variable-rigidity executing device for the rescue robot can realize timely variable-rigidity omnibearing object coating, realize flexible contact and rigid bearing on the object and avoid secondary damage to the object, has the specific structure shown in figures 1 and 2, and comprises a framework platform assembly 1, a translational mechanical arm assembly 2 and a layer interference serial chain assembly 3, wherein the translational mechanical arm assembly 2 and the layer interference serial chain assembly 3 are respectively provided with a flexible coating layer; the translational mechanical arm assembly 2 and the layer interference serial chain assembly 3 are respectively and symmetrically distributed on two sides of the framework platform assembly 1, a first end of the layer interference serial chain assembly 3 is connected with a balance baffle 12 in the framework platform assembly 1, and a second end of the layer interference serial chain assembly 3 is connected with a second end of a chain tail end member 232 in the translational mechanical arm assembly 2.
The framework platform assembly 1, as shown in fig. 3 and 11, comprises a section bar frame 11, a balance baffle 12 and a lifting telescopic rod 13, wherein an electrically driven lead screw is arranged inside the lifting telescopic rod 13, and the electrically driven lead screw controls the telescopic action of the lifting telescopic rod 13. First installation end and the lower extreme fixed connection at section bar frame 11 middle part of one-level telescopic link 131 in the lifting telescopic link 13, the second installation end of one-level telescopic link 131 passes through electric screw 132 and the first installation end fixed connection of second grade telescopic link 133 in the lifting telescopic link 13, the second installation end of second grade telescopic link 133 and the central fixed connection on connecting plate 134 upper portion in the lifting telescopic link 13, the lower part of connecting plate 134 and the first installation end of balanced baffle 12 are connected, lifting telescopic link 13 drives balanced baffle 12 and realizes elevating movement.
Specifically, the profile frame 11 is of a rectangular structure, a plurality of cross beams are arranged along the length direction of the profile frame 11 and used for mounting a mechanical arm, and the aluminum profile at the middle part is used for fixing the first electric push rod 21 and the lifting telescopic rod 13; the inner part of the balance baffle 12 is hollow, the outer surface of the upper end is a plane, the outer surface of the lower end is an arc, the purpose is to better fit the contour above an object, the balance baffle 12 is provided with an opening, and a steel wire rope passes through the opening; the axes of the primary telescopic rod 131, the electric screw 132 and the secondary telescopic rod 133 are on the same straight line.
As shown in fig. 11, a fixed pulley 121 is disposed inside the balance baffle 12 for orderly arranging and optimizing the first wire rope 122 and the second wire rope 123 at two sides inside the balance baffle 12, the first end of the first wire rope 122 is located at the outer end inside the balance baffle 12, the first end of the first wire rope 122 is connected with the output end of the first cylinder 31, the second end of the first wire rope 122 sequentially passes through the first through hole 3213 and the second through hole 3313 to be connected with the middle interference limiting chain 33 in the layer interference series chain assembly 3, the second end of the first wire rope 122 is located inside the middle interference limiting chain 33 in the layer interference series chain assembly 3 to be integrally varied in rigidity, the first end of the second wire rope 123 is located in the middle inside the balance baffle 12, the first end of the second wire rope 123 is connected with the output end of the second cylinder 34, the second end of the second wire rope 123 passes through the middle through the first through hole 3213 to be connected with the middle interference series chain 32 in the layer interference series chain assembly 3, the second end of the second wire rope 123 is located inside the layer disturbance series chain 32 in the layer disturbance series chain assembly 3 for local variable stiffness.
Specifically, the second cylinder 34 pulls the second steel wire rope 123, and each link of the layer interference chain links are mutually extruded and generate a large relative sliding friction force, so that the variable rigidity of the layer interference series chain 32 can be realized; the first cylinder 31 pulls the first steel wire rope 122, each section of the layer interference chain link and each section of the layer interference limiting link are mutually extruded and generate larger relative sliding friction force, and the integral variable rigidity of the two sections of the layer interference series chain 32 and the layer interference limiting chain 33 can be realized; the rollers 332 are arranged in the middle of the layer interference limiting chain 33 at intervals and roll relatively to the ground in the supporting and holding process to reduce friction force.
Preferably, the first steel cables 122 are symmetrically distributed on two sides of the second steel cables 123, the first steel cables 122 and the second steel cables 123 are symmetrically distributed on two ends of the balance baffle 12, and the number of the first steel cables 122 is twice that of the second steel cables 123.
The translational mechanical arm assembly 2, as shown in fig. 4, includes a first electric push rod 21, a connecting rod assembly 22, a chain storage box 23 and a roller 24, a first end of a first rotating rod 221 in the connecting rod assembly 22 is connected with an output end of the first electric push rod 21, a first end of a rocker 222 in the connecting rod assembly 22 is connected with a housing of the chain storage box 23, a housing of the first electric push rod 21 is fixedly connected with a middle portion of a second fixed rod 224 in the connecting rod assembly 22, the connecting rod assembly 22 includes a first rotating rod 221, a rocker 222, a first fixed rod 223, a second fixed rod 224, an execution connecting rod 225 and a third fixed rod 226, a second end of the first rotating rod 221 is fixedly connected with a first fixed end outside the chain storage box 23, a first mounting end of the rocker 222 is fixedly connected with a second fixed end outside the chain storage box 23, two ends of the first fixed rod 223 are respectively connected with first mounting ends of the second fixed rod 224 and the third fixed rod 226, second mounting ends of the second fixing rod 224 and the third fixing rod 226 are fixedly connected with a first mounting end and a second mounting end of the profile frame 11, respectively, and two ends of the actuating link 225 are connected with a third mounting end of the first fixing rod 223 and a second mounting end of the rocker 222, respectively.
Further, the first electric push rod 21 drives a rotating rod 221, the rotating rod 221 drives a rocker 222, the tail end of the rocker 222 reciprocates along an approximate straight line, the tail end of the rocker 222 is provided with a roller 24, and the roller 24 can roll relative to the ground in the process of translational folding of the mechanical arm.
As shown in fig. 10, the inside of the chain storage box 23 is hollow, a second electric push rod 231 and a chain end member 232 are arranged inside the lower end of the chain storage box 23, the second electric push rod 231 is arranged inside, the output end of the second electric push rod 231 is connected with the installation end of the layer interference limiting chain 33 through the chain end member 232, the second electric push rod 231 stretches the chain end member 232 to store and release the layer interference serial chain assembly 3, rollers 24 are symmetrically arranged outside the lower end of the chain storage box 23, the rollers 24 realize linear reciprocating movement under the linear driving of the first electric push rod 21, and therefore the process of coating the object by the chain is realized.
The layer interference series chain assembly 3, as shown in fig. 5 with reference to fig. 6 and 7, includes a first cylinder 31, a second cylinder 34, a layer interference series chain 32 and a layer interference limit chain 33, the layer interference series chain 32 and the layer interference limit chain 33 are connected in series by inserting the insertion plate into the notch, the housings of the first cylinder 31 and the second cylinder 34 are respectively fixedly connected with the first mounting end and the second mounting end of the upper part of the connecting plate 134, the cylinders are connected with an external air pump through air pipes, the mounting ends of the layer interference series chain 32 are connected with the second mounting end of the balance baffle 12, and the insertion plate 3212 of the layer interference series chain 32 is connected with the limit notch 3311 of the layer interference limit chain 33.
Particularly, the chain cladding object is local, and the taut wire rope of cylinder drive, the taut chain of wire rope realize that layer interference series connection chain 32 is local by gentle to just, realize supporting the function of object, can prevent to extrude the object at the support object in-process, after the complete cladding object, the whole wire rope of cylinder drive realizes whole variable rigidity to realize fixed object.
The layer interference series chain 32 is composed of a plurality of layers of interference chain links connected in series, the contact object can be shaped after two sides are contacted with the object, the effect of attaching the outline of the object is realized, as shown in fig. 8, the layer interference series chain links and the fixed buckle cap 322 are specifically included, two adjacent layer interference series chain links are fixedly connected through the fixed buckle cap 322, the fixed buckle cap 322 relatively rotates the layer interference series chain links in a certain angle range, the middle part of the layer interference series chain links is provided with a first through hole 3213, the first side surface and the second side surface of the layer interference series chain links are respectively provided with a notch 3211 and an inserting plate 3212, the inserting plate 3212 of the first layer interference series chain link 321 penetrates through the notch 3211 of the second layer interference series chain link 323 and the groove connection of the fixed buckle cap 322, and the fixed buckle cap 322 locks the link layer interference series chain links.
Preferably, the notches of the chain links of the layer interference chain are arc-shaped, the arc length of the notch 3211 is greater than that of the inserting plate 3212, and the inserting plate 3212 slides along the arc in the notch 3211, so that relative rotation at a certain angle between the layer interference series chains 32 can be realized.
The layer interference limiting chain 33 is formed by connecting a plurality of sections of roller cylinders 332 in series, as shown in fig. 9, specifically comprises a layer interference limiting chain link and a roller cylinder 332, the outer surface of the roller cylinder 332 is coated by soft materials to increase friction and flexibility, the middle part and two ends of the layer interference limiting chain link are respectively provided with a second through hole 3313, the first side surface and the second side surface of the layer interference limiting chain link are respectively provided with a limiting notch 3311 and an inserting sheet 3312, two ends of the roller cylinder 332 are respectively fixedly connected with roller cylinder shaft holes 3314 of the layer interference limiting chain link, two adjacent layer interference limiting chain links are connected through a third layer interference limiting chain link 334, the inserting sheet 3312 of the first layer interference limiting chain link 331 is connected with the limiting notch 3311 of the second layer interference limiting chain link 333, and the inserting sheet 3312 of the third layer interference limiting chain link 334 is connected with the limiting notch 3311 of the first layer interference limiting chain link 331.
The layer disturbs spacing link and sets up the rotation direction that the spacing chain 33 of rotation angle scope restriction layer disturbed, realize the unilateral rotation, avoid the layer to disturb 33 chain mutual interferences of spacing chain, specifically speaking, the spacing notch 3311 that the layer disturbed spacing link is circular-arc, spacing notch 3311's arc length is greater than the arc length of inserted sheet 3312, inserted sheet 3312 unilateral rotates in spacing notch 3311, prevent that roller 332 from producing to interfere the rotation direction and the spacing chain 33 off tracking of layer interference, the axis of roller 332 and the axis of the roller shaft hole 3314 that the layer disturbed spacing link are on same straight line.
The number of the layer interference serial chain assemblies 3 is equal to that of the plane mechanical arm assemblies 2, in the layer interference serial chain assemblies 3, the axes of adjacent two layer interference chain links are parallel to each other, and the axes of adjacent two rollers 332 are parallel to each other; the layer disturbance chain links and the fixed snap caps 322 constitute a first chain, and the layer disturbance limit links and the rollers 332 constitute a second chain.
The variable stiffness execution device for the rescue robot is further described by combining the following embodiments:
the specific working process of the device is as follows:
firstly, the invention is installed on a rescue vehicle, when the rescue vehicle installed with the execution device reaches the position above an object to be executed, the execution device starts to integrally translate downwards, at the moment, after the roller 24 at the bottom of the translational mechanical arm assembly 2 contacts the ground, the execution device integrally stops moving downwards, then the electric screw 132 in the lifting telescopic rod 13 drives the first-stage telescopic rod 131 to move, the balance baffle 12 connected with the lower part of the connecting plate 134 is driven to translate downwards, and the translation is stopped when the balance baffle 12 just contacts the object to be executed.
Then the second electric push rod 231 in the chain storage box 23 in the translational mechanical arm assembly 2 drives the chain end member 232 to move, the layer interference series chain assembly 3 connected with the chain end member 232 is gradually released from the chain storage box 23, meanwhile, the first electric push rod 21 extends to drive the translational mechanical arm 2 to horizontally move, the roller 24 and the roller 332 are driven to roll towards the inner side of the middle of the mechanism on the ground, the layer interference series chain 32 wraps the two sides of an executed object, and the layer interference series chain assembly 3 can adapt to the shape of the object in the wrapping process to achieve the profiling effect.
Then, under the pushing of the first electric push rod 21, after the two sides of the executed object are wrapped, the first electric push rod 21 stops extending, meanwhile, the second air cylinder 34 is started and tightens the second steel wire rope 123, the second end of the second steel wire rope 123 passes through the first through hole 3213 and drives the layer interference series chain assembly 3 to interfere the movement of the series chain 32 in the layer interference series chain assembly 3 under the action of the second air cylinder 34, each chain link of the layer interference chain link 321 is mutually extruded and generates a large relative sliding friction force, the layer interference series chain 32 can be changed from flexible to rigid, so that the executed object is rigidly supported, and the executed object is prevented from being extruded again.
And then the first electric push rod 21 is started again, the layer interference limiting chain 33 continues to fold towards the inner side of the middle part of the executing device, in the folding process, the layer interference limiting chain 33 can only realize one-side steering, the deviation of the layer interference limiting chain is prevented, meanwhile, the layer interference series chain 32 which becomes rigid is supported by the layer interference limiting chain 33, an executed object wrapped by the layer interference series chain 32 is supported, and the layer interference limiting chain 33 continues to move towards the inner side and wraps the executed object in an all-dimensional mode.
After the executed object is wrapped in all directions, the first electric push rod 21 is closed to stop working, meanwhile, the first air cylinder 31 starts to start and pulls the first steel wire rope 122, each section of the layer interference chain link and each section of the layer interference limiting link are mutually extruded to generate large relative sliding friction force, and the two sections of chains of the layer interference series chain 32 and the layer interference limiting chain 33 are integrally changed into rigidity.
Finally, the executed object is wrapped by the executing device in an all-around and rigid mode, and the executing device is used for supporting and embracing the executed object to ascend integrally and is matched with the rescue vehicle to carry out safe and stable transfer. The balance baffle 12, the layer interference serial chain 32 and the layer interference limiting chain 33 are all wrapped with high-friction-coefficient and high-flexibility materials, and an executed object can be protected in the wrapping process of the layer interference serial chain assembly 3; the contact surface between each link in the layer interference series chain 32 and the layer interference limiting chain 33 is specially processed, and the steel wire rope can reach certain variable rigidity requirement when being tensioned.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (9)
1. A variable-rigidity execution device for a rescue robot comprises a framework platform assembly, a translational mechanical arm assembly and a layer interference series chain assembly, wherein the translational mechanical arm assembly and the layer interference series chain assembly are symmetrically distributed on two sides of the framework platform assembly respectively, a first end of the layer interference series chain assembly is connected with a balance baffle in the framework platform assembly, a second end of the layer interference series chain assembly is connected with a second end of a chain tail end member in the translational mechanical arm assembly,
the framework platform assembly comprises a section bar frame, a balance baffle and a lifting telescopic rod, wherein a fixed pulley is arranged inside the balance baffle, a first steel wire rope is positioned at the outer end inside the balance baffle, the first end of the first steel wire rope is connected with the output end of a first air cylinder, the second end of the first steel wire rope sequentially penetrates through a first through hole and a second through hole to be connected with a middle layer interference limiting chain of the layer interference series chain assembly, a second steel wire rope is positioned in the middle inside the balance baffle, the first end of the second steel wire rope is connected with the output end of a second air cylinder, and the second end of the second steel wire rope penetrates through the first through hole to be connected with the middle layer interference series chain of the layer interference series chain assembly;
the translational mechanical arm assembly comprises a first electric push rod, a connecting rod assembly, a chain storage box and rollers, wherein the first end of a first rotating rod in the connecting rod assembly is connected with the output end of the first electric push rod, the first end of a rocker in the connecting rod assembly is connected with the shell of the chain storage box, the shell of the first electric push rod is fixedly connected with the middle part of a second fixed rod in the connecting rod assembly, a second electric push rod and a chain end member are arranged inside the lower end of the chain storage box, the output end of the second electric push rod is connected with the mounting end of the layer interference limiting chain through the chain end member, and the rollers are symmetrically arranged outside the lower end of the chain storage box;
the layer interference series chain assembly comprises an air cylinder, a layer interference series chain and a layer interference limiting chain, wherein a shell of the air cylinder is fixedly connected with a mounting end at the upper part of the connecting plate, a mounting end of the layer interference series chain is connected with a second mounting end of the balance baffle plate, and a plug board of the layer interference series chain is connected with a limiting notch of the layer interference limiting chain; the layer interference series chain comprises layer interference chain links and fixed buckle caps, the adjacent two layers of interference chain links are fixedly connected through the fixed buckle caps, and the inserting plate of the first layer interference chain link penetrates through the notch of the second layer interference chain link to be connected with the groove of the fixed buckle cap; the layer disturbs spacing chain, and it includes layer interference spacing chain link and roller, and adjacent two layers disturb spacing chain link and disturb spacing chain link connection through the third layer, the inserted sheet that first layer disturbed spacing chain link with the spacing notch connection that second layer disturbed spacing chain link, the inserted sheet that third layer disturbed spacing chain link and the spacing notch connection that first layer disturbed spacing chain link.
2. The variable-stiffness actuating device for the rescue robot as claimed in claim 1, wherein in the frame platform assembly, a first mounting end of a first-stage telescopic rod in the lifting telescopic rods is fixedly connected with a lower end of the middle part of the section bar frame, a second mounting end of the first-stage telescopic rod in the lifting telescopic rods is fixedly connected with a first mounting end of a second-stage telescopic rod in the lifting telescopic rods through an electric lead screw, a second mounting end of the second-stage telescopic rod in the lifting telescopic rods is fixedly connected with the center of the upper part of the connecting plate, and the lower part of the connecting plate is connected with the first mounting end of the balance baffle.
3. Variable stiffness performing device for a rescue robot according to claim 1, characterized in that the linkage assembly, which comprises a first rotating rod, a rocker, a first fixed rod, a second fixed rod, an execution connecting rod and a third fixed rod, the second end of the first rotating rod is fixedly connected with the first fixed end outside the chain storage box, the first mounting end of the rocker is fixedly connected with the second fixed end outside the chain storage box, two ends of the first fixed rod are respectively connected with the first mounting ends of the second fixed rod and the third fixed rod, the second mounting ends of the second fixing rod and the third fixing rod are respectively and fixedly connected with the first mounting end and the second mounting end of the section bar frame, and two ends of the execution connecting rod are respectively connected with the third mounting end of the first fixing rod and the second mounting end of the rocker.
4. The variable-rigidity execution device for the rescue robot as claimed in claim 1, wherein in the layer interference series chain, a first through hole is formed in the middle of a chain link of the layer interference chain, and a notch and a plug board are respectively formed on the first side face and the second side face of the chain link of the layer interference chain; in the layer disturbs spacing chain, the middle part and both ends that the layer disturbed spacing chain link all are equipped with the second through-hole, the first side and the second side that the layer disturbed the spacing chain link are equipped with spacing notch and inserted sheet respectively, the both ends of roller respectively with the layer disturbs the roller shaft hole fixed connection of spacing chain link.
5. The variable stiffness actuating device for the rescue robot as claimed in claim 1, wherein the profile frame is rectangular in shape, the profile frame is provided with a plurality of cross beams along the length direction, the outer surface of the upper end of the balance baffle is a plane, the outer surface of the lower end of the balance baffle is an arc, and the axes of the primary telescopic rod, the electric lead screw and the secondary telescopic rod are on the same straight line.
6. The variable stiffness performing device for the rescue robot according to claim 1, wherein the first steel wire ropes are symmetrically distributed on both sides of the second steel wire ropes, the first steel wire ropes and the second steel wire ropes are symmetrically distributed on both ends of the balance baffle, and the number of the first steel wire ropes is twice that of the second steel wire ropes.
7. The variable stiffness performing device for the rescue robot as recited in claim 1, wherein the notches of the links of the layer disturbance chains are arc-shaped, the arc length of the notches is greater than the arc length of the insertion plate, and the insertion plate slides along the arc in the notches, so that a certain angle of relative rotation between the layer disturbance chains can be realized.
8. The variable-rigidity executing device for the rescue robot as claimed in claim 4, wherein the limiting notch of the layer interference limiting link is arc-shaped, the arc length of the limiting notch is greater than the arc length of the inserting sheet, the inserting sheet rotates in the limiting notch on one side, a roller is prevented from generating interference rotation direction and layer interference limiting chain deviation, and the axis of the roller shaft hole of the layer interference limiting link are on the same straight line.
9. The variable stiffness performing device for the rescue robot according to claim 7 or 8, wherein the number of the layer interference serial chain assemblies in which the axes of the adjacent two layer interference chain links are parallel to each other and the axes of the adjacent two rollers are parallel to each other is equal to the number of the translational mechanical arm assemblies; the layer disturbs the chain link with fixed knot cap constitution first chain, layer disturbs spacing chain link and roller constitution second chain.
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| CN109483584A (en) * | 2018-12-17 | 2019-03-19 | 燕山大学 | Extension type flexible drive rescue robot and its rescue mode |
| CN110202542A (en) * | 2017-09-07 | 2019-09-06 | 重庆市牛迪科技发展有限公司 | A kind of ectoskeleton |
| US20200340549A1 (en) * | 2019-04-24 | 2020-10-29 | Lift 'o | Rigid chain link and rigid chain equipped with such links |
| CN111844073A (en) * | 2020-07-22 | 2020-10-30 | 燕山大学 | Rigid-flexible hybrid multi-arm rescue robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013026012A1 (en) * | 2011-08-18 | 2013-02-21 | President And Fellows Of Harvard College | Hybrid snake robot for minimally invasive intervention |
| CN110202542A (en) * | 2017-09-07 | 2019-09-06 | 重庆市牛迪科技发展有限公司 | A kind of ectoskeleton |
| CN109129518A (en) * | 2018-10-22 | 2019-01-04 | 燕山大学 | A kind of air pressure driving rigid frame carrying rescue robot |
| CN109483584A (en) * | 2018-12-17 | 2019-03-19 | 燕山大学 | Extension type flexible drive rescue robot and its rescue mode |
| US20200340549A1 (en) * | 2019-04-24 | 2020-10-29 | Lift 'o | Rigid chain link and rigid chain equipped with such links |
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