CN114800619B - Line traction driving device of flexible continuum robot - Google Patents
Line traction driving device of flexible continuum robot Download PDFInfo
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- CN114800619B CN114800619B CN202210654382.4A CN202210654382A CN114800619B CN 114800619 B CN114800619 B CN 114800619B CN 202210654382 A CN202210654382 A CN 202210654382A CN 114800619 B CN114800619 B CN 114800619B
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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
Abstract
The invention relates to a wire traction driving device of a flexible continuum robot, which comprises two driving units, a first left traction wire, a first right traction wire, a second front traction wire and a second rear traction wire, wherein the driving units comprise steering engines, the output shaft of each steering engine of each driving unit is provided with a cam, the first left traction wire and the first right traction wire are respectively wound on two rope grooves of one cam, and the second front traction wire and the second rear traction wire are respectively wound on two rope grooves of the other cam. The invention relates to a wire traction driving device of a flexible continuum robot, which drives a flexible continuum through two traction wires, and compared with other traction modes without wire traction, the wire traction driving device not only improves the accuracy of motion control, but also improves the degree of freedom of a bent knuckle chain.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wire traction driving device of a flexible continuum robot.
Background
The continuum robot comprises a flexible continuum (also called as a flexible arm, a mechanical arm and a snake bone), wherein the flexible continuum is formed by sequentially connecting a plurality of bent mechanism joints (or mechanism joint units) to form a bent mechanism joint chain, and camera shooting voice devices such as a camera, a microphone and the like are arranged on the bent mechanism joint chain to form the robot, so that man-machine interaction can be carried out with a person.
Flexible continuum has been widely used in various fields such as robot smart hands, surgical robots, lightweight robotic arms, and the like. The existing flexible continuous body is formed by sequentially riveting a plurality of bending mechanism joint units, or a connecting rod and a gear are combined, linear traction is not adopted generally, the matching integrity between the bending mechanism joint units is poor, limited bending in two directions (left, right or front and rear) can only be realized, bending in front of, behind, left and right in multiple directions and at any angle can not be realized, the angle control precision is low, the length of the required flexible continuous body is longer and longer along with the bending, the radial and axial deviation of the required flexible continuous body is also larger and larger, the motion control precision is low, and the improvement of the freedom degree of a bending mechanism chain is limited.
Disclosure of Invention
The invention aims to provide a wire traction driving device of a flexible continuous body robot, which is used for solving the problems of low motion control precision and limited freedom degree of a bending mechanism link chain existing in other control modes of the conventional flexible continuous body without wire traction.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The wire traction driving device of the flexible continuum robot comprises a flexible continuum, wherein the flexible continuum robot comprises a plurality of bending joints, the plurality of bending joints are mutually nested and connected to form a bending joint chain, the wire traction driving device also comprises a first driving unit, a second driving unit, a first left traction wire, a first right traction wire, a second front traction wire and a second rear traction wire,
the steering engine comprises a first driving unit and a second driving unit, wherein the first driving unit and the second driving unit both comprise a steering engine, a first cam is arranged on an output shaft of the steering engine of the first driving unit, a second cam is arranged on an output shaft of the steering engine of the second driving unit, and two identical rope grooves are arranged on rims of the first cam and the second cam in parallel;
the first left traction wire and the first right traction wire are respectively wound on two rope grooves of the first cam, the outer ends of the first left traction wire and the first right traction wire respectively shuttle to the left side and the right side of a plurality of bending mechanism joints of the flexible continuous body in sequence,
the second front traction wire and the second rear traction wire are respectively wound on two rope grooves of the second cam, the outer ends of the second front traction wire and the second rear traction wire respectively sequentially shuttle the front side and the rear side of a plurality of bending mechanism joints of the flexible continuous body, and all the bending mechanism joints of the bending mechanism joint chain are tied together;
The first left traction wire and the first right traction wire are used for controlling the bending of the flexible continuous body in the left-right direction, and the second front traction wire and the second rear traction wire are used for controlling the bending of the flexible continuous body in the front-rear direction.
Preferably, the device further comprises a base frame, wherein the base frame comprises four upright posts, a top plate and a bottom plate, and the top plate and the bottom plate are parallel to each other and are connected through the four upright posts to form a rectangular frame; the first driving unit and the second driving unit are fixed on the bottom plate, and the bottom end of the flexible continuous body is arranged on the top surface of the top plate of the base frame; the top plate is provided with a threading hole, one ends of a first left traction wire and a first right traction wire are tied on a rope groove of a first cam, one ends of a second front traction wire and a second rear traction wire are tied on a rope groove of a second cam, and the other ends of the first left traction wire, the first right traction wire, the second front traction wire and the second rear traction wire penetrate through the threading hole of the top plate and are connected with the flexible continuous body.
Preferably, the first cam and the second cam are respectively provided with a first pulley device and a second pulley device, the first pulley device and the second pulley device comprise a push rod sleeve, two push rods and two pulleys, the upper ends of the two push rods are sleeved in the push rod sleeve and can slide up and down freely along the push rod sleeve, and the two pulleys are respectively arranged at the bottom ends of the two push rods; the ejector rod sleeves of the first pulley device and the second pulley device are respectively fixed on the bottom surfaces of the top plates of the base frames above the first cam and the second cam, the two pulleys of the first pulley device are respectively suspended in the two rope grooves of the first cam, and the two pulleys of the second pulley device are respectively suspended in the two rope grooves of the second cam; the first left traction wire and the first right traction wire are led out from two rope grooves of the first cam, respectively wound on two pulleys of the first pulley device, respectively pass through threading holes of the top plate, respectively and alternately shuttle at the left side and the right side of a plurality of bending mechanism joints of the flexible continuous body in turn, and finally are tied together to form the first traction wire; the second front traction wire and the second rear traction wire are led out from two rope grooves of the second cam, respectively wound on two pulleys of the second pulley device, respectively penetrate through threading holes of the top plate, respectively and alternately shuttle at the front side and the rear side of the plurality of bending mechanism joints of the flexible continuous body in sequence, and finally are tied together to form the second traction wire.
Preferably, the first pulley device and the second pulley device further comprise two return springs, the two return springs are respectively sleeved on the outer sides of the two ejector rods, the top ends of the return springs are fixed in the ejector rod sleeve, and the bottom ends of the return springs are propped against the top surface of the pulley.
Preferably, each bending structure section comprises two connecting structure section parts, a middle structure section part and six lead shafts, the front end and the rear end of the upper part of each connecting structure section part are respectively protruded upwards, a pair of connecting holes in the front-rear direction are formed in the highest position of the protrusions, the left end and the right end of the lower part of each connecting structure section part are respectively protruded downwards, a pair of connecting holes in the left-right direction are formed in the lowest position of the protrusions, and the connecting holes in the front-rear direction are mutually perpendicular to the central lines of the connecting holes in the left-right direction in space; an upper arc transition area is formed between a pair of connecting holes in the front-rear direction at the upper part of each connecting structure section, and a lower arc transition area is formed between a pair of connecting holes in the left-right direction at the lower part of each connecting structure section; the front end and the rear end of the upper part of the middle structure section are respectively protruded upwards to form a front fan plate and a rear fan plate, the outer end surfaces of the front fan plate and the rear fan plate of the middle structure section are arranged to be cambered surfaces, and the cambered surfaces of the outer ends of the front fan plate and the rear fan plate of the middle structure section are mutually matched with a lower arc transition area of the upper connection structure section; the left end and the right end of the lower part of the middle construction section are respectively downwards protruded to form a left fan plate and a right fan plate, the end faces of the outer ends of the left fan plate and the right fan plate of the middle construction section are arranged to be cambered surfaces, and the cambered surfaces of the outer ends of the left fan plate and the right fan plate of the middle construction section are mutually matched with an upper arc transition area of the connecting construction section positioned below; the left side surface and the right side surface of the middle structure section are respectively provided with a left connecting hole and a right connecting hole inwards, the front side surface and the rear side surface are respectively provided with a front connecting hole and a rear connecting hole inwards, the left connecting hole, the right connecting hole, the front connecting hole and the rear connecting hole are positioned on the same horizontal plane, the left connecting hole and the right connecting hole are positioned on the same straight line, the front connecting hole and the rear connecting hole are positioned on the same straight line, and the straight line where the left connecting hole and the right connecting hole are positioned is mutually perpendicular to the straight line where the front connecting hole and the rear connecting hole are positioned; the left connecting hole, the right connecting hole, the front connecting hole and the rear connecting hole of each middle structure section are respectively provided with a guide wire shaft; the two connecting structure sections are respectively provided with the upper end and the lower end of the middle structure section to form a bending structure section, wherein the left connecting hole and the right connecting hole of the middle structure section are respectively pivoted with a pair of left and right connecting holes of the upper connecting structure section through inserting guide shafts, and the front connecting hole and the rear connecting hole of the middle structure section are respectively pivoted with a pair of front and rear connecting holes of the lower connecting structure section through inserting guide shafts, so that the two connecting structure section and the middle structure section are pivoted together to form the bending structure section; the two adjacent bent structure sections are pivoted and mutually nested and connected together through a middle structure section, wherein a pair of left and right connecting holes of a lower connecting structure section of the upper bent structure section are respectively pivoted with a left connecting hole and a right connecting hole of the middle structure section through inserting a lead shaft, a pair of front and rear connecting holes of the upper connecting structure section of the lower bent structure section are respectively pivoted with a front connecting hole and a rear connecting hole of the middle structure section through inserting a lead shaft, and a lower arc transition area of the connecting structure section below the bent structure section is mutually nested with cambered surfaces of the outer ends of a front fan plate and a rear fan plate of the middle structure section of the adjacent bent structure section, so that the bent structure section is connected with the adjacent bent structure section below; the upper ends and the lower ends of the plurality of bent structure joints are sequentially connected through pin joint and nesting to form a bent structure joint chain.
Preferably, the outer ends of the lead shafts of the left connecting hole, the right connecting hole, the front connecting hole and the rear connecting hole and the middle section part between the adjacent bent sections are provided with threading holes; the first left traction wire and the first right traction wire respectively pass through threading holes of the threading shafts in a pair of left and right connecting holes of the connecting structure section and respectively pass through threading holes of the threading shafts in the left connecting hole and the right connecting hole of the middle structure section, and the connecting structure section positioned above in the same bending structure section is tied with the middle structure section; the left connecting hole and the right connecting hole of the middle section part of the adjacent bent section are alternately arranged with the lead shafts of the pair of left and right connecting holes of the connecting section part to form left and right lead shaft rows respectively, and the first left and right traction wires continue to alternately shuttle between the left and right connecting holes of the middle section part between the two adjacent bent sections and the lead shafts of the pair of left and right connecting holes of the connecting section part to be tied together; the lead shafts of the plurality of bent structure joints respectively pass through the first left traction wire and the first right traction wire from the lead holes of the lead shafts in the left row and the right row of the lead shafts in sequence, and the left sides and the right sides of all the bent structure joints of the bent structure joint chain are tied together; similarly, the second front traction wire and the second rear traction wire respectively pass through the threading holes of the threading shafts in the pair of front and rear connecting holes of the connecting structure section and respectively pass through the threading holes of the threading shafts in the front connecting hole and the rear connecting hole of the middle structure section, so that the connecting structure section positioned below in the same bending structure section is tied with the middle structure section; the front connecting hole and the rear connecting hole of the middle section part of the adjacent bent section are alternately arranged with the lead shafts of the pair of front and rear connecting holes of the connecting section part to form a lead shaft front row and a lead shaft rear row respectively, and the second front traction wire and the second rear traction wire continuously alternate to shuttle respectively at the front connecting hole and the rear connecting hole of the middle section part between the two adjacent bent sections and the lead holes of the lead shafts of the pair of front and rear connecting holes of the connecting section part; and the lead shafts of the plurality of bent structure joints sequentially shuttle from the front line of the lead shaft and the threading holes of the lead shafts at the rear line of the lead shaft respectively through the second front traction wire and the second rear traction wire, so that the front side and the rear side of all the bent structure joints of the bent structure joint chain are tied together.
Preferably, the first left traction wire and the first right traction wire of the left column of the lead shaft and the right column of the lead shaft of the bending knuckle chain are controlled to be tied together to form a first traction wire, the second front traction wire and the second rear traction wire of the front column of the lead shaft and the rear column of the lead shaft of the bending knuckle chain are controlled to be tied together to form a second traction wire, wherein the left-right movement of a plurality of bending knuckles in the traction flexible continuous body is controlled by the first traction wire, and the front-back movement of a plurality of bending knuckles in the traction flexible continuous body is controlled by the second traction wire; when the steering engine of the first driving unit and the steering engine of the second driving unit rotate, the first traction wire and the second traction wire are respectively controlled to be wound or unwound, so that the bending degree of the bending mechanism link chain in the front, back, left and right directions is adjusted, and the gesture and the position of the flexible continuous body are controlled.
Preferably, the flexible continuous body further comprises a head end section seat and a tail end section seat, wherein the head end section seat and the tail end section seat are respectively fixed at two ends of the bent knuckle chain; the tail end section seat of the flexible continuous body is arranged on the top plate of the base frame.
Preferably, the camera voice device is arranged on the head end section seat of the flexible continuous body, the camera voice device comprises a camera, a microphone and a rotating seat, the camera and the microphone are arranged on the rotating seat, the camera and the microphone can rotate on the rotating seat, and the rotating seat of the camera voice device is arranged on the head end section seat of the flexible continuous body.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a wire traction driving device of a flexible continuum robot, which adopts a steering engine of a driving unit and a matched cam to wind a first left traction wire and a first right traction wire to traction the bending of the left and right sides of the flexible continuum, and the other steering engine and the matched cam wind a second front traction wire and a second rear traction wire to traction the bending of the front and rear sides of the flexible continuum. The invention provides a wire traction driving device of a flexible continuum robot, which considers that a traction wire can only provide tension but can not provide supporting force, a first left traction wire and a first right traction wire are sequentially and alternately shuttled on the left side and the right side of a plurality of bending joints of the flexible continuum and then tied together to form one traction wire, and a second front traction wire and a second rear traction wire are simultaneously and alternately shuttled on the front side and the rear side of the plurality of bending joints of the flexible continuum and finally tied together to form another traction wire.
Drawings
Fig. 1 is a schematic structural diagram of a flexible continuum robot according to embodiment 1 of the present invention;
FIG. 2 is an overall three-dimensional perspective view of a knuckle provided in embodiment 1 of the present invention;
FIG. 3 is an exploded view of the knuckle according to embodiment 1 of the present invention;
fig. 4 is a front view of a connecting structure section provided in embodiment 1 of the present invention;
fig. 5 is a perspective view of a connecting structure section provided in embodiment 1 of the present invention;
FIG. 6 is a front view of an intermediate structure provided in embodiment 1 of the present invention;
fig. 7 is a perspective view of an intermediate structure section provided in embodiment 1 of the present invention;
FIG. 8 is a transverse cross-sectional view of a link chain of a bend mechanism provided in accordance with embodiment 1 of the present invention;
FIG. 9 is a three-dimensional view of a wire traction drive provided in embodiment 2 of the present invention;
FIG. 10 is a front view of a wire traction drive provided in embodiment 2 of the present invention;
FIG. 11 is a cross-sectional view taken along line M-M in FIG. 10;
fig. 12 is a partially enlarged schematic diagram of a second pulley device according to embodiment 2 of the present invention.
Reference numerals illustrate: 1-a camera voice device, 2-a flexible continuum, 21-a head end section seat, 22-a tail end section seat, 3-a base seat, 301-a top plate and 302-a bottom plate; 31-connecting structure section, 32-middle structure section, 33-guiding shaft, 311-connecting hole in front-back direction, 312-connecting hole in left-right direction, 313-upper arc transition region, 314-lower arc transition region; a-left connecting hole, B-right connecting hole, C-front connecting hole and D-rear connecting hole; 321-front fan plate, 322-rear fan plate, 323-left fan plate, 324-right fan plate; 41-a first drive unit, 42-a second drive unit; 511-a first left traction wire, 512-a first right traction wire, 521-a second front traction wire, 522-a second rear traction wire, 50-a threading hole; 61-first cam, 62-second cam; 701-first pulley arrangement, 702-second pulley arrangement, 71-ejector pin sleeve, 72-ejector pin, 73-pulley, 74-return spring.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The invention provides a wire traction driving device of a flexible continuum robot, which aims to improve the motion control precision of the flexible continuum and the freedom degree of a bending mechanism link, two driving units, two cams and two traction wires are adopted, the cams are arranged on the output shafts of a steering engine of the driving units, the two traction wires are respectively sleeved on two independent rope grooves of the cams, two ends of the two traction wires respectively shuttle at the left side and the right side or the front side and the rear side of the flexible continuum, one traction wire is driven to be placed and retracted by the cams through one steering engine, the left side and the right side of a traction wire traction bending mechanism section are driven to bend, the other steering engine is driven to be placed and retracted by the cams, the length difference between the released traction wire and the retracted traction wire can be supplemented, the wire length of the traction mechanism section which is respectively released and absorbed is exactly equal to the wire length which is required to be absorbed and released by the bending mechanism section of the flexible continuum to rotate at any angle at any position, the stress in the traction wire is hardly changed in the rotating process, the cams can ensure the linear relation of the steering engine rotation and the rotation of the traction mechanism section, and the front side of the traction wire is not driven by the cams, and the two traction wires are not driven to rotate by the rotation of the traction wire, and the flexible continuum has no general purpose, and the problem of realizing the two-way of the flexible traction mechanism is only and accurate and has a high and convenient rotation.
Example 1: flexible continuum robot
Referring to fig. 1, the flexible continuum robot includes a camera voice device 1 and a flexible continuum 2.
The flexible continuous body 2 comprises a head end section seat 21, a plurality of bent structure sections and a tail end section seat 22, wherein the bent structure sections are mutually nested and connected to form a bent structure section chain, and the head end section seat 21 and the tail end section seat 22 are respectively fixed at two ends of the bent structure section chain.
The camera voice device 1 comprises a camera, a microphone and a rotating seat, wherein the camera and the microphone are arranged on the rotating seat, the camera and the microphone can rotate on the rotating seat, two degrees of freedom are provided, and the rotating seat of the camera voice device 1 is arranged on the head end section seat 21 of the flexible continuous body 2 and is used for realizing information interaction between human and machines.
Specifically, referring to fig. 2 and 3, each bent knuckle includes two connection knuckle portions 31, one intermediate knuckle portion 32, and six guide shafts 33.
Referring to fig. 4 and 5, the front and rear ends of the upper portion of each connection structure section 31 are respectively protruded upward and are provided with a pair of front and rear connection holes 311 at the highest position of the protrusions, the left and right ends of the lower portion of each connection structure section 31 are respectively protruded downward and are provided with a pair of left and right connection holes 312 at the lowest position of the protrusions, and the center lines of the pair of front and rear connection holes 311 and the pair of left and right connection holes 312 are spatially perpendicular to each other.
Referring to fig. 6 and 7, an upper arc transition region 313 is formed between a pair of front-rear direction connection holes 311 at an upper portion of each connection structure section 31, and a lower arc transition region 314 is formed between a pair of left-right direction connection holes 312 at a lower portion of each connection structure section 31; the front and rear ends of the upper part of the middle section 32 are respectively protruded upwards to form a front fan plate 321 and a rear fan plate 322, the outer end surfaces of the front fan plate 321 and the rear fan plate 322 of the middle section 32 are set to be cambered surfaces, the cambered surfaces of the outer ends of the front fan plate 321 and the rear fan plate 322 of the middle section 32 are mutually matched with the lower arc transition zone 314 of the upper connecting section 31, and the left and right ends of the lower part of the middle section 32 are respectively protruded downwards to form a left fan plate 323 and a right fan plate 324; the outer end surfaces of the left and right fan plates 323, 324 of the intermediate joint portion 32 are provided as arc surfaces, and the arc surfaces of the outer ends of the left and right fan plates 323, 324 of the intermediate joint portion 32 are engaged with the upper arc transition region 313 of the connecting joint portion 31 located below.
With continued reference to fig. 2 and 3, the left and right side surfaces of the middle section 32 are respectively provided with a left connecting hole a and a right connecting hole B, the front and rear side surfaces are respectively provided with a front connecting hole C and a rear connecting hole D, the left connecting hole a, the right connecting hole B, the front connecting hole C and the rear connecting hole D are located on the same horizontal plane, the left connecting hole a and the right connecting hole B are located on the same straight line, the front connecting hole C and the rear connecting hole D are located on the same straight line, and the straight line where the left connecting hole a and the right connecting hole B are located is mutually perpendicular to the straight line where the front connecting hole C and the rear connecting hole D are located.
The left, right, front and rear coupling holes a, B, C and D of each intermediate structure section 32 are respectively provided with one guide wire shaft 33, and the outer end of each guide wire shaft 33 is provided with a threading hole 50 to facilitate penetration of the traction wire 15 into the guide wire shaft 33, as shown in fig. 8.
The two connecting structure sections 31 are respectively provided with the upper end and the lower end of the middle structure section 32 to form a bending structure section, wherein the left connecting hole A and the right connecting hole B of the middle structure section 32 are respectively pivoted with a pair of left and right connecting holes 312 of the upper connecting structure section 31 through an inserted guiding shaft 33, and the front connecting hole C and the rear connecting hole D of the middle structure section 32 are respectively pivoted with a pair of front and rear connecting holes 311 of the lower connecting structure section 31 through an inserted guiding shaft 33, so that the two connecting structure sections 31 and the middle structure section 32 are pivoted together to form the bending structure section;
the two adjacent bent structure sections are pivoted and mutually nested and connected together through a middle structure section 32, wherein a pair of left and right connecting holes 312 of the lower connecting structure section 31 of the upper bent structure section are pivoted with left connecting holes A and right connecting holes B of the middle structure section 32 respectively through inserting a guide wire shaft 33, a pair of front and rear connecting holes 311 of the upper connecting structure section 31 of the lower bent structure section are pivoted with a front connecting hole C and a rear connecting hole D of the middle structure section 32 respectively through inserting a guide wire shaft 33, and a lower arc transition zone 314 of the connecting structure section 31 below the bent structure section is mutually nested with cambered surfaces at the outer ends of a front fan plate 321 and a rear fan plate 322 of the middle structure section 32 of the adjacent bent structure section, so that the bent structure section is connected with the adjacent bent structure section below the lower bent structure section;
The upper ends and the lower ends of the plurality of bent structure joints are sequentially connected through pin joint and nesting to form a bent structure joint chain.
Example 2: line traction driving device of flexible continuum robot
Referring to fig. 9 to 10, the wire traction driving device includes a first driving unit 41, a second driving unit 42, a first left traction wire 511, a first right traction wire 512, a second front traction wire 521, a second rear traction wire 522, and a base frame 3.
The first driving unit 41 and the second driving unit 42 each comprise a steering engine, a first cam 61 is arranged on an output shaft of the steering engine of the first driving unit 41, a second cam 62 is arranged on an output shaft of the steering engine of the second driving unit 42, and two identical rope grooves are arranged on rims of the first cam 61 and the second cam 62 in parallel;
the first left traction wire 511 and the first right traction wire 512 are respectively wound on two rope grooves of the first cam 61, the outer ends of the first left traction wire 511 and the first right traction wire 512 respectively shuttle to the left side and the right side of the plurality of bending mechanism joints of the flexible continuous body 2 in sequence,
The second front traction wire 521 and the second rear traction wire 522 are respectively wound on two rope grooves of the second cam 62, and the outer ends of the second front traction wire 521 and the second rear traction wire 522 respectively sequentially shuttle the front side and the rear side of the plurality of bending joints of the flexible continuous body 2, so that all the bending joints of the bending joint chain are tied together;
wherein the first left traction wire 511 and the first right traction wire 512 are used for controlling the bending of the flexible continuous body 2 in the left-right direction, and the second front traction wire 521 and the second rear traction wire 522 are used for controlling the bending of the flexible continuous body 2 in the front-rear direction.
Specifically, the base frame 3 includes four upright posts, a bottom plate 302 and a top plate 301, the four upright posts are parallel to each other, and the top plate 301 and the bottom plate 302 are parallel to each other and are connected by the four upright posts to form a rectangular frame.
The first driving unit 41 and the second driving unit 42 are fixed to the bottom plate 302, and the bottom end of the flexible continuous body 2 is disposed on the top surface of the top plate 301 of the base frame 3. More specifically, the tail end section seat 22 of the flexible continuous body 2 is provided on the top plate 301 of the base frame 3.
The top plate 301 is provided with a threading hole, one end of the first left traction wire 511 and one end of the first right traction wire 512 are tied to the rope groove of the first cam 61, one end of the second front traction wire 521 and one end of the second rear traction wire 522 are tied to the rope groove of the second cam 62, and the other ends of the first left traction wire 511, the first right traction wire 512, the second front traction wire 521 and the second rear traction wire 522 penetrate through the threading hole of the top plate 301 and are connected with the flexible continuous body 2.
Since the rotation radius of the first cam 61 and the second cam 62 will change during the rotation, in order to adapt to the change, referring to fig. 11 and 12, and referring to fig. 9 to 10, the first cam 61 and the second cam 62 are respectively configured with a first pulley device 701 and a second pulley device 702, the first pulley device 701 and the second pulley device 702 each comprise a push rod sleeve 71, two push rods 72 and two pulleys 73, the upper ends of the two push rods 72 are sleeved in the push rod sleeve 71 and can slide up and down along the push rod sleeve 71, and the two pulleys 73 are respectively arranged at the bottom ends of the two push rods 72;
the ejector sleeves 71 of the first pulley device 701 and the second pulley device 702 are respectively fixed on the bottom surface of the top plate 301 of the base frame 3 above the first cam 61 and the second cam 62, the two pulleys 73 of the first pulley device 701 are respectively suspended in the two rope grooves of the first cam 61, and the two pulleys 73 of the second pulley device 702 are respectively suspended in the two rope grooves of the second cam 62.
In order to ensure that the traction wire provides a pulling force during the movement process, the traction wire is prevented from gathering on the paying-off side of the cam, the first left traction wire 511 and the first right traction wire 512 are led out from two rope grooves of the first cam 61 and respectively wound on two pulleys 73 of the first pulley device 701, respectively pass through threading holes of the top plate 301, respectively and alternately shuttle on the left side and the right side of a plurality of bending mechanism joints of the flexible continuous body 2 in turn, and finally are tied together to form the first traction wire; the second front traction wire 521 and the second rear traction wire 522 are led out from two rope grooves of the second cam 62, respectively wound around two pulleys 73 of the second pulley device 702, respectively passed through threading holes of the top plate 301, respectively and alternately shuttled back and forth on the front and rear sides of the plurality of bending joints of the flexible continuous body 2, respectively, and finally tied together to form the second traction wire.
The arrangement of the first cam 61 and the second cam 62 is helpful to respectively reduce friction generated by the alternate shuttling of the first traction wire on the left side and the right side of the flexible continuous body 2 and the alternate shuttling of the second traction wire on the front side and the rear side of the flexible continuous body 2, thereby improving installation and maintenance convenience, preventing trouble caused by excessive winding of ropes and causing problems of friction increase and the like.
In order to enable the pulley 73 to return to the rope groove along with the up-and-down movement of the ejector rod 72, the first pulley device 701 and the second pulley device 702 further comprise two return springs 74, the two return springs 74 are respectively sleeved on the outer sides of the two ejector rods 72, the top ends of the return springs 74 are fixed in the ejector rod sleeve 71, and the bottom ends of the return springs 74 are abutted against the top surface of the pulley 73.
The following describes in detail how the first left traction wire 511, the first right traction wire 512, the second front traction wire 521 and the second rear traction wire 522 tie all the bending moments of the bending moment chain together.
First, the first left traction wire 511 and the first right traction wire 512 respectively pass through the threading holes 50 of the lead shaft 33 in the pair of left and right connecting holes 312 of the connecting knuckle 31, respectively pass through the threading holes 50 of the lead shaft 33 in the left connecting hole a and the right connecting hole B of the middle knuckle 32, respectively, and tie the connecting knuckle 31 and the middle knuckle 32 located above in the same bent knuckle;
The lead shafts 33 in the left connecting hole a and the right connecting hole B of the intermediate section portion 32 of the adjacent turn section are alternately arranged with the lead shafts 33 of the pair of left-right connecting holes 312 of the connecting section portion 31 to form left and right lead shaft rows, respectively, and the first left and right traction wires 511 and 512 continue to alternately shuttle between the left and right connecting holes a and B of the intermediate section portion 32 between the adjacent two turn sections and the threading holes 50 of the lead shafts 33 of the pair of left-right connecting holes 312 of the connecting section portion 31, respectively, to tie the left and right lead shaft rows of the adjacent turn sections together;
the wire guiding shafts 33 of the plurality of bent knuckle chains sequentially shuttle from the wire guiding holes 50 of the wire guiding shafts 33 of the left wire guiding shaft row and the right wire guiding shaft row respectively through the first left traction wire 511 and the first right traction wire 512, so that the left sides and the right sides of all the bent knuckle chains are tied together.
The second front traction wire 521 and the second rear traction wire 522 respectively pass through the threading holes 50 of the lead shaft 33 in the pair of front-rear direction connecting holes 311 of the connecting knot portion 31, respectively pass through the threading holes 50 of the lead shaft 33 in the front connecting hole C and the rear connecting hole D of the middle knot portion 32, respectively, and tie the connecting knot portion 31 and the middle knot portion 32 located below in the same bent knot together; the lead shafts 33 in the front connecting hole C and the rear connecting hole D of the intermediate link portion 32 of the adjacent knuckle are alternately arranged with the lead shafts 33 of the pair of front-rear connecting holes 311 of the connecting link portion 31 to form the lead shaft front row and the lead shaft rear row, respectively, and the second front traction wire 521 and the second rear traction wire 522 continue to alternately shuttle the front connecting hole C and the rear connecting hole D of the intermediate link portion 32 between the adjacent two knuckles and the lead wire holes 50 of the lead shafts 33 of the pair of front-rear connecting holes 311 of the connecting link portion 31, respectively, to tie the lead shaft front row and the lead shaft rear row of the adjacent knuckle.
The wire guiding shafts 33 of the plurality of the bending mechanism links sequentially shuttle from the wire guiding holes 50 of the wire guiding shafts 33 in the front row and the rear row of the wire guiding shafts respectively through the second front traction wire 521 and the second rear traction wire 522, and the front side and the rear side of all the bending mechanism links of the bending mechanism link chain are tied together.
Further, the first left traction wire 511 and the first right traction wire 512 of the left column of the lead shaft and the right column of the lead shaft of the bending knuckle chain are controlled to be combined together to form a first traction wire, the second front traction wire 521 and the second rear traction wire 522 of the front column of the lead shaft and the rear column of the lead shaft of the bending knuckle chain are controlled to be combined together to form a second traction wire, wherein the left-right movement of a plurality of bending knuckles in the traction flexible continuous body 2 is controlled by the first traction wire, and the front-back movement of a plurality of bending knuckles in the traction flexible continuous body 2 is controlled by the second traction wire.
When the steering engine of the first driving unit 41 and the second driving unit 42 rotates, the first traction wire and the second traction wire are respectively controlled to be wound or unwound, so that the bending degree of the bending mechanism link in the front, back, left and right directions is adjusted, the gesture and the position of the flexible continuum 2 are controlled, and the flexibility of information interaction between the camera voice device 1 and a person is improved.
During the movement of the camera voice device 1, the output shafts of the steering engines of the first driving unit 41 and the second driving unit 42 rotate, so that the winding length and the paying-out length of the first traction wire and the second traction wire on the rope grooves of the respective cams are controlled simultaneously. In the motion process of each degree of freedom around the curved link chain, the length of the wire winding and the length of the wire unwinding are required to be equal, four degrees of freedom of the flexible continuous body 2 are driven, and the gesture and the position of the flexible continuous body 2 are controlled, so that the flexibility of information interaction between the camera voice device 1 and a person is improved.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A wire traction driving device of a flexible continuum robot, wherein the flexible continuum robot comprises a flexible continuum (2), the flexible continuum (2) comprises a plurality of bending joints, the plurality of bending joints are mutually nested and connected to form a bending joint chain, the wire traction driving device is characterized by further comprising a first driving unit (41), a second driving unit (42), a first left traction wire (511), a first right traction wire (512), a second front traction wire (521) and a second rear traction wire (522),
the steering engine comprises a first driving unit (41) and a second driving unit (42), wherein a first cam (61) is arranged on an output shaft of the steering engine of the first driving unit (41), a second cam (62) is arranged on an output shaft of the steering engine of the second driving unit (42), and two identical rope grooves are arranged in parallel on rims of the first cam (61) and the second cam (62);
the first left traction wire (511) and the first right traction wire (512) are respectively wound on two rope grooves of the first cam (61), the outer ends of the first left traction wire (511) and the first right traction wire (512) respectively and sequentially shuttle to the left side and the right side of a plurality of bending structure joints of the flexible continuous body (2),
The second front traction wire (521) and the second rear traction wire (522) are respectively wound on two rope grooves of the second cam (62), the outer ends of the second front traction wire (521) and the second rear traction wire (522) respectively and sequentially shuttle the front side and the rear side of the plurality of bending joints of the flexible continuous body (2), and all the bending joints of the bending joint chain are tied together;
wherein the first left traction wire (511) and the first right traction wire (512) are used for controlling the bending of the flexible continuous body (2) in the left-right direction, and the second front traction wire (521) and the second rear traction wire (522) are used for controlling the bending of the flexible continuous body (2) in the front-rear direction;
each bending structure comprises two connecting structure sections (31), an intermediate structure section (32) and six lead shafts (33),
the front end and the rear end of the upper part of each connecting structure section (31) are respectively upwards protruded and are provided with a pair of connecting holes (311) in the front-rear direction at the highest position of the protrusions, the left end and the right end of the lower part of each connecting structure section (31) are respectively downwards protruded and are provided with a pair of connecting holes (312) in the left-right direction at the lowest position of the protrusions, and the central lines of the pair of connecting holes (311) in the front-rear direction and the pair of connecting holes (312) in the left-right direction are mutually perpendicular in space;
An upper arc transition region (313) is formed between a pair of front-rear connection holes (311) at the upper part of each connection structure section (31), and a lower arc transition region (314) is formed between a pair of left-right connection holes (312) at the lower part of each connection structure section (31); front and rear ends of the upper part of the middle structure section part (32) are respectively protruded upwards to form a front fan plate (321) and a rear fan plate (322), outer end faces of the front fan plate (321) and the rear fan plate (322) of the middle structure section part (32) are arranged to be cambered surfaces, and the cambered surfaces of the outer ends of the front fan plate (321) and the rear fan plate (322) of the middle structure section part (32) are mutually matched with a lower arc transition zone (314) of the upper connection structure section part (31); the left end and the right end of the lower part of the middle construction section part (32) are respectively downwards protruded to form a left fan plate (323) and a right fan plate (324), the outer end surfaces of the left fan plate (323) and the right fan plate (324) of the middle construction section part (32) are arc surfaces, and the arc surfaces of the outer ends of the left fan plate (323) and the right fan plate (324) of the middle construction section part (32) are mutually matched with an upper arc transition area (313) of the connecting construction section part (31) positioned below;
The left side surface and the right side surface of the middle structure section (32) are respectively internally provided with a left connecting hole (A) and a right connecting hole (B), the front side surface and the rear side surface are respectively internally provided with a front connecting hole (C) and a rear connecting hole (D), the left connecting hole (A), the right connecting hole (B), the front connecting hole (C) and the rear connecting hole (D) are positioned on the same horizontal plane, the left connecting hole (A) and the right connecting hole (B) are positioned on the same straight line, the front connecting hole (C) and the rear connecting hole (D) are positioned on the same straight line, and the straight line where the left connecting hole (A) and the right connecting hole (B) are positioned is mutually perpendicular to the straight line where the front connecting hole (C) and the rear connecting hole (D) are positioned; the left connecting hole (A), the right connecting hole (B), the front connecting hole (C) and the rear connecting hole (D) of each middle structure section (32) are respectively provided with a lead shaft (33);
the two connecting structure sections (31) are respectively provided with the upper end and the lower end of the middle structure section (32) to form a bending structure section, wherein the left connecting hole (A) and the right connecting hole (B) of the middle structure section (32) are respectively pivoted with a pair of left-right connecting holes (312) of the connecting structure section (31) positioned above through an inserted guide shaft (33), and the front connecting hole (C) and the rear connecting hole (D) of the middle structure section (32) are respectively pivoted with a pair of front-rear connecting holes (311) of the connecting structure section (31) positioned below through an inserted guide shaft (33), so that the two connecting structure sections (31) and one middle structure section (32) are pivoted together to form the bending structure section;
The two adjacent bent structure sections are pivoted and mutually nested and connected together through a middle structure section (32), wherein a pair of left and right connecting holes (312) of a lower connecting structure section (31) of the upper bent structure section are pivoted and connected with left connecting holes (A) and right connecting holes (B) of the middle structure section (32) respectively through inserting a lead shaft (33), a pair of front and rear connecting holes (311) of the upper connecting structure section (31) of the lower bent structure section are pivoted and connected with a front connecting hole (C) and a rear connecting hole (D) of the middle structure section (32) respectively through inserting a lead shaft (33), and a lower arc transition area (314) of the connecting structure section (31) below the bent structure section is mutually nested with cambered surfaces at the outer ends of a front fan plate (321) and a rear fan plate (322) of the middle structure section (32) of the adjacent bent structure section, so that the bent structure is connected with the adjacent bent structure section below;
the upper ends and the lower ends of the plurality of bent structure joints are sequentially connected through pin joint and nesting to form a bent structure joint chain.
2. The wire traction drive of a flexible continuum robot according to claim 1, further comprising a base frame (3),
The base frame (3) comprises four upright posts, a top plate (301) and a bottom plate (302), wherein the top plate (301) and the bottom plate (302) are parallel to each other and are connected through the four upright posts to form a rectangular frame;
the first driving unit (41) and the second driving unit (42) are fixed on the bottom plate (302), and the bottom end of the flexible continuous body (2) is arranged on the top surface of the top plate (301) of the base frame (3);
the top plate (301) is provided with a threading hole, one ends of a first left traction wire (511) and a first right traction wire (512) are tied on a rope groove of the first cam (61), one ends of a second front traction wire (521) and a second rear traction wire (522) are tied on a rope groove of the second cam (62), and the other ends of the first left traction wire (511), the first right traction wire (512), the second front traction wire (521) and the second rear traction wire (522) penetrate through the threading hole of the top plate (301) and are connected with the flexible continuous body (2).
3. The wire traction drive of a flexible continuum robot of claim 2,
the first cam (61) and the second cam (62) are respectively provided with a first pulley device (701) and a second pulley device (702), the first pulley device (701) and the second pulley device (702) comprise a push rod sleeve (71), two push rods (72) and two pulleys (73), the upper ends of the two push rods (72) are sleeved in the push rod sleeve (71) and can slide up and down freely along the push rod sleeve (71), and the two pulleys (73) are respectively arranged at the bottom ends of the two push rods (72);
The ejector rod sleeves (71) of the first pulley device (701) and the second pulley device (702) are respectively fixed on the bottom surface of the top plate (301) of the base frame (3) above the first cam (61) and the second cam (62), the two pulleys (73) of the first pulley device (701) are respectively suspended in the two rope grooves of the first cam (61), and the two pulleys (73) of the second pulley device (702) are respectively suspended in the two rope grooves of the second cam (62);
the first left traction wire (511) and the first right traction wire (512) are led out from two rope grooves of the first cam (61), respectively wound on two pulleys (73) of the first pulley device (701), respectively pass through threading holes of the top plate (301), respectively alternately shuttle at the left side and the right side of a plurality of bending joints of the flexible continuous body (2) in turn, and finally are tied together to form the first traction wire;
the second front traction wire (521) and the second rear traction wire (522) are led out from two rope grooves of the second cam (62), respectively wound on two pulleys (73) of the second pulley device (702), respectively pass through threading holes of the top plate (301), respectively alternately shuttle at the front side and the rear side of a plurality of bending joints of the flexible continuous body (2) in sequence, and finally are tied together to form the second traction wire.
4. The wire traction drive of a flexible continuum robot of claim 3, wherein said first pulley means (701) and said second pulley means (702) further each comprise two return springs (74),
the two reset springs (74) are respectively sleeved on the outer sides of the two ejector rods (72), the top ends of the reset springs (74) are fixed in the ejector rod sleeve (71), and the bottom ends of the reset springs (74) are abutted against the top surfaces of the pulleys (73).
5. The wire traction drive of a flexible continuum robot of claim 1,
the outer ends of the lead shafts (33) of the left connecting hole (A), the right connecting hole (B), the front connecting hole (C) and the rear connecting hole (D) and the lead shafts (33) of the middle structure section (32) between the adjacent bent structure sections are provided with threading holes (50);
the first left traction wire (511) and the first right traction wire (512) respectively pass through the threading holes (50) of the lead shafts (33) in the pair of left and right connecting holes (312) of the connecting structure section (31), respectively pass through the threading holes (50) of the lead shafts (33) in the left connecting hole (A) and the right connecting hole (B) of the middle structure section (32), and tie the connecting structure section (31) positioned above and the middle structure section (32) in the same bending structure section; the lead shafts (33) of the left connecting hole (A) and the right connecting hole (B) of the middle section part (32) of the adjacent bent section are alternately arranged with the lead shafts (33) of the pair of left and right connecting holes (312) of the connecting section part (31) to form left and right lead shaft rows respectively, and the first left traction wire (511) and the first right traction wire (512) continue to be tied together at the left connecting hole (A) and the right connecting hole (B) of the middle section part (32) between the adjacent two bent sections and the lead shaft (50) of the lead shaft (33) of the pair of left and right connecting holes (312) of the connecting section part (31) alternately;
The lead shafts (33) of the plurality of bent structure joints are respectively shuttled from the threading holes (50) of the lead shafts (33) in the left and right rows of the lead shafts through a first left traction wire (511) and a first right traction wire (512) in sequence, so that the left and right sides of all the bent structure joints of the bent structure joint chain are tied together;
similarly, the second front traction wire (521) and the second rear traction wire (522) respectively pass through the threading holes (50) of the lead shaft (33) in the pair of front and rear connecting holes (311) of the connecting structure section (31), respectively pass through the threading holes (50) of the lead shaft (33) in the front connecting hole (C) and the rear connecting hole (D) of the middle structure section (32), and tie the connecting structure section (31) positioned below and the middle structure section (32) in the same bending structure section; the lead shafts (33) in the front connecting hole (C) and the rear connecting hole (D) of the middle section part (32) of the adjacent bent section are alternately arranged with the lead shafts (33) of the pair of front-rear connecting holes (311) of the connecting section part (31) to form a lead shaft front row and a lead shaft rear row respectively, and the second front traction wire (521) and the second rear traction wire (522) are continued to be tied together at the front connecting hole (C) and the rear connecting hole (D) of the middle section part (32) between the adjacent two bent sections and the lead shaft (50) of the lead shaft (33) of the pair of front-rear connecting holes (311) of the connecting section part (31) alternately shuttled respectively;
The lead shafts (33) of the plurality of bent structure joints are respectively shuttled from the threading holes (50) of the lead shafts (33) in the front row and the rear row of the lead shafts in sequence through the second front traction wire (521) and the second rear traction wire (522), and the front side and the rear side of all the bent structure joints of the bent structure joint chain are tied together.
6. The wire drawing drive unit of a flexible continuum robot of claim 5,
a first left traction wire (511) and a first right traction wire (512) which control a left column of a lead shaft and a right column of the lead shaft of the bent knuckle chain are tied together to form a first traction wire, a second front traction wire (521) and a second rear traction wire (522) which control a front column of the lead shaft and a rear column of the lead shaft of the bent knuckle chain are tied together to form a second traction wire, wherein the left-right movement of a plurality of bent knuckles in a traction flexible continuous body (2) is controlled by the first traction wire, and the front-back movement of a plurality of bent knuckles in the traction flexible continuous body (2) is controlled by the second traction wire;
when the steering engine of the first driving unit (41) and the second driving unit (42) rotates, the first traction wire and the second traction wire are respectively controlled to be wound or unwound, so that the bending degree of the bending mechanism link in the front, back, left and right directions is adjusted, and the gesture and the position of the flexible continuous body (2) are controlled.
7. The wire traction drive of a flexible continuum robot of claim 2,
the flexible continuous body (2) further comprises a head end section seat (21) and a tail end section seat (22), and the head end section seat (21) and the tail end section seat (22) are respectively fixed at two ends of the bent knuckle chain;
the tail end section seat (22) of the flexible continuous body (2) is arranged on the top plate (301) of the base frame (3).
8. The wire traction driving device of a flexible continuum robot according to claim 7, wherein a camera voice device (1) is arranged on a head end section seat (21) of the flexible continuum (2), the camera voice device (1) comprises a camera, a microphone and a rotating seat, the camera and the microphone are arranged on the rotating seat, the camera and the microphone can rotate on the rotating seat, and the rotating seat of the camera voice device (1) is arranged on the head end section seat (21) of the flexible continuum (2).
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