CN107486849B - Snake-shaped arm - Google Patents
Snake-shaped arm Download PDFInfo
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- CN107486849B CN107486849B CN201710761315.1A CN201710761315A CN107486849B CN 107486849 B CN107486849 B CN 107486849B CN 201710761315 A CN201710761315 A CN 201710761315A CN 107486849 B CN107486849 B CN 107486849B
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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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Abstract
The invention discloses a snake-shaped arm, which comprises an arm body, wherein the arm body is formed by connecting a plurality of connecting rods in series, adjacent connecting rods are movably connected through a cross shaft joint, the upper end surface of each connecting rod except a top connecting rod is provided with a pair of first shaft forks pivoted with one group of pivots of the cross shaft joint, the lower end surface of each connecting rod except a bottom connecting rod is provided with a pair of second shaft forks pivoted with the other group of pivots of the cross shaft joint, and a 90+ alpha degree is formed between the first shaft forks on the upper end surface and the second shaft forks on the lower end surface of the same connecting rod, wherein alpha is an acute angle, the connecting rods are provided with a circle of first through holes which surround the shaft forks and penetrate through the upper end surface and the lower end surface of the connecting rods, two groups of pivots of each cross shaft joint sequentially penetrate through one corresponding first through hole on each connecting rod below the connecting rods through four guys to be connected to one corresponding driving unit, so as to control the multidimensional movement of the snake-shaped arm and realize the high-flexibility operation capability.
Description
Technical Field
The invention relates to the technical field of automatic charging of electric automobiles, in particular to a snake-shaped mechanical arm for an automatic charging robot technical device of an electric automobile.
Background
With the popularization of electric vehicles in the world and the country, the humanization management problem of time-sharing leasing of the electric vehicles is highlighted by taking the large-step development of the time-sharing leasing business of the electric vehicles as the background, especially the charging mode of the electric vehicles.
At present, traditional charging mode adopts the charging station or sets up electric automobile at the different regions in city and fills electric pile, and the charging process relies on manual operation completely, and degree of automation is low, especially so to the electric automobile of timesharing lease.
The automatic charging and unmanned full-automatic operation of the electric automobile are realized, the management cost of the charging station can be greatly reduced, the vehicle using experience and operation safety of time-sharing leasing are greatly improved, and the electric automobile is charged to provide great convenience for tenants and vehicle owners. Moreover, the automatic charging of the electric automobile can be combined with other automatic facilities, such as automatic parking, automatic cleaning and the like, so that a perfect automatic service system of the electric automobile is formed, and the intellectualization is fully realized.
In order to realize the automatic charging of the electric automobile, the mechanical arm can be used as an automatic charging robot technical device of the electric automobile to connect the charging cable and the electric automobile. However, in the prior art, the conventional industrial robot arm is limited in rigidity and size, limited in degree of freedom, and poor in environmental adaptability, and thus is insufficient for an automatic charging process of an electric vehicle.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides the snake-shaped arm for the automatic charging robot technical equipment of the electric automobile, so that the automatic charging and unmanned full-automatic operation of the electric automobile are realized.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a serpentine arm comprising:
the arm body is formed by connecting a plurality of connecting rods in series, adjacent connecting rods are movably connected through a cross shaft joint, the upper end face of each connecting rod except the top connecting rod is provided with a pair of first shaft forks which are pivoted with one group of pivots of the cross shaft joint, the lower end face of each connecting rod except the bottom connecting rod is provided with a pair of second shaft forks which are pivoted with the other group of pivots of the cross shaft joint, and the first shaft forks on the upper end face of the same connecting rod and the second shaft forks on the lower end face form an acute angle of 90 plus alpha; the connecting rod is provided with a circle of first through holes which surround the shaft fork and penetrate through the upper end surface and the lower end surface of the connecting rod; the two groups of pivots of each cross axle joint sequentially penetrate through a corresponding first through hole on each connecting rod below the cross axle joint through four pull cables and are connected to a corresponding driving unit, and the cross axle joint is controlled to rotate by drawing the pull cables through the driving unit so as to control the multi-dimensional movement of the snake-shaped arm.
Preferably, the robot arm further comprises a supporting base which is connected with the lower end face of a connecting rod at the lowest end of the arm body through the front face of a base top plate, a circle of second through holes corresponding to the first through holes are formed in the base top plate, a plurality of driving units are arranged on the back face of the base top plate around a central shaft of the connecting rod, and two groups of pivots of each cross shaft joint sequentially penetrate through one corresponding first through hole in each connecting rod below the cross shaft joint and one corresponding second through hole in the base top plate to be connected to the corresponding driving units through four pull cables and are arranged in parallel.
Preferably, the cables are arranged in parallel with each other.
Preferably, the number of the first through holes is 4 times the number of the connecting rods, and the angle value of a is a ratio of 360 ° to the number of the first through holes.
Preferably, a third through hole is formed in the center of the connecting rod and the cross axle joint, and a fourth through hole corresponding to the third through hole is formed in the center of the top plate of the base and used for passing through a cable.
Preferably, a first sensor is arranged outside the fork hole of the shaft fork and used for detecting the rotation angle of the universal joint.
Preferably, a second sensor is further mounted on the yoke for detecting a relative position between the adjacent links and a relative positional relationship between the upper and lower end faces of the adjacent links.
Preferably, each driving unit comprises a motor, a screw rod and a sliding block, a base bottom plate is arranged below the base top plate, bearing holes are formed in the base top plate and the base bottom plate, bearing seats are installed in the bearing holes, the screw rods are installed in the bearing seats on the base top plate and the base bottom plate, and the motor is installed on the outer side of the base bottom plate and connected with the screw rod through a coupling; the motor drives the lead screw to rotate, so that the sliding block arranged on the lead screw runs along the lead screw and pulls the inhaul cable fixed on the sliding block.
Preferably, the cable is connected to the pivot shaft end of the spider knuckle.
Preferably, the upper end surface and the lower end surface of the connecting rod are connected through a circle of upright posts surrounding the central shaft of the connecting rod.
The invention has the advantages that: the snake-shaped arm has high flexible operation capability, and humanized, convenient and intelligent charging service of the electric automobile can be realized; compared with a snake-shaped arm structure in the prior art, the arrangement of the guys is optimized by adding the deflection angle alpha between the two pairs of shaft forks on the upper end surface and the lower end surface of each connecting rod, so that all the guys can be kept in parallel arrangement while corresponding to the universal joint pivots pulled by the guys, and the occurrence of winding is effectively prevented; meanwhile, the sensor arranged on the shaft fork can detect the rotation angle of the cross shaft joint, the relative position between the adjacent connecting rods and the relative position relation between the upper end surface and the lower end surface of the adjacent connecting rods, so that the motion condition of the snake-shaped arm can be accurately known.
Drawings
FIG. 1 is a schematic view of a serpentine arm structure according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of a serpentine arm structure according to a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of a serpentine arm link structure according to a preferred embodiment of the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
In the following detailed description of the embodiments of the present invention, in order to clearly illustrate the structure of the present invention and to facilitate explanation, the structure shown in the drawings is not drawn to a general scale and is partially enlarged, deformed and simplified, so that the present invention should not be construed as limited thereto.
In the following description of the present invention, please refer to fig. 1-3, wherein fig. 1 is a schematic diagram of a serpentine arm structure according to a preferred embodiment of the present invention, fig. 2 is a schematic diagram of a serpentine arm structure according to a preferred embodiment of the present invention, and fig. 3 is a schematic diagram of a serpentine arm link structure according to a preferred embodiment of the present invention; the transverse configuration of the serpentine arm is illustrated. As shown in figure 1, a serpentine arm of the invention may comprise two main components, a serpentine arm body 1 and a support base 2, connected together. The arm body 1 is formed by connecting a plurality of connecting rods 11 in series; the number of connecting rods may be, for example, between 3 and 10. Every two adjacent connecting rods are movably connected through a universal joint; each cross axle joint is controlled by four pull cables in a rotating way. The arm body 1 is connected with the supporting base 2 through a connecting rod at the lowest end of the arm body. The supporting base is provided with a driving unit for driving the arm body to do multidimensional movement.
Please refer to fig. 2 and fig. 3. Every two adjacent connecting rods 11 are movably connected through a universal joint 12; each spider joint 12 has two orthogonal sets of pivots. The upper end surface 111 of each connecting rod 11 is provided with a pair of first shaft forks 113 pivoted with one group of pivots of the cross-axle joint 12 except for one connecting rod positioned at the top of the arm body, and the lower end surface 112 of each connecting rod 11 is provided with a pair of second shaft forks 114 pivoted with the other group of pivots of the cross-axle joint except for one connecting rod positioned at the bottom of the arm body; that is, a pair of shaft forks 113 and 114 pivotally connected to one set of pivots of the universal joint 12 are respectively provided on the upper end surface 111 and the lower end surface 112 of two adjacent links.
Each pair of shaft forks 113 and 114 positioned on the upper end surface 111 and the lower end surface 112 of the connecting rod 11 are vertically arranged, fork holes can be relatively and horizontally arranged on each pair of shaft forks, and after two ends of one group of pivot shafts of the cross shaft joint 12 are horizontally placed into the two fork holes to be matched, the group of pivot shafts can rotate around the fork holes under the pulling force of the pull rope 13 connected with the other group of pivot shafts of the cross shaft joint, so that the arm body of the snake-shaped arm is driven to bend to the stressed side.
A first sensor 116 may be mounted outside the yoke bore of the yoke for detecting the rotational angle of the spider joint 12.
The pair of first shaft forks 113 located on the upper end surface 111 and the pair of second shaft forks 114 located on the lower end surface 112 of the same connecting rod 11 are staggered by an angle of 90+ a, where a is an acute angle. That is, a pair of yokes on each of two adjacent links located on the upper end surface (or the lower end surface) thereof are disposed at an angle α with respect to the center axis of the link (or the center axis corresponding to the pair of yokes). This also causes the universal joint joints between the links to be offset relative to each other by an angle setting (i.e., offset angle a).
The connecting rod 11 is provided with a circle of first through holes 115 which surround the shaft fork (namely surround the central shaft of the connecting rod) and penetrate through the upper end surface and the lower end surface of the connecting rod and are uniformly arranged; each first through hole is penetrated with a pull cable 13, and each pull cable is connected with a corresponding cross axle joint 12 and used for pulling to enable the cross axle joint to rotate.
The upper end surface and the lower end surface of the connecting rod 11 can be connected through a circle of upright post surrounding the central shaft of the connecting rod, and the outer contour of the upright post is smaller than the circumference of the upper end surface and the lower end surface of the connecting rod; at this time, the first through holes 115 are formed on the upper and lower end surfaces 113 and 114 of the connecting rods, respectively, and are arranged in a one-to-one correspondence. Of course, the connecting rod may also take a cylindrical or other shape.
The number of the first through holes is 4 times of the number of the connecting rods. The angle value of the offset angle (or the staggered angle) alpha is a ratio of 360 DEG to the number of the first through holes. The number of the guys that the first through-hole on each section of connecting rod passes through begins to increase 4 guys section by section from one section of connecting rod of the top of arm body. For example, assuming a total of 10 links, 40 through holes are provided in the upper and lower end surfaces of each link. The first through hole of the lower end face of the first section of connecting rod (namely the upper end face of the second section of connecting rod) penetrates through 4 guys, the first through hole of the lower end face of the second section of connecting rod (namely the upper end face of the third section of connecting rod) penetrates through 8 guys, and so on, the first through hole of the lower end face of the last section of connecting rod penetrates through 40 guys, and therefore the lower end face of the last section of connecting rod is connected to the corresponding driving unit through 40 guys.
As can be seen from fig. 2, by arranging the yokes in different groups in a deflecting manner, the pairs of yokes on the same end face of each connecting rod are deflected in sequence at a certain deflection angle. Therefore, because the cross shaft forks on the upper end surface and the lower end surface of each connecting rod are different and staggered at an angle along the central shaft, the stay cables on all the cross shaft joints are ensured to correspond to the pivot shafts of the cross shaft joints pulled by the stay cables, and meanwhile, the parallel arrangement among the stay cables is kept.
Please refer to fig. 1. The supporting base 2 is provided with a base top plate 21 and a base bottom plate 22 positioned below the base top plate, and connected to form a box structure. The supporting base 2 is connected with the lower end surface of one (section) connecting rod 11 at the lowest end of the arm body 1 through the front surface of a base top plate 21. A circle of second through holes (not shown) corresponding to the first through holes 115 are formed in the base top plate 21 for passing the pulling cable 13.
A plurality of driving units 23 are arranged on the back surface of the base top plate 21; each drive unit 23 is provided around a link center axis (support base center axis) to form a tubular structure. Each of the driving units 23 includes a motor 233, a lead screw 231, and a slider 232. A circle of bearing holes are formed in the base top plate 21 and the base bottom plate 22 respectively, and bearing seats are installed in the bearing holes; the screw 231 of each driving unit 23 is correspondingly installed in a pair of bearing seats on the top plate 21 and the bottom plate 22 of the base. The motor 232 of each driving unit 23 is mounted on the outer side of the base bottom plate 22 and is connected to the lead screw 231 of the driving unit through a coupling.
The motor 232 drives the lead screw 231 to rotate, so that the sliding block 232 arranged on the lead screw runs in a certain range along the lead screw and pulls one inhaul cable 13 fixed on the sliding block, and then the cross shaft joint 12 connected with the inhaul cable can be controlled to rotate, and the aim of controlling the movement of the snake-shaped arm is fulfilled.
Please refer to fig. 2. Two groups of pivot shafts orthogonal to each cross shaft joint sequentially penetrate through a corresponding first through hole on each connecting rod below the cross shaft joint and a corresponding second through hole on the top plate of the base through four inhaul cables 13 and are connected to a corresponding sliding block of one driving unit. The rotation of the corresponding cross shaft joint can be controlled by drawing the inhaul cable connected with the driving unit through the driving unit, and the aim of automatically controlling the snake-shaped arm to perform multi-dimensional movement can be achieved by performing combined control on different driving units.
For a cross-axle joint, if an included angle exists between an input shaft and an output shaft, the angular velocities of the two shafts are unequal, which causes torsion and vibration between connecting rods, and therefore, the motion precision of the snake-shaped arm is influenced. In order to ensure that there is no included angle between the input shaft and the output shaft, four cables for pulling the two pivots of the universal joint should be connected to the two pivots of the universal joint respectively and preferably located at the shaft ends of the two pivots.
Meanwhile, for the snake-shaped arm, because a plurality of connecting rods, namely a plurality of sets of universal joint joints exist, if all the universal joint joints are installed according to the same angle, a plurality of pull cables for driving the universal joint joints cannot be kept parallel. In this case, when the number of the wires is large, the entanglement with each other easily occurs. This problem has not been considered in the past inventions.
The invention has the advantages that the cross shaft forks on the upper end surface and the lower end surface of the connecting rod are staggered by an angle along the central shaft, so that the stay cables of all cross shaft joints are ensured to be corresponding to the pulled cross shaft joint pivots, and simultaneously, the parallel arrangement can be kept.
Please refer to fig. 3. A third through hole 117 is formed in the center of each connecting rod and the cross axle joint, and a fourth through hole (not shown) corresponding to the third through hole is formed in the center of the top plate of the base, and the third through hole and the fourth through hole can be used for passing cables.
In addition, a second sensor can be arranged on the shaft fork and used for detecting the relative position between the adjacent connecting rods and the relative position relationship between the upper end surface and the lower end surface of the adjacent connecting rods.
Compared with the snake-shaped arm structure in the prior art, the arrangement of the guy cables is optimized by adding a deflection angle between the two pairs of shaft forks on the upper end surface and the lower end surface of each connecting rod, so that the parallel arrangement of all the guy cables can be kept while the guy cables correspond to the pulled universal joint pivots, and the winding is effectively prevented; meanwhile, the sensor arranged on the shaft fork can detect the rotation angle of the cross shaft joint, the relative position between the adjacent connecting rods and the relative position relation between the upper end surface and the lower end surface of the adjacent connecting rods, so that the motion condition of the snake-shaped arm can be accurately known.
The snake-shaped arm disclosed by the invention has high flexible operation capability, and can realize humanization, convenience and intellectualization of the charging service of the electric automobile. The automatic charging and unmanned full-automatic operation of the electric automobile are realized, the management cost of the charging station can be greatly reduced, the time-sharing renting vehicle using experience and operation safety are greatly improved, and the electric automobile is charged to provide great convenience for tenants and vehicle owners. Moreover, the automatic charging of the electric automobile can be combined with other automatic facilities, such as automatic parking, automatic cleaning and the like, so that a perfect automatic service system of the electric automobile is formed, and the intellectualization is fully realized.
The above description is only for the preferred embodiment of the present invention, and the embodiment is not intended to limit the scope of the present invention, so that all the equivalent structural changes made by using the contents of the description and the drawings of the present invention should be included in the scope of the present invention.
Claims (9)
1. A serpentine arm, comprising:
the arm body is formed by connecting a plurality of connecting rods in series, adjacent connecting rods are movably connected through a cross shaft joint, the upper end face of each connecting rod except the top connecting rod is provided with a pair of first shaft forks which are pivoted with one group of pivots of the cross shaft joint, the lower end face of each connecting rod except the bottom connecting rod is provided with a pair of second shaft forks which are pivoted with the other group of pivots of the cross shaft joint, and the first shaft forks on the upper end face of the same connecting rod and the second shaft forks on the lower end face form an acute angle of 90 plus alpha; the connecting rod is provided with a circle of first through holes which surround the shaft fork and penetrate through the upper end surface and the lower end surface of the connecting rod; the driving units (23) are arranged, each driving unit (23) is arranged around a central shaft of each connecting rod to form a cylindrical structure, two groups of pivots of each cross shaft joint sequentially penetrate through a corresponding first through hole in each connecting rod below the cross shaft joint through four pull cables (13) and are connected to a corresponding driving unit (23), the pull cables (13) are arranged in parallel, and the rotation of the cross shaft joint connected with the pull cables (13) is controlled through the traction of each driving unit (23) on one pull cable (13) so as to control the multidimensional movement of the snake-shaped arm.
2. The serpentine arm according to claim 1, further comprising a support base connected to a lower end surface of a lowermost link of the arm body through a front surface of a top plate of the base, wherein the top plate of the base is provided with a circle of second through holes corresponding to the first through holes, a plurality of driving units are provided around a central axis of the link at a back surface of the top plate of the base, and two sets of pivots of each cross-axis joint are connected to a corresponding one of the driving units by four cables sequentially passing through a corresponding one of the first through holes of each link therebelow and a corresponding one of the second through holes of the top plate of the base.
3. The serpentine arm of claim 1, wherein the number of first through-holes is 4 times the number of links, and wherein the angle a has a value of 360 ° relative to the number of first through-holes.
4. The serpentine arm according to claim 2, wherein the center of the connecting rod and the spider joint is provided with a third through hole, and the center of the top plate of the base is provided with a fourth through hole corresponding to the third through hole for passing a cable.
5. The serpentine arm as claimed in claim 1, wherein the first sensor is mounted outside the fork hole of the yoke for detecting the rotation angle of the spider joint.
6. The serpentine arm of claim 1, wherein a second sensor is mounted to the yoke for detecting the relative position of adjacent links and the relative positional relationship between the opposing upper and lower end surfaces of adjacent links.
7. The snake-shaped arm according to claim 2, wherein each driving unit comprises a motor, a lead screw and a sliding block, a base bottom plate is arranged below the base top plate, bearing holes are formed in the base top plate and the base bottom plate, bearing seats are arranged in the bearing holes, the lead screw is arranged in the bearing seats on the base top plate and the base bottom plate, and the motor is arranged on the outer side of the base bottom plate and connected with the lead screw through a coupler; the motor drives the lead screw to rotate, so that the sliding block arranged on the lead screw runs along the lead screw and pulls the inhaul cable fixed on the sliding block.
8. The serpentine arm of claim 1, wherein the pull cable is connected to a pivot shaft end of a spider knuckle.
9. The serpentine arm as claimed in claim 1, wherein the upper and lower end surfaces of the link are connected by a ring of posts around a central axis of the link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710761315.1A CN107486849B (en) | 2017-08-30 | 2017-08-30 | Snake-shaped arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710761315.1A CN107486849B (en) | 2017-08-30 | 2017-08-30 | Snake-shaped arm |
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| CN107486849A CN107486849A (en) | 2017-12-19 |
| CN107486849B true CN107486849B (en) | 2020-06-09 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111658152B (en) * | 2020-07-10 | 2021-09-07 | 山东大学 | Operation mechanical arm and endoscope system |
| CN111941404B (en) * | 2020-08-25 | 2023-01-10 | 长沙理工大学 | Working method of robot system |
| CN111941405B (en) * | 2020-08-25 | 2023-01-06 | 长沙理工大学 | Wire-driven snakelike arm robot |
| CN111941406B (en) * | 2020-08-25 | 2022-11-15 | 长沙理工大学 | Robot system |
| CN111941410B (en) * | 2020-08-25 | 2023-01-06 | 长沙理工大学 | Avoid lax formula silk drive robot |
| CN113331161B (en) * | 2021-06-03 | 2023-02-28 | 华中农业大学 | Agricultural accurate target spraying robot with snakelike arm |
| CN113829386A (en) * | 2021-08-26 | 2021-12-24 | 北京精密机电控制设备研究所 | Continuous type arm that charges with scalable degree of freedom |
| CN113733067B (en) * | 2021-09-23 | 2022-10-11 | 湖南大学 | Large-load long-distance radiation-resistant high-precision snake-shaped arm |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2532954Y (en) * | 2002-03-27 | 2003-01-29 | 辽宁工程技术大学 | Snakelike robot |
| CN202726934U (en) * | 2012-06-20 | 2013-02-13 | 东莞东聚电子电讯制品有限公司 | Snake-shaped mechanical arm |
| CN204278011U (en) * | 2014-11-25 | 2015-04-22 | 杨一超 | A kind of snake-shaped robot driven by linkage |
| CN205415622U (en) * | 2015-05-18 | 2016-08-03 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Snakelike robot |
| CN106926223A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of snake-shaped robot |
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Effective date of registration: 20230905 Address after: Room 1001-1, No. 127 Guotong Road, Yangpu District, Shanghai, 200433 Patentee after: Shanghai Zhida Technology Development Co.,Ltd. Address before: Room J177, No. 2201, No. 888 Moyu South Road, Anting Town, Jiading District, Shanghai, May 2018 Patentee before: XIANGYI AUTOMATION TECHNOLOGY (SHANGHAI) CO.,LTD. |