CN205219114U - Snakelike arm robot - Google Patents
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- CN205219114U CN205219114U CN201521101070.2U CN201521101070U CN205219114U CN 205219114 U CN205219114 U CN 205219114U CN 201521101070 U CN201521101070 U CN 201521101070U CN 205219114 U CN205219114 U CN 205219114U
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Abstract
The utility model provides a snakelike arm robot, snakelike arm robot includes: snakelike arm and drive the actuating system that snakelike arm removed, snakelike arm, including multistage end -to -end connection's snakelike arm unit in proper order, every section snakelike arm unit includes: a plurality of end -to -end connection's in proper order connecting rod unit, every connecting rod unit includes: end -to -end connection's bulb connecting rod and ball socket connecting rod, bulb connecting rod and ball socket connecting rod interconnect between each adjacent connecting rod unit moreover, every section snakelike arm unit still includes: article three, gentle all alone, each gentle suo yici passes all ball socket connecting rods of connecting rod unit to each gentle cable fixed connection is on head end connecting rod unit's ball socket connecting rod and on tail end connecting rod unit's the ball socket connecting rod, the actuating system includes: a plurality of drive unit, each drive unit correspond and connect and drive one gentle cable. The utility model has the advantages of continuous, efficient, motion stationary are just warp by force in compact structure, flexibility.
Description
Technical field
The utility model relates to robot field, is specifically related to a kind of snakelike arm robot.
Background technology
At present, there is high accuracy, the industrial robot of high duplication is widely applied in manufacture fields such as automobile, electronics and household electrical appliances.Such as, but traditional industrial robot, due to the restriction of its high rigidity and macrostructure size, is difficult to be applied in extreme danger and extreme environment operation, the fields such as nuclear reactor inspection, pipeline cleaning.
As a kind of specialized robot, the advantages such as snakelike arm robot has that draw ratio is large, the free degree is many, flexible movements, adaptive capacity to environment are strong, are easy in narrow space, adjust pose, expansion working space, avoidant disorder neatly and overcome singular point.Thus can be used in the fields such as the narrow enclosure space operation of various destructuring and high flexibility operation.Snakelike arm is installed on mobile working platform (mobile robot), may be used for the safety check of pipe detection and public place; Snakelike arm is installed on industrial machine robot end may be used for process and assemble in aircraft complex casing, engine detects and the gluing etc. of aircraft box section base part inside.
Publication No. is (CN102744732A), and a kind of Snakelike mechanical arm of the Patent Utility Model that name is called " a kind of Snakelike mechanical arm ", the arm body of this mechanical arm is in series by multiple Hooke's hinge, is driven by flexible cable.The each revolute pair of this structure is all driven by two groups of flexible cables, needs a large amount of drive systems when its amount of articulation is more, there is snakelike arm body contour curve continuity poor simultaneously.In addition, because flexible cable can only transmit pulling force, for each revolute pair, all need at least two Wire driven robot, led by fixed pulley.If flexible cable relaxes, easily come off, motion state is wayward; If flexible cable keeps pulling force, cause another root flexible cable to increase pulling force, add the frictional force of revolute pair, not only affect pose adjustment capability, also increase control difficulty, reduce efficiency.
In sum, following problem is at least there is: the existing each joint of snakelike arm robot all needs Wire driven robot in prior art, control is complicated and drive system volume is large, needs to adopt pulley to lead to flexible cable, and flexible cable easily comes off from pulley, cause snakelike arm robot to move unsuccessfully.
Utility model content
The utility model provides a kind of snakelike arm robot, all needs Wire driven robot to solve the existing each joint of snakelike arm robot, needs to adopt pulley to lead to flexible cable, and flexible cable easily comes off from pulley, cause the problem of snakelike arm robot action failure.
For this reason, the utility model proposes a kind of snakelike arm robot, described snakelike arm robot comprises: the drive system of snakelike arm and the described snakelike arm movement of driving;
Described snakelike arm, comprise the snakelike arm unit that multistage connects successively from beginning to end, every section of snakelike arm unit comprises: the linkage unit that multiple head and the tail successively connect; Each linkage unit comprises: the ball head connecting rod that head and the tail connect and ball-and-socket connecting rod, and ball head connecting rod between each adjacent links unit and ball-and-socket connecting rod are interconnected;
Every section of snakelike arm unit also comprises: three flexible cables, article three, flexible cable is parallel to each other and is triangular prism shaped layout, each flexible cable successively through all ball-and-socket connecting rods of described linkage unit, and each flexible cable be fixedly connected on head end linkage unit ball-and-socket connecting rod on and tail end linkage unit ball-and-socket connecting rod on;
The flexible cable of each section of snakelike arm unit is independently arranged;
Described drive system comprises: multiple driver element, and each driver element correspondence connects and drives a described flexible cable.
Further, every section of snakelike arm unit also comprises: be connected to the extension spring between adjacent sockets connecting rod, and the draw direction of described extension spring is identical with the length direction of described flexible cable.
Further, described snakelike arm robot also comprises: pedestal, and described pedestal is fixedly connected with the ball-and-socket connecting rod of head end, and described pedestal is provided with the through hole passed for flexible cable, and described pedestal is connected with described drive system.
Further, described driver element comprises: motor, the leading screw connecting motor, the keyset be connected on leading screw, the guide rail being fixed on the guide rail slide block on described keyset and sliding up and down for described guide rail slide block, wherein, described guide rail slide block connects a described flexible cable, the parallel described guide rail of described flexible cable and being positioned at outside described guide rail.
Further, described driver element also comprises: be connected to the motor base below described pedestal, and described motor is arranged on described motor base.
Further, described driver element also comprises: the leading screw base between described motor base and described pedestal, described leading screw is arranged on described leading screw base, described driver element also comprises: be supported on the back-up block between described leading screw base and described motor base, described driver element also comprises: be connected to the shaft coupling between described motor and described leading screw, and described shaft coupling is between described leading screw base and described motor base.
Further, described pedestal is discoid, and each described flexible cable is the circular circumference being distributed in described pedestal centered by the center of circle of described pedestal.
Further, described snakelike arm comprises five sections of snakelike arm units connected from beginning to end successively, and every section of snakelike arm unit comprises: four linkage units connected from beginning to end successively; Snakelike arm robot comprises: 15 flexible cables be parallel to each other.
Further, each described motor is the circular outside being distributed in described flexible cable centered by the center of circle of described pedestal.
Further, described guide rail slide block is connected described flexible cable by preloading spring with pre-load nut.
The utility model adopts three flexible cables to be parallel to each other and is triangular prism shaped layout, thus can implementation space three-dimensional motion, be fixedly connected on the ball-and-socket connecting rod of head end linkage unit by flexible cable, joint in each linkage unit can be divided into one to affect joint with remaining with movable joint, flexible cable is only needed to drive one to affect joint motions, just can realize remaining with diarthrodial motion, thus need independently to drive without the need to each joint, decrease driver element, under the prerequisite not increasing control system complexity, obtain smooth snakelike arm robot contour curve.The utility model utilizes said structure, decreases flexible cable quantity, reduces control difficulty, eliminates pulley guiding, flexible cable can be avoided to come off, simplify transmission system, reduce the volume of snakelike arm robot, decrease friction, improve efficiency.
Between the joint of snakelike arm, (between adjacent sockets connecting rod) is circumferentially evenly arranged extension spring, utilizes spring to improve snakelike arm rigidity, and snakelike arm contour curve continuity is good, is conducive to the keep away barrier of snakelike arm robot in narrow space and moves.
Accompanying drawing explanation
Fig. 1 is snakelike arm robot overall structure schematic diagram of the present utility model;
Fig. 2 is the overall structure schematic diagram of snakelike arm of the present utility model;
Fig. 3 is the perspective view of snakelike arm unit of the present utility model;
Fig. 4 is the sectional structure schematic diagram of snakelike arm unit of the present utility model;
Fig. 5 is the structural representation of linkage unit of the present utility model;
Fig. 6 is the structural representation of pedestal of the present utility model;
Fig. 7 is the perspective view of drive system of the present utility model;
Fig. 8 is the plan structure schematic diagram of drive system of the present utility model;
Fig. 9 is the plan structure schematic diagram of driver element of the present utility model;
Figure 10 is the plan structure schematic diagram of pretension screw rod of the present utility model.
Detailed description of the invention
In order to there be understanding clearly to technical characteristic of the present utility model, object and effect, now contrast accompanying drawing and the utility model is described.
As shown in Figure 1, snakelike arm robot of the present utility model comprises: the drive system 2 of snakelike arm 1 and the movement of driving described snakelike arm 1;
As shown in Figure 2, described snakelike arm 1 comprises the snakelike arm unit 100 that multistage connects successively from beginning to end, and as shown in Figure 3 and Figure 4, every section of snakelike arm unit 100 comprises: the linkage unit that multiple head and the tail successively connect; Each linkage unit comprises: the ball head connecting rod 6 that head and the tail connect and ball-and-socket connecting rod 5, and ball head connecting rod 6 between each adjacent links unit and ball-and-socket connecting rod 5 are interconnected; Ball-and-socket connecting rod 5 is connected with ball-joint with ball head connecting rod 6, and then realizes relatively rotating between connecting rod;
As shown in Figure 3, every section of snakelike arm unit 100 also comprises: three flexible cables 4, flexible cable 4 can be rope, tightrope or steel wire rope, article three, flexible cable is parallel to each other and is triangular prism shaped layout, thus can implementation space three-dimensional motion, each flexible cable 4 is successively through all ball-and-socket connecting rods of described linkage unit, and each flexible cable is fixedly connected on the ball-and-socket connecting rod of head end linkage unit; Thus the joint in each linkage unit can be divided into one to affect joint and remaining is with movable joint, namely form the redundancy structure of " affect joint+with movable joint ", close internode and utilize the elastomers such as spring to keep rigidity.Only need flexible cable to drive one to affect joint motions, just can realize remaining with diarthrodial motion, thus need independently to drive without the need to each joint, decrease driver element; Every section of snakelike arm unit adopts " cage " to drive layout type in addition;
The flexible cable of each section of snakelike arm unit is independently arranged; The flexible cable of each section of snakelike arm unit is parallel to each other but is not interconnected, to realize the self-movement of each section of snakelike arm unit;
As shown in Figure 8, described drive system 2 comprises: multiple driver element 31, and each driver element 31 correspondence connects and drives a described flexible cable 4, and driver element 31 and flexible cable 4 are relation one to one, to realize the self-movement of each section of snakelike arm unit.The quantity of driver element only to affect joint relevant, such as, for affecting 3 times that close joint number.Snakelike arm robot of the present utility model has compact conformation, flexibility is strong and distortion is continuous, efficiency is high, the advantage of stable movement.
Further, as shown in Figure 3 and Figure 4, every section of snakelike arm unit also comprises: be connected to the extension spring 7 between adjacent sockets connecting rod, and the draw direction of described extension spring 7 is identical with the length direction of described flexible cable.Extension spring 7 is for improving the rigidity of snakelike arm unit or snakelike arm.By stretching and shrinking flexible cable 4, simultaneously under the constraint of flexible cable 4 and spring 7, can limit ball-joint around snakelike arm unit or snakelike arm axle to rotation and realize the continuity motion of every section and snakelike arm.
Further, as shown in figures 1 to 6, described snakelike arm robot also comprises: pedestal 3, described pedestal 3 is fixedly connected with the ball-and-socket connecting rod of head end, described pedestal 3 is provided with the through hole 29 passed for flexible cable, pedestal 3 is also provided with the through hole 30 for installing extension spring 7, and described pedestal 3 is connected with described drive system 2, for drive system 2 is by supporting.
Further, as shown in Figure 9, described driver element 31 comprises: motor 16, the leading screw 18 connecting motor, the keyset 20 be connected on leading screw, the guide rail 22 being fixed on the guide rail slide block 21 on described keyset and sliding up and down for described guide rail slide block, wherein, described guide rail slide block 21 connects a described flexible cable 4, the parallel described guide rail of described flexible cable 4 and being positioned at outside described guide rail.Motor 16 is such as servomotor, and a motor drives a flexible cable to move up and down, thus drives the movement of multiple ball-and-socket connecting rods adjacent successively, and snakelike arm robot compact conformation, motion are flexibly.
Further, as shown in figures 7 and 9, described driver element also comprises: be connected to the motor base 15 below described pedestal, and described motor 16 is arranged on described motor base 15.Like this, the lateral dimensions of driver element or snakelike arm robot can be reduced, be conducive to moving in narrow space.The motor base 15 of each driver element can be fan-shaped, and the motor base 15 of each driver element is connected to form a disc-shaped base, and each driver element shares a discoidal motor base 15 in other words.
Further, as shown in figures 7 and 9, described driver element 31 also comprises: the leading screw base 13 between described motor base 15 and described pedestal, described leading screw 18 is arranged on described leading screw base 13, described driver element 31 also comprises: be supported on the back-up block 14 between described leading screw base and described motor base, described driver element also comprises: be connected to the shaft coupling 17 between described motor 16 and described leading screw 18, and described shaft coupling 17 is between described leading screw base 13 and described motor base 15, drive leading screw with the stable motor that realizes.
Further, described pedestal 3 is discoid, and each described flexible cable 4 in the circular circumference being distributed in described pedestal, is uniformly distributed to reach centered by the center of circle of described pedestal, ensures the coordination of snakelike arm robot action and stablizes.
Further, as shown in Figure 2, described snakelike arm comprises five sections of snakelike arm units connected from beginning to end successively, and as shown in Figure 4, every section of snakelike arm unit comprises: four linkage units connected from beginning to end successively; Each snakelike arm unit has three flexible cables 4, and snakelike arm robot comprises altogether: 15 flexible cables be parallel to each other 4.Each described flexible cable 4 in the circular circumference being distributed in described pedestal, is uniformly distributed to reach centered by the center of circle of described pedestal.The utility model is not limited to five sections of snakelike arm units, can be 2,3, also can be 8,10, every section of snakelike arm unit is also not limited to four linkage units connected from beginning to end successively, can be 2,3, also can be 4,6, can realize moving flexibly and distortion continuous print function.
Further, each described motor 16 is the circular outside being distributed in described flexible cable 4 centered by the center of circle of described pedestal 3, interference-free to ensure the movement of flexible cable 4.
As shown in Figure 7, keyset 20 is fixedly connected with guide rail slide block 21 with feed screw nut 19 respectively.As shown in Figure 9, keyset 20 end is connected with pretension screw rod 23 by screw pair.Pre-load nut 24 is connected by screw pair with pretension screw rod 23, by the rectilinear movement up and down regulating pre-load nut can realize pretension screw rod.Upper preloading spring 25 and lower preloading spring 26 are placed on pretension screw rod 23 respectively, and preloading spring interstage sleeve 33 is arranged on pretension screw rod 23 for preventing lower preloading spring 26 from coming off.Upper preloading spring 25 and lower preloading spring 26 are in compressive state all the time, and then ensure that flexible cable 4 is in tensioning state all the time.As shown in Figure 10, pretension screw rod adopts hollow mode in order to pass flexible cable.In order to ensure that screw rod can move linearly, screw rod adopts the form of trimming.The rectilinear movement of pretension screw rod can be realized by rotating pre-load nut.
As detailed description of the invention, the concrete structure of snakelike arm robot of the present utility model and mounting means and course of action can be as follows:
As shown in Figure 1, snakelike arm 1 is connected by pedestal 3 with drive system 2, and as shown in Figure 7, pedestal 3 is fixed by screws in drive system upper end cover 10 top, and the end of pedestal 3 is fixedly connected with first ball head connecting rod 6 of snakelike arm 1.The ball-and-socket connecting rod 5 of every section of snakelike arm unit end connects three or three circumferentially uniform flexible cables 4, namely there are initiatively joint and three driven joints in every section of snakelike arm unit, the head and end equal consolidation flexible cable gland 8 of every root flexible cable 4, equal linking springs 7 between the inner and adjacent links unit of linkage unit.
As shown in Figure 3, the ball-and-socket connecting rod 5 of a rear linkage unit is connected by screw with the ball head connecting rod of previous linkage unit.The inner linking springs 7 of linkage unit, spring 7 is circumferentially uniformly distributed, and in order to improve the Rigidity and deformation continuity of snakelike arm, the original state of spring is extended state
As shown in Figure 5, linkage unit comprises ball-and-socket connecting rod 5, ball head connecting rod 6 and gland 9.Ball-and-socket connecting rod 5 circumferentially distributes respectively through hole 27 and through hole 28, and through hole 27 is for passing flexible cable, and the layout of through hole 27 and quantity are determined by flexible cable layout and quantity.Through hole 28 is for mounting spring 7.Gland 9 is fixed on ball-and-socket connecting rod 5 by screw, and ball-and-socket connecting rod 5, ball head connecting rod 6 and gland 9 connect with ball-joint, and then realize relatively rotating between connecting rod.
As shown in Figure 7, Figure 8, drive system comprises drive system upper end cover 10, adapter 11, side plate 12, leading screw base 13, back-up block 14, motor base 15, driver element 31 and protective base 32.
As shown in Figure 9, described guide rail slide block 21 is connected described flexible cable 4 by preloading spring with pre-load nut.Snakelike arm comprises five sections of snakelike arm units connected from beginning to end successively, and each snakelike arm unit has three flexible cables 4, and snakelike arm robot comprises altogether: 15 flexible cables be parallel to each other 4.15 cover driver elements 31 are circumferentially uniformly distributed.15 cover side plates 12 are connected by screw with drive system upper end cover 10 and motor base 15 respectively.Be connected six back-up blocks 14 between leading screw base 13 with motor base 15, back-up block 14 is circumferentially uniformly distributed, and back-up block 14 is fixed respectively by screw and leading screw base 13 and motor base 15.Three pieces of protective bases 34 are connected with motor base 15 with arm base 10, adapter 11, leading screw base 13 respectively, three pieces of protective bases 34 are uniformly distributed along the circumference, protective base can improve the resistance to overturning of drive system, can be connected with other mobile platform (such as robot) simultaneously.
As shown in Figure 9, driver element 31 comprises servomotor 16, shaft coupling 17, leading screw 18, feed screw nut 19, keyset 20, guide rail slide block 21, guide rail 22, pretension screw rod 23, pre-load nut 24, upper preloading spring 25, lower preloading spring 26 and preloading spring interstage sleeve 33.
Servomotor 16 is fixed on motor base 15, and guide rail 22 and side plate 12 are connected by screw.Keyset 20 end is connected with pretension screw rod 23 by screw pair.Motor 16 is connected with leading screw 18 by shaft coupling 17, and feed screw nut 19 is connected by screw pair with leading screw 18, and guide rail slide block 21 can linear slide on guide rail 22, keyset 20 respectively with feed screw nut 19 and guide rail slide block 21 affixed.Pre-load nut 24 is connected by screw pair with pretension screw rod 23, by the rectilinear movement up and down regulating pre-load nut can realize pretension screw rod.Upper preloading spring 25 and lower preloading spring 26 are placed on pretension screw rod 23 respectively, and preloading spring interstage sleeve 33 is arranged on pretension screw rod 23 for preventing lower preloading spring 26 from coming off.Upper preloading spring 25 and lower preloading spring 26 are in compressive state all the time, and then ensure that flexible cable 4 is in tensioning state all the time.
The utility model drives leading screw 18 to rotate by servomotor 16, drives guide rail slide block 21 along guide rail movement by feed screw nut 19 and keyset 20, and then pulls flexible cable 4 to move.Every section of coordinated movement of various economic factors by three flexible cables 4, realizes the two-freedom motion of single hop.Realized five sections of coupled motions of snakelike arm by cooperation control 15 flexible cables 4, finally realize snakelike arm in three dimensions distortion and motion.Snakelike arm robot of the present utility model has compact conformation, moves flexibly and distortion continuous print advantage.
The redundancy structure that the snakelike arm robot that the utility model provides adopts " affect joint+with movable joint ", closes internode and utilizes the elastomers such as spring to keep rigidity." cage " is adopted to drive layout type.This snakelike arm robot has compact conformation, flexibility is strong and distortion is continuous, efficiency is high, the advantage of stable movement.
The utility model provides the snakelike arm robot adopting Wire driven robot, can by robot application in fields such as the narrow and small enclosure space operation of destructuring and high flexibility operations.This snakelike arm robot has compact conformation, flexible and that contour curve continuity is good advantage of moving.At its end, different actuators or sensor are installed, different operation tasks can be completed, such as, for the detection of the non-structural small space such as cabin, compartment and the gluing, detection, assembling etc. of interior of aircraft structure.
The foregoing is only the schematic detailed description of the invention of the utility model, and be not used to limit scope of the present utility model.For each part of the present utility model can mutually combine under the condition of not conflicting; any those skilled in the art; equivalent variations done under the prerequisite not departing from design of the present utility model and principle and amendment, all should belong to the scope of the utility model protection.
Claims (10)
1. a snakelike arm robot, is characterized in that, described snakelike arm robot comprises: snakelike arm and the drive system driving described snakelike arm to move;
Described snakelike arm, comprise the snakelike arm unit that multistage connects successively from beginning to end, every section of snakelike arm unit comprises: the linkage unit that multiple head and the tail successively connect; Each linkage unit comprises: the ball head connecting rod that head and the tail connect and ball-and-socket connecting rod, and ball head connecting rod between each adjacent links unit and ball-and-socket connecting rod are interconnected;
Every section of snakelike arm unit also comprises: three flexible cables, article three, flexible cable is parallel to each other and is triangular prism shaped layout, each flexible cable successively through all ball-and-socket connecting rods of described linkage unit, and each flexible cable be fixedly connected on head end linkage unit ball-and-socket connecting rod on and tail end linkage unit ball-and-socket connecting rod on;
The flexible cable of each section of snakelike arm unit is independently arranged;
Described drive system comprises: multiple driver element, and each driver element correspondence connects and drives a described flexible cable.
2. snakelike arm robot as claimed in claim 1, is characterized in that, every section of snakelike arm unit also comprises: be connected to the extension spring between adjacent sockets connecting rod, and the draw direction of described extension spring is identical with the length direction of described flexible cable.
3. snakelike arm robot as claimed in claim 1, it is characterized in that, described snakelike arm robot also comprises: pedestal, and described pedestal is fixedly connected with the ball-and-socket connecting rod of head end, described pedestal is provided with the through hole passed for flexible cable, and described pedestal is connected with described drive system.
4. snakelike arm robot as claimed in claim 3, it is characterized in that, described driver element comprises: motor, the leading screw connecting motor, the keyset be connected on leading screw, the guide rail being fixed on the guide rail slide block on described keyset and sliding up and down for described guide rail slide block, wherein, described guide rail slide block connects a described flexible cable, the parallel described guide rail of described flexible cable and being positioned at outside described guide rail.
5. snakelike arm robot as claimed in claim 4, is characterized in that, described driver element also comprises: be connected to the motor base below described pedestal, and described motor is arranged on described motor base.
6. snakelike arm robot as claimed in claim 5, it is characterized in that, described driver element also comprises: the leading screw base between described motor base and described pedestal, described leading screw is arranged on described leading screw base, described driver element also comprises: be supported on the back-up block between described leading screw base and described motor base, described driver element also comprises: be connected to the shaft coupling between described motor and described leading screw, and described shaft coupling is between described leading screw base and described motor base.
7. snakelike arm robot as claimed in claim 3, is characterized in that, described pedestal is discoid, and each described flexible cable is the circular circumference being distributed in described pedestal centered by the center of circle of described pedestal.
8. snakelike arm robot as claimed in claim 1, is characterized in that, described snakelike arm comprises five sections of snakelike arm units connected from beginning to end successively, and every section of snakelike arm unit comprises: four linkage units connected from beginning to end successively; Snakelike arm robot comprises: 15 flexible cables be parallel to each other.
9. snakelike arm robot as claimed in claim 4, is characterized in that, each described motor is the circular outside being distributed in described flexible cable centered by the center of circle of described pedestal.
10. snakelike arm robot as claimed in claim 4, is characterized in that, described guide rail slide block is connected described flexible cable by preloading spring with pre-load nut.
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| CN201521101070.2U CN205219114U (en) | 2015-12-25 | 2015-12-25 | Snakelike arm robot |
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| CN106236272A (en) * | 2016-08-31 | 2016-12-21 | 北京术锐技术有限公司 | A kind of flexible operation tool system using restraining structure bone |
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