CN114559466B - Variable stiffness executing device for rescue robot - Google Patents
Variable stiffness executing device for rescue robot Download PDFInfo
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- CN114559466B CN114559466B CN202210141566.0A CN202210141566A CN114559466B CN 114559466 B CN114559466 B CN 114559466B CN 202210141566 A CN202210141566 A CN 202210141566A CN 114559466 B CN114559466 B CN 114559466B
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- 229910000831 Steel Inorganic materials 0.000 claims description 43
- 239000010959 steel Substances 0.000 claims description 43
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 230000002452 interceptive effect Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 abstract description 5
- 239000010410 layer Substances 0.000 description 150
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005253 cladding Methods 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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
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Abstract
The invention provides a variable stiffness executing device for a rescue robot, which comprises a framework platform assembly, a translation mechanical arm assembly and a layer interference serial chain assembly, wherein the translation 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 plate 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 component in the translation mechanical arm assembly. The installation end of the layer interference serial chain is connected with the second installation end of the balance baffle, and the plugboard of the layer interference serial chain is connected with the notch of the layer interference limit chain; two adjacent layers of interference chain links are fixedly connected through a fixing buckle cap, and two adjacent layers of interference limiting links are connected through a third layer of interference limiting links. The invention can reduce secondary damage to the object, prevent the object from being extruded due to timely rigidity change based on the layer interference principle, and realize 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 stiffness executing device for a rescue robot.
Background
The prior art is mature and the rescue post-delivery robot put into use can mostly finish tasks such as material transportation, personnel transfer, equipment placement and the like, and has certain carrying and operating capabilities, such as a Crawler rescue robot developed and designed by Japanese cross-shore police, a RoboCue rescue robot used by Japanese Tokyo fire-fighting halls and the like. The main challenge of the rescue back-feeding robot is to rescue the trapped wounded person and transfer the trapped wounded person 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 the rigidity of the mechanism and the cladding property of the mechanism on the human body can influence the human body, the mechanical structure, the sensing device and the robot are relatively complex in control, and the rescue execution mechanism is used as a key part of the back-feeding rescue robot, so that the performance of the rescue execution mechanism has a decisive influence on the overall operation performance of the rescue robot.
The invention patent with the publication number of CN104944280A discloses a rescue manipulator, which has the advantages of flexible clamping, high clamping efficiency, no falling off of clamped objects, reliable operation and the like, but all components are made of rigid materials, cannot adapt to the shape of a human body, cannot realize flexible contact and omnibearing cladding of self-adaption of the human body structure in the process of lifting the human body, and are hydraulically driven in a driving mode, so that the safety of the rescue process is difficult to ensure, and secondary damage to the object to be rescued is possibly caused by overlarge hydraulic driving force.
The invention patent with publication number of CN107891919A discloses a pneumatic flexible shaft combined driving soft rescue robot, which adopts a pneumatic driving mode to realize bending of a soft pipeline, avoids barriers to enter the inside of ruins, effectively avoids collision to trapped personnel or the inside of ruins easy to collapse in the working process, but has a small rigid bearing structure and limited bearing capacity, and cannot finish heavy-load rescue operations such as transferring a rescue object.
The invention patent with publication number of CN113415357A discloses a multifunctional rescue post-conveying robot, which realizes the rescue post-conveying work of wounded persons without manual participation, has high automation degree, but the wounded persons can stand and climb up the robot by themselves at the moment, and then the wounded persons are conveyed out by the robot, but the situation is only applicable to the situation that the wounded persons do not hurt legs and can stand and walk, and the situation that the wounded persons cannot walk vertically cannot be adopted.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides the variable stiffness executing device for the rescue robot, which enables the layer interference serial chain assembly to adapt to the shape of an object and completely wrap the object by pulling the deformation of the layer interference serial chain and the layer interference limit chain of the layer interference serial chain assembly through the steel wire ropes with symmetrical ends in the balance baffle plate, and can timely change the self stiffness to realize self locking so as to fix the pose of the object, thereby realizing flexible contact and rigid bearing of the object and ensuring the safety of the object in all directions.
The invention provides a variable stiffness execution device for a rescue robot, which comprises a framework platform assembly, a translation mechanical arm assembly and a layer interference serial chain assembly, wherein the translation 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 end member in the translation mechanical arm assembly. The framework platform assembly comprises a profile frame, a balance baffle and a lifting telescopic rod, wherein a fixed pulley is arranged in the balance baffle, a first steel wire rope is positioned at the outer end of the inside of 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 layer interference limiting chain in the layer interference serial chain assembly, the second steel wire rope is positioned in the middle of the inside of 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 layer interference serial chain in the layer interference serial chain assembly. The translation mechanical arm assembly comprises a first electric push rod, a connecting rod assembly, a chain storage box and rollers, wherein the first end of the first rotary rod in the connecting rod assembly is connected with the output end of the first electric push rod, the first end of the 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 fixing rod in the connecting rod assembly, the second electric push rod and a chain end component are arranged in 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 component, and the rollers are symmetrically arranged outside the lower end of the chain storage box. The layer interference serial chain assembly comprises a cylinder, a layer interference serial chain and a layer interference limit chain, wherein the shell of the cylinder is fixedly connected with the mounting end at the upper part of the connecting plate, the mounting end of the layer interference serial chain is connected with the second mounting end of the balance baffle, and the plugboard of the layer interference serial chain is connected with the limit notch of the layer interference limit chain; the layer interference serial chain comprises layer interference chain links and fixing buckle caps, wherein two adjacent layer interference chain links are fixedly connected through the fixing buckle caps, and an inserting plate of a first layer interference chain link penetrates through a notch of a second layer interference chain link to be connected with a groove of the fixing buckle cap; the layer interference limiting chain comprises layer interference limiting chain links and rollers, wherein two adjacent layer interference limiting chain links are connected through a third layer interference limiting chain link, the inserting sheet of the first layer interference limiting chain link is connected with the limiting notch of the second layer interference limiting chain link, and the inserting sheet of the third layer interference limiting chain link is connected with the limiting notch of the first layer interference limiting chain link.
Preferably, in the framework platform assembly, the first installation end of the primary expansion link in the lifting expansion link is fixedly connected with the lower end of the middle part of the profile frame, the second installation end of the primary expansion link in the lifting expansion link is fixedly connected with the first installation end of the secondary expansion link in the lifting expansion link through an electric screw rod, the second installation end of the secondary expansion link in the lifting expansion link 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 installation end of the balance baffle.
Preferably, the connecting rod assembly comprises a first rotating rod, a rocking rod, 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 rocking rod 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 end of the second fixing rod and the first mounting end of the third fixing rod, the second mounting end of the second fixing rod and the second mounting end of the third fixing rod are respectively fixedly connected with the first mounting end and the second mounting end of the section bar 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 rocking rod.
Preferably, in the layer interference serial chain, a first through hole is formed in the middle of the layer interference chain link, and a notch and an inserting plate are respectively formed in the first side face and the second side face of the layer interference chain link; in the layer interference limiting chain, the middle part and the two ends of the layer interference limiting chain link are respectively provided with a second through hole, the first side face and the second side face of the layer interference limiting chain link are respectively provided with a limiting notch and an inserting sheet, and the two ends of the roller are respectively fixedly connected with the roller shaft holes of the layer interference limiting chain link.
Preferably, the profile of the profile frame is of a rectangular structure, a plurality of cross beams are arranged on the profile frame 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 arc-shaped, and the axes of the primary telescopic rod, the electric screw rod and the secondary 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 ropes, 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 larger than that of the inserting plate, and the inserting plate slides along the arc in the notch, so that the layer interference serial chain can realize relative rotation at a certain angle.
Preferably, the spacing notch of the spacing chain link of layer interference is circular arc, the arc length of spacing notch is greater than the arc length of inserted sheet, the inserted sheet unilaterally rotates in spacing notch, prevents that the roller from producing interference rotation direction and the spacing chain off tracking of layer interference, the axis of roller with the axis of the roller shaft hole of the spacing chain link of layer interference is on same straight line.
Preferably, the number of the layer interference serial chain assemblies is equal to the number 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 interference chain links and the fixing buckle caps form a first chain, and the layer interference limit links and the rollers form a second chain.
Compared with the prior art, the invention has the following advantages:
1. the invention can reduce secondary damage to the object, realize self-adaption of the shape of the layer interference serial chain and the object when the object is held, and timely change rigidity, thereby being capable of adapting to the shape of the object when the object is covered, preventing the object from being extruded based on the layer interference principle, realizing flexible contact and rigid bearing of the object, and ensuring the safety of the object in all directions.
2. The self-locking support has the function of fixing an object, and can change the rigidity of the self-locking support in time after the object is held in a supporting mode, so that the pose of the object is fixed.
3. The invention has higher bearing capacity, and the designed multi-arm cooperative work not only disperses the gravity of the transported object, but also changes the rigidity according to the layer interference principle, thereby improving the bearing capacity and the deformation capacity of the whole device.
Drawings
FIG. 1 is an overall block diagram of a variable stiffness actuator for a rescue robot of the present invention;
FIG. 2 is a partial block diagram of a variable stiffness actuator for a rescue robot according to the present invention;
FIG. 3 is a block diagram of a lifting telescopic rod and a balance baffle in the variable stiffness actuator for a rescue robot according to the present invention;
FIG. 4 is a block diagram of a translational mechanical arm assembly in a variable stiffness actuator for a rescue robot according to the present invention;
FIG. 5 is a block diagram of a layer interference series chain assembly in a variable stiffness actuator for a rescue robot of the present invention;
FIG. 6 is a block diagram of a layer interference series chain in a variable stiffness actuator for a rescue robot of the present invention;
FIG. 7 is a partial exploded view of a layer interfering serial chain in the variable stiffness actuator for a rescue robot of the present invention;
FIG. 8 is a block diagram of a layer interference series chain in the variable stiffness actuator for a rescue robot of the present invention;
FIG. 9 is a block diagram of a layer interference limit chain in the variable stiffness actuator for a rescue robot of the present invention;
fig. 10 is an internal structural view of a chain receiving box in the variable stiffness performing device for a rescue robot according to the present invention;
fig. 11 is a diagram showing a pulley and wire rope arrangement of a balance bar in the variable stiffness actuator for a rescue robot according to the present invention.
The main reference numerals:
the frame platform assembly 1, the profile frame 11, the balance baffle 12, the fixed pulley 121, the first steel wire rope 122, the second steel wire rope 123, the lifting telescopic rod 13, the primary telescopic rod 131, the electric screw 132, the secondary telescopic rod 133, the connecting plate 134, the translational mechanical arm assembly 2, the first electric push rod 21, the connecting rod assembly 22, the first rotating rod 221, the rocker 222, the first fixed rod 223, the second fixed rod 224, the execution connecting rod 225, the third fixed rod 226, the chain storage box 23, the second electric push rod 231, the chain end member 232, the roller 24, the layer interference serial chain assembly 3, the first cylinder 31, the layer interference serial chain 32, the first layer interference chain link 321, the notch 3211, the inserting plate 3212, the first through hole 3213, the fixed buckling cap 322, the second layer interference chain link 323, the layer interference limiting chain 33, the first layer interference limiting link 331, the limiting notch 3311, the inserting sheet 3312, the second through hole 3313, the roller shaft hole 4, the roller 332, the second layer interference limiting link 333, the third layer interference limiting link 334 and the second cylinder link 34.
Detailed Description
In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.
The variable stiffness executing device for the rescue robot can realize timely variable stiffness omnibearing coating of objects, flexible contact and rigid bearing of the objects and avoidance of secondary damage to the objects, and has the specific structure shown in fig. 1 and 2, and comprises a framework platform assembly 1, a translation mechanical arm assembly 2 and a layer interference serial chain assembly 3, wherein the translation 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 the 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 the chain end component 232 in the translational mechanical arm assembly 2.
The framework platform assembly 1, as shown in fig. 3 and 11, comprises a profile frame 11, a balance baffle 12 and a lifting telescopic rod 13, wherein an electric driving screw rod is arranged inside the lifting telescopic rod 13, and the electric driving screw rod controls the telescopic action of the lifting telescopic rod 13. The first installation end of the first-stage telescopic rod 131 in the lifting telescopic rod 13 is fixedly connected with the lower end of the middle part of the profile frame 11, the second installation end of the first-stage telescopic rod 131 in the lifting telescopic rod 13 is fixedly connected with the first installation end of the second-stage telescopic rod 133 in the lifting telescopic rod 13 through the electric screw 132, the second installation end of the second-stage telescopic rod 133 in the lifting telescopic rod 13 is fixedly connected with the center of the upper part of the connecting plate 134, the lower part of the connecting plate 134 is connected with the first installation end of the balance baffle 12, and the lifting telescopic rod 13 drives the balance baffle 12 to realize lifting motion.
Specifically, the profile frame 11 has a rectangular structure, the profile frame 11 is provided with a plurality of cross beams along the length direction for mechanical arm installation, and the aluminum profile in the middle part is used for fixing the first electric push rod 21 and the lifting telescopic rod 13; the balance baffle 12 is hollow, the outer surface of the upper end is a plane, the outer surface of the lower end is arc-shaped, the purpose is to better fit the outline above the object, an opening is arranged on the balance baffle 12, and a steel wire rope passes through the opening; the axes of the primary expansion link 131, the electric screw 132 and the secondary expansion link 133 are on the same straight line.
As shown in fig. 11, the balance baffle 12 is internally provided with a fixed pulley 121 for orderly arranging and optimally arranging the first wire rope 122 and the second wire rope 123 on 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 layer interference limiting chain 33 of the layer interference serial chain assembly 3, the second end of the first wire rope 122 is located inside the middle layer interference limiting chain 33 of the layer interference serial chain assembly 3 for overall 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 first through hole 3213 to be connected with the middle layer interference serial chain 32 of the layer interference serial chain assembly 3, and the second end of the second wire rope 123 is located inside the middle layer interference serial chain 32 for local rigidity.
Specifically, the second cylinder 34 pulls the second steel wire rope 123, and each link of the layer interference chain links is mutually extruded and generates a relatively large sliding friction force, so that the variable rigidity of the layer interference serial 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 chain link are mutually extruded and generate larger relative sliding friction force, so that the integral rigidity change of the two sections of the layer interference serial chain 32 and the layer interference limiting chain 33 can be realized; the rollers 332 are arranged at intervals in the middle of the layer interference limiting chain 33, and roll relative to the ground in the holding process to reduce friction.
Preferably, the first steel wire ropes 122 are symmetrically distributed on both sides of the second steel wire ropes 123, the first steel wire ropes 122 and the second steel wire ropes 123 are symmetrically distributed on both ends of the balance baffle 12, and the number of the first steel wire ropes 122 is twice that of the second steel wire ropes 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, wherein a first end of a first rotary 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 middle part of a second fixed rod 224 in the connecting rod assembly 22 is fixedly connected with the housing of the first electric push rod 21, the connecting rod assembly 22 includes a first rotary rod 221, a rocker 222, a first fixed rod 223, a second fixed rod 224, an actuating connecting rod 225 and a third fixed rod 226, a second end of the first rotary rod 221 is fixedly connected with a first fixed end outside the chain storage box 23, a first installation end of the rocker 222 is fixedly connected with a first installation end of the second fixed rod 224 and a second installation end of the third fixed rod 226, a second installation end of the second fixed rod 224 and a second installation end of the third fixed rod 226 are fixedly connected with a first installation end of the section bar 11 and a second installation end of the second fixed rod 226 respectively, and a second installation end of the rocker 225 is fixedly connected with a second installation end of the first installation end of the rocker 225 respectively.
Further, the first electric push rod 21 drives a rotating rod 221, the rotating rod 221 drives a rocking rod 222, the tail end of the rocking rod 222 reciprocates along a nearly straight line, the tail end of the rocking rod 222 is provided with a roller 24, and the roller 24 can roll relatively to the ground in the translational folding process of the mechanical arm.
As shown in fig. 10, the inside of the chain storage box 23 is hollow, the inside of the lower end of the chain storage box 23 is provided with a second electric push rod 231 and a chain end member 232, the inside is provided with the second electric push rod 231, the output end of the second electric push rod 231 is connected with the mounting 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, and the rollers 24 realize linear reciprocating movement under the linear driving of the first electric push rod 21, so that the coating process of the chain to an object is realized.
The layer interference serial chain assembly 3, as shown in fig. 5 and in combination with fig. 6 and 7, comprises a first cylinder 31, a second cylinder 34, a layer interference serial chain 32 and a layer interference limit chain 33, wherein two sections of the layer interference serial chain 32 and the layer interference limit chain 33 are connected in series by inserting the inserting plates into the slots, the shells of the first cylinder 31 and the second cylinder 34 are respectively fixedly connected with a first mounting end and a second mounting end at the upper part of the connecting plate 134, the cylinders are connected with an external air pump through air pipes, the mounting end of the layer interference serial chain 32 is connected with a second mounting end of the balance baffle 12, and the inserting plates 3212 of the layer interference serial chain 32 are connected with the limit slots 3311 of the layer interference limit chain 33.
Specifically, the chain wraps the object partially, the cylinder drives and tightens the steel wire rope, the steel wire rope tightens the chain to realize that the layer of the serial chain 32 is disturbed partially from soft to rigid, the function of supporting the object is realized, the object can be prevented from being extruded in the process of supporting the object, and after the object is completely wrapped, the cylinder drives the whole steel wire rope, the whole rigidity is realized, and therefore the object is fixed.
The layer interference serial chain 32 is formed by connecting a plurality of layers of interference chain links in series, can copy the object after contacting two sides of the object, and realizes the effect of attaching the outline of the object, as shown in fig. 8, and specifically comprises a layer interference chain link and a fixing buckle cap 322, wherein two adjacent layer interference chain links are fixedly connected through the fixing buckle cap 322, the fixing buckle cap 322 rotates the layer interference chain link relatively within a certain angle range, a first through hole 3213 is arranged in the middle of the layer interference chain link, a notch 3211 and a plugboard 3212 are respectively arranged on a first side surface and a second side surface of the layer interference chain link, the plugboard 3212 of the first layer interference chain link 321 penetrates through the notch 3211 of the second layer interference chain link 323 and the groove connection of the fixing buckle cap 322, and the fixing buckle cap 322 locks the link layer interference chain link.
Preferably, the slot of the layer interference chain link is arc-shaped, the arc length of the slot 3211 is longer than the arc length of the inserting plate 3212, and the inserting plate 3212 slides along the arc in the slot 3211, so that a certain angle of relative rotation between the layer interference serial chains 32 can be realized.
The layer interference limiting chain 33 is formed by connecting multiple sections of rollers 332 in series, as shown in fig. 9, and specifically comprises a layer interference limiting chain link and a roller 332, wherein the outer surface of the roller 332 is coated with soft materials to increase friction and flexibility, second through holes 3313 are formed in the middle and two ends of the layer interference limiting chain link, limiting notches 3311 and inserting pieces 3312 are respectively formed in the first side surface and the second side surface of the layer interference limiting chain link, two ends of the roller 332 are respectively fixedly connected with roller 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 pieces 3312 of the first layer interference limiting chain link 331 are connected with the limiting notches 3311 of the second layer interference limiting chain link 333, and the inserting pieces 3312 of the third layer interference limiting chain link 334 are connected with the limiting notches 3311 of the first layer interference limiting chain link 331.
The layer interference limiting chain link sets up the rotation direction of the spacing chain 33 of rotation angle range restriction layer interference, realizes unidirectional rotation, avoids the spacing chain 33 chain of layer interference to interfere each other, and specifically, the spacing notch 3311 of the spacing chain link of layer interference is circular-arc, and the arc length of spacing notch 3311 is greater than the arc length of inserted sheet 3312, and inserted sheet 3312 unilateral rotation in spacing notch 3311 prevents that roller 332 from producing interference rotation direction and the spacing chain 33 off tracking of layer interference, and the axis of roller 332 and the axis of the roller shaft hole 3314 of the spacing chain link of layer interference are on same straight line.
The number of the layer interference serial chain assemblies 3 is equal to the number of the translation mechanical arm assemblies 2, in the layer interference serial chain assemblies 3, the axes of two adjacent layer interference chain links are parallel to each other, and the axes of two adjacent rollers 332 are parallel to each other; the tier interfering chain links and the retaining caps 322 comprise a first chain and the tier interfering spacing links and rollers 332 comprise a second chain.
The following describes a variable stiffness execution device for a rescue robot in further detail with reference to the embodiments:
the specific working process of the device is as follows:
firstly, the invention is arranged on a rescue vehicle, when the rescue vehicle provided with the execution device reaches the upper part of an executed object, the execution device starts to integrally translate downwards, at the moment, after the roller 24 at the bottom of the translation mechanical arm assembly 2 contacts the ground, the execution device integrally stops to move downwards, then the electric screw rod 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 move downwards, and the translation is stopped when the balance baffle 12 just contacts the executed object.
Then, the second electric push rod 231 in the chain storage box 23 in the translational mechanical arm assembly 2 drives the chain end component 232 to move, the layer interference serial chain assembly 3 connected with the chain end component 232 is gradually released from the chain storage box 23, meanwhile, the first electric push rod 21 stretches to drive the translational mechanical arm 2 to horizontally move, the roller 24 and the roller 332 are driven to start rolling towards the inner side of the middle part of the mechanism, the layer interference serial chain 32 wraps two sides of an object to be executed, and the layer interference serial chain assembly 3 can adapt to the shape of the object in the wrapping process, so that the profiling effect is achieved.
Then, after the two sides of the object to be executed are wrapped by the first electric push rod 21, the first electric push rod 21 stops stretching, meanwhile, the second air cylinder 34 starts 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 serial chain 32 in the layer interference serial chain assembly 3 to move under the action of the second air cylinder 34, each chain link of the layer interference chain links 321 is mutually extruded and generates a large relative sliding friction force, and the layer interference serial chain 32 can be changed from flexible to rigid, so that the object to be executed is rigidly supported, and the object to be executed is prevented from being extruded again.
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 to prevent the deviation of the layer interference limiting chain 33, meanwhile, the layer interference serial chain 32 which becomes rigid is supported by the layer interference limiting chain 33, meanwhile, an executed object wrapped by the layer interference serial chain 32 is supported, the layer interference limiting chain 33 continues to move towards the inner side, and the executed object is wrapped in all directions.
After the object to be executed is wrapped in all directions, the first electric push rod 21 is closed to stop working, meanwhile, the first cylinder 31 starts to start and pull 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 two sections of the layer interference serial chain 32 and the layer interference limiting chain 33 are integrally rigid.
Finally, the object to be executed is wrapped in an omnibearing and rigid way by the executing device, and the executing device holds the object to be executed to rise integrally at the moment 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 materials with high friction coefficient and high flexibility, so that 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 serial chain 32 and the layer interference limiting chain 33 is specially treated, so that a certain rigidity-changing requirement can be achieved when the steel wire rope is tensioned.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (9)
1. The variable stiffness executing device for the rescue robot comprises a framework platform assembly, a translation mechanical arm assembly and a layer interference serial chain assembly, wherein the translation 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, a second end of the layer interference serial chain assembly is connected with a second end of a chain end component in the translation mechanical arm assembly,
the framework platform assembly comprises a profile frame, a balance baffle and a lifting telescopic rod, wherein a fixed pulley is arranged in the balance baffle, a first steel wire rope is positioned at the outer end of the inside of 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 layer interference limiting chain in the layer interference serial chain assembly, the second steel wire rope is positioned in the middle of the inside of 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 layer interference serial chain in the layer interference serial chain assembly;
the translation mechanical arm assembly comprises a first electric push rod, a connecting rod assembly, a chain storage box and rollers, wherein a first end of a first rotating rod in the connecting rod assembly is connected with an output end of the first electric push rod, a 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 part of a second fixed rod in the connecting rod assembly, a second electric push rod and a chain end component are arranged in the lower end of the chain storage box, the output end of the second electric push rod is connected with a mounting end of a layer interference limiting chain through the chain end component, and the rollers are symmetrically arranged outside the lower end of the chain storage box;
the layer interference serial chain assembly comprises a cylinder, a layer interference serial chain and a layer interference limit chain, wherein the shell of the cylinder is fixedly connected with the mounting end at the upper part of the connecting plate, the mounting end of the layer interference serial chain is connected with the second mounting end of the balance baffle, and the plugboard of the layer interference serial chain is connected with the limit notch of the layer interference limit chain; the layer interference serial chain comprises layer interference chain links and fixing buckle caps, wherein two adjacent layer interference chain links are fixedly connected through the fixing buckle caps, and an inserting plate of a first layer interference chain link penetrates through a notch of a second layer interference chain link to be connected with a groove of the fixing buckle cap; the layer interference limiting chain comprises layer interference limiting chain links and rollers, wherein two adjacent layer interference limiting chain links are connected through a third layer interference limiting chain link, the inserting sheet of the first layer interference limiting chain link is connected with the limiting notch of the second layer interference limiting chain link, and the inserting sheet of the third layer interference limiting chain link is connected with the limiting notch of the first layer interference limiting chain link.
2. The variable stiffness execution device for a rescue robot according to claim 1, wherein in the frame platform assembly, a first installation end of a first-stage telescopic rod in the lifting telescopic rod is fixedly connected with a lower end of a middle part of the profile frame, a second installation end of the first-stage telescopic rod in the lifting telescopic rod is fixedly connected with a first installation end of a second-stage telescopic rod in the lifting telescopic rod through an electric screw rod, a second installation end of the second-stage telescopic rod in the lifting telescopic rod is fixedly connected with a center of an upper part of the connecting plate, and a lower part of the connecting plate is connected with a first installation end of the balance baffle.
3. The variable stiffness execution device for a rescue robot according to claim 1, wherein the link assembly comprises a first rotating rod, a rocking rod, a first fixing rod, a second fixing rod, an execution link and a third fixing rod, the second end of the first rotating rod is fixedly connected with a first fixed end outside the chain storage box, the first installation end of the rocking rod is fixedly connected with a second fixed end outside the chain storage box, two ends of the first fixing rod are respectively connected with the first installation ends of the second fixing rod and the third fixing rod, the second installation ends of the second fixing rod and the third fixing rod are respectively fixedly connected with the first installation end and the second installation end of the section bar frame, and two ends of the execution link are respectively connected with the third installation end of the first fixing rod and the second installation end of the rocking rod.
4. The variable stiffness execution device for rescue robots according to claim 1, wherein in the layer interference serial chain, a first through hole is provided in the middle of the layer interference chain link, and a notch and an insert plate are respectively provided on a first side surface and a second side surface of the layer interference chain link; in the layer interference limiting chain, the middle part and the two ends of the layer interference limiting chain link are respectively provided with a second through hole, the first side face and the second side face of the layer interference limiting chain link are respectively provided with a limiting notch and an inserting sheet, and the two ends of the roller are respectively fixedly connected with the roller shaft holes of the layer interference limiting chain link.
5. The variable stiffness execution device for the rescue robot according to claim 2, wherein the profile frame has a rectangular structure, a plurality of cross beams are arranged on the profile frame 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 arc-shaped, and the axes of the primary telescopic rod, the electric screw rod and the secondary telescopic rod are on the same straight line.
6. The variable stiffness execution device for the rescue robot of claim 1, wherein the first steel wire ropes are symmetrically distributed on two sides of the second steel wire ropes, 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.
7. The variable stiffness actuator for a rescue robot of claim 4 wherein the slot of the layer interfering chain link is arcuate, the slot having an arcuate length greater than the arcuate length of the insert plate, the insert plate sliding along the arcuate in the slot such that an angular relative rotation between the layer interfering chain links is achieved.
8. The variable stiffness execution device for the rescue robot of claim 4, wherein the limiting notch of the layer interference limiting link is arc-shaped, the arc length of the limiting notch is larger than that of the inserting piece, the inserting piece rotates on one side in the limiting notch, the roller is prevented from interfering the rotation direction and the layer interference limiting chain from deviating, and the axis of the roller shaft hole of the layer interference limiting link are on the same straight line.
9. The variable stiffness actuator for a rescue robot of claim 7 or 8, wherein the number of the layer interference serial chain assemblies in which axes of adjacent two layer interference chain links are parallel to each other and axes of adjacent two rollers are parallel to each other is equal to the number of the translation mechanical arm assemblies; the layer interference chain links and the fixing buckle caps form a first chain, and the layer interference limit links and the rollers form a second chain.
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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 |
| 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 |
| 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 |
| 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 |
|---|---|---|---|---|
| FR3095484A1 (en) * | 2019-04-24 | 2020-10-30 | Lift'o | Rigid chain link and rigid chain equipped with such links |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111844073A (en) * | 2020-07-22 | 2020-10-30 | 燕山大学 | Rigid-flexible hybrid multi-arm rescue robot |
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