CN107097218B - Wire traction variable-rigidity mechanism based on mechanical locking - Google Patents
Wire traction variable-rigidity mechanism based on mechanical locking Download PDFInfo
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- CN107097218B CN107097218B CN201710386114.8A CN201710386114A CN107097218B CN 107097218 B CN107097218 B CN 107097218B CN 201710386114 A CN201710386114 A CN 201710386114A CN 107097218 B CN107097218 B CN 107097218B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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Abstract
The invention discloses a mechanical locking-based wire traction variable-rigidity mechanism, which comprises a continuous robot basic structure, a variable-rigidity locking mechanism and a variable-rigidity traction mechanism, wherein the continuous robot basic structure is provided with a plurality of locking holes; the basic structure of the continuous robot consists of a connecting disc, a central wire and four driving wires which are distributed circumferentially, wherein the connecting disc is divided into a middle connecting disc and a tail end connecting disc, the tail end connecting disc is fixed with the tail ends of the central wire and the driving wires through a wedge-shaped locking nozzle, and the middle connecting disc is fixed with the central wire through the wedge-shaped locking nozzle; the variable-rigidity locking mechanism is a single-degree-of-freedom mechanism which takes each middle connecting disc as a frame and consists of a sliding helical gear, a spring, an incomplete gear, a connecting rod and an embedded metal sheet; the variable-rigidity traction mechanism consists of a guide wire outer sheath, a tensile metal wire and metal wire locking particles, wherein the guide wire outer sheath is concentric with the central wire, and the tensile metal wire penetrates through the guide wire outer sheath and a wedge-shaped locking nozzle of the central wire and is fixed with the sliding helical gear through the metal wire locking particles. The mechanism has the advantages of rapid rigid-flexible state conversion and higher positioning rigidity.
Description
Technical Field
The invention relates to the field of variable stiffness design of continuous mechanisms, in particular to a mechanical locking-based wire traction variable stiffness mechanism.
Background
The continuous mechanism imitating biological organs such as snakes, elephants and the like has high motion flexibility and strong adaptability in a complex environment, and can flexibly change the shape of the mechanism particularly in a multi-obstacle unstructured environment and a narrow-space environment. But due to the characteristic of high flexibility of the continuity mechanism, the continuity mechanism has the defects of poor positioning rigidity and low control precision. In applications in the medical field and other fields, a continuous mechanism is often required to have good flexibility and certain rigidity under certain conditions. For example, the continuous mechanism is used for an endoscope robot, the working process of the endoscope robot is divided into two stages, the first stage requires the robot to conform to the structure of a human cavity in a flexible state, and a surgical tool is sent to a target position; the second stage requires the robot to have sufficient stiffness to provide mechanical support for the end surgical tool when the surgical tool is being operated within the body. Therefore, the method has great significance for the research on the variable rigidity of the continuous mechanism.
In recent years, people invent various variable stiffness continuous mechanisms by using modes of negative pressure blocking mechanisms, low melting point alloy phase change, positive pressure locking and the like, but most of the mechanisms have the defects of insufficient variable stiffness, insufficient response speed and the like.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a mechanical locking-based wire traction variable-rigidity mechanism. For the continuous robot driven by the nickel-titanium alloy wires, the variable rigidity scheme is that the driving wires are directly locked through the existing connecting discs, so that the design is compact. In addition, the mechanical variable-stiffness design has the advantages of quick response, quick rigid-flexible state conversion and higher positioning stiffness.
The purpose of the invention is realized by the following technical scheme:
a wire traction variable-stiffness mechanism based on mechanical locking comprises a continuous robot basic structure, a variable-stiffness locking mechanism and a variable-stiffness traction mechanism; the basic structure of the continuous robot comprises a connecting disc, a central wire and four driving wires which are distributed circumferentially, wherein the connecting disc is provided with a wire passing hole corresponding to the driving wires, the connecting disc is divided into a middle connecting disc and a tail end connecting disc, the tail end connecting disc is fixed with the central wire and the tail ends of the driving wires through a wedge-shaped locking nozzle, the middle connecting disc is fixed with the central wire through the wedge-shaped locking nozzle, and the wedge-shaped locking nozzle is formed by a slotted wedge-shaped screw and a slotted nut;
the variable-rigidity locking mechanism is a single-degree-of-freedom mechanism which takes each middle connecting disc as a frame and consists of a sliding helical gear, a spring, an incomplete gear, a connecting rod and an embedded metal sheet, wherein the sliding helical gear can longitudinally slide on the middle connecting disc, one end of the incomplete gear is provided with an incomplete helical gear meshed with the sliding helical gear, the other end of the incomplete gear is provided with a connecting shaft matched with the connecting rod, the middle of the incomplete gear is provided with a shaft hole and a wire locking hole matched with the connecting discs and a connecting hole used for fixing the embedded metal sheet, and two ends of the connecting rod are provided with connecting holes matched with the incomplete gear;
the variable-rigidity traction mechanism is composed of a guide wire outer sheath, a tensile metal wire and a metal wire locking particle, wherein the guide wire outer sheath is concentric with the central wire, and the tensile metal wire penetrates through the guide wire outer sheath and a wedge-shaped locking nozzle of the central wire and is fixed with the sliding helical gear through the metal wire locking particle.
And the connecting disc is also provided with a taper hole matched with the wedge-shaped locking mouth.
Helical teeth with the modulus smaller than 1mm are distributed around the sliding helical gear.
The central wire and the driving wire are both made of alloy wires which can be bent and do not generate axial deformation.
The variable-rigidity locking mechanism is a single-degree-of-freedom mechanism with symmetrical radiation and is driven by a sliding helical gear.
The variable-rigidity locking mechanism is provided with a connecting rod mechanism for balancing the locking force of each wire, and the connecting rod mechanism comprises a connecting rod and an incomplete gear.
The variable-rigidity traction mechanism can synchronously pull the variable-rigidity locking mechanisms on all the connecting discs.
In the above-described structure, the sliding helical gear in the variable-stiffness locking mechanism on each connecting disc is under the traction of the same tensile wire and moves along the axial direction of the connecting disc, and according to the characteristics of the helical gear, the axial movement of the helical gear can be equivalent to the rotation around the central shaft and can generate meshing motion with the incomplete gear. One side of the incomplete gear serves as a meshed gear and serves as a locking labor-saving lever, so that the free sliding of the driving wire is limited, and the driving wire and the connecting disc are fixed in a friction mode. The metal sheet is embedded in the incomplete gear and the connecting disc, and becomes a part which is directly contacted with the driving wire in the locking process, so that the locking friction force can be improved. According to the locking principle, the relative sliding between the connecting disc and the driving wire can be eliminated, so that the connecting disc of the continuous robot is fixedly supported by a plurality of metal wires, the local rigidity is improved, and the overall rigidity of the robot is improved.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the mechanical locking-based wire traction variable-stiffness mechanism is designed for the basic structure of a continuous robot driven by alloy wires, and only a variable-stiffness locking mechanism needs to be added on each connecting disc to control the friction relation between the driving wires and the connecting discs.
2. The variable-rigidity locking mechanism in each connecting disc only has one degree of freedom, and the variable-rigidity locking mechanisms on the connecting discs can be connected in series through one tensile wire, so that the aim of integrally changing rigidity by single traction can be fulfilled.
3. Four parallelogram mechanisms connected end to end are fused in the variable-rigidity locking mechanism to form an annular connecting rod mechanism, four incomplete gears are cooperatively associated, and the locking force of each wire can be coordinated and balanced, so that each part of the continuous robot has uniform rigidity.
4. The variable stiffness scheme has a simple structure, and stiffness control and motion control are completely and independently carried out, so that the decoupling of stiffness and motion is realized. The mechanical design scheme ensures that the variable-stiffness operation is quick, stable and reliable.
Drawings
FIGS. 1-1 and 1-2 are schematic views of the overall structure of the present invention.
FIG. 2 is a schematic view of the construction of a center wire wedge lock nib.
Fig. 3-1, 3-2 and 3-3 are schematic structural diagrams of the variable-rigidity locking mechanism.
Fig. 4 is a schematic view of the engagement of the sliding helical gear with the partially engaged gear.
Fig. 5 is a schematic structural view of a variable stiffness traction mechanism.
Reference numerals: 1-end connecting disc 2-driving wire 3-middle connecting disc 4-incomplete gear 5-connecting rod 6-anti-pull metal wire 8-metal wire lock particle 9-sliding helical gear 10-central wire 11-driving wire wedge lock mouth 12-central wire wedge lock mouth 13-wedge lock mouth nut 14-spring 15-fixed embedded metal sheet 16-movable embedded metal sheet 17-wire passing hole 18-wire locking lever rotating shaft 19-crack
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in figures 1-1 and 1-2, the wire traction variable stiffness mechanism based on mechanical locking comprises a continuous robot basic structure, a variable stiffness locking mechanism and a variable stiffness traction mechanism. The basic structure of the continuous robot is characterized in that all connecting discs in the joint are connected in series through a central wire 10, and the bending motion of the joint can be realized under the combined drive of the driving wires 2 distributed on the periphery; the variable-rigidity locking mechanism can tightly clamp the driving wires 2 distributed on the periphery under the traction action of the tensile metal wire 7, so that the driving wires are fixed relative to the connecting discs, the structural rigidity of the continuous robot is changed, and the function of regulating and controlling the overall structural rigidity is achieved; the variable-rigidity traction mechanism is used for conducting tension of the anti-drawing wires and distributing the tension of the wires to the variable-rigidity locking mechanism acting on each connecting disc. The driving wire 2 and the central wire 10 in this embodiment are both made of nitinol wires, which are not axially deformed but bendable, and other nitinol wires having such properties are suitable for the present invention.
In the embodiment, a central wire 10 is fixedly connected with a plurality of middle connecting discs 3 and an end connecting disc 1 in series by a central wire wedge-shaped locking mouth 12 to form a joint of the continuous robot in the basic structure of the continuous robot. Four driving wires 2 distributed on the periphery are fixed on the end connecting disc 1 by means of driving wire wedge-shaped locking mouths 11 and penetrate through all the wire passing holes 17 on the middle connecting disc 3 to be connected with a power driving part. In the present embodiment, the working principle of the central wedge-shaped locking nib 12 is described by taking the central wedge-shaped locking nib 12 as an example, as shown in fig. 2, which is a working principle diagram of the central wedge-shaped locking nib 12, in the locking device, an outer conical surface of the central wedge-shaped locking nib 12 is matched with a conical hole on the intermediate connecting disc 3, a vertically crossed slot is designed at a large end of the central wedge-shaped locking nib 12, the slotted portion of the central wedge-shaped locking nib 12 is deformed under the constraint of the conical hole on the intermediate connecting disc 3 under the pre-tightening action of the wedge-shaped locking nib nut 13, the deformed central wedge-shaped locking nib 12 surrounds the central wire 10, and under the action of a larger surrounding force, the central wire 10 and the central wedge-shaped locking nib 12 have a good friction effect, so that the central wire 10 can be fixedly connected to the intermediate connecting disc 3, and similarly, the fixing principle of the driving wire 2 and the terminal connecting disc 1 is also the same, and an important advantage of using such a fixing method is that the central wedge-shaped locking nib 12 can be freely disassembled. In a single flexible joint, because four peripheral driving wires 2 are restrained by all the middle connecting plates 3 fixed by the central wire 10 and have good elasticity, when the driving wires 2 are combined and pushed and pulled, the whole flexible joint is restrained to bend towards a specified direction and becomes the basic motion of a continuous robot driven by the nickel-titanium alloy wires.
Before the continuous robot joint bends and moves to a designated pose to operate, the rigidity of each joint of the robot needs to be changed to resist an external acting force, the rigidity needs to be changed by locking the driving wires 2 on the periphery through a single-degree-of-freedom variable-rigidity locking mechanism with symmetrical radiation on each middle connecting disc 3, so that the driving wires are fixedly connected relative to the middle connecting discs 3, the two middle connecting discs are supported by one central wire and are changed into five nickel-titanium alloy wires, and the rigidity performance of the flexible joint can be improved.
As shown in fig. 3-1, 3-2 and 3-3, the variable-stiffness locking mechanism is composed of a sliding helical gear 9, a partial gear 4, a connecting rod 5, a fixed insert metal sheet 15, a movable insert metal sheet 16 and the like. The sliding helical gear 9 is a driving component driven by a variable-stiffness traction mechanism, small-modulus helical teeth are distributed on the outer circumference of the sliding helical gear 9, the sliding helical gear 9 can axially move along a sliding groove on the intermediate connecting disc 3, the sliding helical gear can axially move in the radial direction to generate equivalent rotation, as shown in fig. 4, when the sliding helical gear 9 moves downwards for an X distance, the sliding helical gear 9 and the incomplete gear 4 are completely meshed helical gear mechanisms, the sliding helical gear 9 relatively rotates due to movement, finally the incomplete gear 4 is driven to rotate around a wire locking lever rotating shaft 18, a narrow gap 19 is generated between a movable embedded metal sheet 16 fixed with the incomplete gear 4 and a fixed embedded metal sheet 15 in the rotating process, and the relative fixation of the driving wire 2 and the intermediate connecting disc 3 can be ensured through the clamping force friction force between the two embedded metal sheets and the driving wire 2. In the variable-rigidity locking mechanism, the driving force applied to the incomplete gear 4 by the sliding bevel gear 9 and the pressure applied to the movable embedded metal sheet 16 by the driving wire 2 are a pair of balance forces, and the distance from the wire locking hole on the incomplete gear 4 to the rotating shaft 18 of the wire locking lever is far less than the distance from the gear meshing reference circle to the rotating shaft 18 of the wire locking lever, so the mechanism is a labor-saving mechanism and has the effect that a larger locking force can be obtained under a small driving force. The sliding helical gear 9 slides under the traction action of the tension resistant wire 7, after the sliding helical gear 9 slides downwards to lock the driving wire 2, if the locking is required to be unlocked and the whole rigidity is reduced, the tension resistant wire 7 driving the sliding helical gear 9 is only required to be loosened, and the sliding helical gear 9 moves upwards under the action of the restoring force of the spring 14 to unlock. In addition, in order to balance the locking force of each incomplete gear, an annular parallelogram link mechanism is combined in the variable-rigidity locking mechanism, and the link mechanism comprises a connecting rod 5 and an incomplete gear 4; two incomplete gears 4 are connected to form a group of opposite sides of a parallelogram mechanism, so that four incomplete gears 4 can be linked to obtain balanced locking force.
The variable stiffness traction mechanism is a device for transmitting and distributing traction on a base to each connecting disc, and consists of a tensile metal wire 7, a guide wire outer sheath 6 and a metal wire lock particle 8 on the basis of an intermediate connecting disc 3 as shown in figures 1-1 and 1-2, wherein the tensile metal wire 7 passes through the guide wire outer sheath 6 sleeved on a central wire 10 and then passes through a central wire wedge-shaped locking nozzle 12 and fine holes on sliding bevel gears 9 as shown in figures 1-1 and 5, the metal wire lock particle 8 is fixed on the upper edge of each sliding bevel gear 9, and when the tensile metal wire 7 is pulled, the sliding bevel gears 9 on each connecting disc can be synchronously pulled. In order to make the traction force to the sliding helical gear 9 evenly distributed, four tensile wires 7 are used at the same time, and the four tensile wires move under the same traction force.
The working process of the invention is as follows: in a compliant state, the length change of the driving wire 2 is controlled by the power driving part, so that the continuous robot joint reaches an appointed pose. Under the condition of keeping the shape of the variable-rigidity locking mechanism unchanged, under the traction of a tensile metal wire 7, sliding helical gears 9 on the connecting discs axially move relative to the middle connecting discs 3, and further drive incomplete gears 4 in the variable-rigidity locking mechanisms, so that the driving wire 2 is locked relative to the middle connecting discs 3, and the whole variable-rigidity locking mechanism is converted into a rigid state; then the traction force of the tensile wire 7 is released, the sliding bevel gear 9 moves in a recovery way under the action of the spring 14 in each variable-stiffness locking mechanism, the locking is released, and the whole flexibility is recovered. During locking, the tensile wire 7 is to overcome the spring force of the spring 14 in each of the variable rate locking mechanisms.
In the embodiment, the central wire 10 and the driving wire 2 in the whole structure are made of super elastic nickel-titanium alloy wires, the tensile metal wire 7, the metal wire lock particle 8, the guide wire sheath 6 and the lock wire lever rotating shaft 18 are purchased standard parts, the fixed embedded metal sheet 15 and the movable embedded metal sheet 16 are made of aluminum alloy metal sheets formed by laser cutting, other parts are 3D printed parts made of photosensitive resin, and the parts of the basic structure, the variable-rigidity locking mechanism and the variable-rigidity traction mechanism of the continuous robot are mutually contained and integrally assembled.
The present invention is not limited to the embodiments described above. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A wire traction variable stiffness mechanism based on mechanical locking is characterized by comprising a continuous robot basic structure, a variable stiffness locking mechanism and a variable stiffness traction mechanism; the basic structure of the continuous robot comprises a connecting disc, a central wire and four driving wires which are distributed circumferentially, wherein the connecting disc is provided with a wire passing hole corresponding to the driving wires, the connecting disc is divided into a middle connecting disc and a tail end connecting disc, the tail end connecting disc is fixed with the central wire and the tail ends of the driving wires through a wedge-shaped locking nozzle, the middle connecting disc is fixed with the central wire through the wedge-shaped locking nozzle, and the wedge-shaped locking nozzle is formed by a slotted wedge-shaped screw and a slotted nut;
the variable-rigidity locking mechanism is a single-degree-of-freedom mechanism which takes each middle connecting disc as a frame and consists of a sliding helical gear, a spring, an incomplete gear, a connecting rod and an embedded metal sheet, wherein the sliding helical gear is a helical gear capable of longitudinally sliding on the middle connecting disc, one end of the incomplete gear is provided with incomplete helical teeth meshed with the sliding helical gear, the other end of the incomplete gear is provided with a connecting shaft matched with the connecting rod, the middle of the incomplete gear is provided with a shaft hole and a wire locking hole matched with the connecting discs and a connecting hole used for fixing the embedded metal sheet, and two ends of the connecting rod are provided with connecting holes matched with the incomplete gear;
the variable-rigidity traction mechanism is composed of a guide wire outer sheath, a tensile metal wire and a metal wire locking particle, wherein the guide wire outer sheath is concentric with the central wire, and the tensile metal wire penetrates through the guide wire outer sheath and a wedge-shaped locking nozzle of the central wire and is fixed with the sliding helical gear through the metal wire locking particle.
2. The mechanical locking based wire traction variable stiffness mechanism is characterized in that a taper hole matched with the wedge-shaped lock nozzle is further formed in the connecting disc.
3. The mechanical locking based wire traction variable stiffness mechanism according to claim 1, wherein helical teeth with modulus less than 1mm are distributed around the sliding helical gear.
4. The mechanical locking-based wire pulling stiffness varying mechanism according to claim 1, wherein the central wire and the driving wire are made of an alloy wire that can bend without axial deformation.
5. The mechanical locking-based wire traction variable stiffness mechanism is characterized in that the variable stiffness locking mechanism is a radiation symmetric single-degree-of-freedom mechanism and is driven by a sliding bevel gear.
6. The mechanical locking based wire pulling stiffness varying mechanism according to claim 1 or 5, wherein the stiffness varying locking mechanism is provided with a link mechanism for equalizing locking force of each wire, the link mechanism comprising a link and a partial gear.
7. The mechanical locking based wire pulling variable stiffness mechanism of claim 1, wherein the variable stiffness pulling mechanism can pull the variable stiffness locking mechanism on all the connecting discs synchronously.
8. The mechanical lock-based wire pulling stiffness varying mechanism of claim 1, wherein the insert metal pieces comprise a fixed insert metal piece and a movable insert metal piece.
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| CN201710386114.8A CN107097218B (en) | 2017-05-26 | 2017-05-26 | Wire traction variable-rigidity mechanism based on mechanical locking |
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| CN201710386114.8A CN107097218B (en) | 2017-05-26 | 2017-05-26 | Wire traction variable-rigidity mechanism based on mechanical locking |
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| CN107097218B true CN107097218B (en) | 2023-04-07 |
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| CN108638046B (en) * | 2018-05-18 | 2021-10-26 | 燕山大学 | Soft body variable stiffness robot based on equal volume change principle |
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| CN111687867A (en) * | 2020-06-11 | 2020-09-22 | 哈尔滨工业大学 | Soft mechanical arm with active rigidity changing function |
| CN113211422B (en) * | 2021-03-29 | 2022-11-04 | 清华大学 | Equal-curvature linkage mechanical arm |
| CN113172614B (en) * | 2021-04-28 | 2022-09-06 | 清华大学 | Execution arm of continuum robot |
| CN114043468B (en) * | 2021-11-15 | 2023-04-11 | 清华大学深圳国际研究生院 | Modular equal-curvature mechanical arm based on spherical gear and rack transmission |
| CN114888843A (en) * | 2022-05-13 | 2022-08-12 | 华中科技大学 | Friction locking-based joint rigidity changing method and device |
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