CN110524528B

CN110524528B - Flexible winding mechanism

Info

Publication number: CN110524528B
Application number: CN201910810894.3A
Authority: CN
Inventors: 李龙; 汪田鸿; 田应仲; 金滔
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2019-08-30
Filing date: 2019-08-30
Publication date: 2022-10-11
Anticipated expiration: 2039-08-30
Also published as: CN110524528A

Abstract

The invention relates to a flexible winding mechanism, which comprises a control unit, a wire driving unit, a framework unit capable of rotating at a certain angle and a flexible skin with better telescopic performance. The control unit adopts a single chip microcomputer and a plurality of switches, and comprises a trigger switch input end, a motor control end, a system reset end, a communication port with an upper computer, a control line driving unit and a bending degree control flexible winding mechanism. This winding mechanism can twine and the object of fixed complex surface, and its better adaptability provides certain buffering loss prevention effect.

Description

Flexible winding mechanism

Technical Field

The invention discloses a flexible winding mechanism, and belongs to the technical field of robots.

Background

The flexible winding mechanism is an important research subject in the field of robots, can be used for temporarily connecting and fixing a robot and a target object, timely releases the target, and has two most basic functions of winding and releasing the target.

According to the current research on a winding mechanism, a snake-shaped robot developed by the American Cantonese university of Chilon (CMU) has strong winding capacity, adjacent joints are in orthogonal connection, rubber materials are adhered to the outer surfaces of the joints, the friction force between the joints and the target surface is increased, but the snake-shaped robot is driven by a multi-joint motor, the overall weight of the mechanism is increased, the snake-shaped robot is poor in adaptability and is in rigid contact with a target object, the current driving mode mainly comprises physical driving and joint motor driving, the physical driving mainly comprises pneumatic driving, hydraulic driving, wire pulling driving and the like, the wire pulling driving structure is simple, the control is easy, the manufacturing process requirement is high, and the snake-shaped robot can be widely applied to various fields in the future.

Disclosure of Invention

The invention aims to overcome the defect of poor adaptability of the existing parallel winding mechanism, and provides a flexible winding mechanism, which changes the rigidity of the winding mechanism through linear driving so as to adapt to the surface stress requirements of winding different objects and simultaneously reduce the influence of rigid contact with the objects.

In order to achieve the purpose, the flexible winding mechanism provided by the invention adopts the following technical scheme:

a flexible winding mechanism comprises a control unit, a wire driving unit, a framework unit and a flexible skin. The control unit adopts a single chip microcomputer and a plurality of switches, comprises a trigger switch input end, a motor control end, a system reset end, an upper computer communication port and a control line driving unit, and therefore the bending degree of the flexible winding mechanism is controlled. The control unit adopts a single chip microcomputer and a plurality of switches, controls the line driving unit and finally controls the bending degree of the winding mechanism; the single chip microcomputer judges whether the mechanism works or not through dynamically scanning the state of the switch, controls the servo motor to rotate or lock, and changes the state of the steel wire rope, so that the winding mechanism is controlled to grasp and wind.

The flexible epidermis that has better elasticity performance for the continuity of transmission winding mechanism motion guarantees flexible winding mechanism's compliance, flexible epidermis is made by wear-resisting, anti-aging's silica gel, has high resilience performance, can improve device global rigidity, flexible epidermis inside and skeleton unit splice link firmly as whole, the outside has unevenness's line.

The framework unit capable of rotating at a certain angle comprises a winding framework, a limiting spring and an elastic body. The winding framework is of a square structure, four conical bosses for limiting rotation are arranged at the four corners of the winding framework, the winding framework is connected with the next winding framework unit during bending, and a limiting chute for limiting the linear motion of the elastic body is arranged in the winding framework; the limiting springs are arranged on two sides of the elastic body, one end of each limiting spring is connected with the boss of the winding framework, the other end of each limiting spring is connected with the boss on the elastic body, and pre-tightening force is preset; the elastic body is in a cross shape, circular bosses are arranged at two ends of the elastic body and connected with a limiting spring, square bosses are arranged at the other two ends of the elastic body and arranged in a limiting sliding groove of the winding framework, a driving hole for connecting a steel wire rope is designed on the elastic body, and a spherical groove is arranged in the middle of the elastic body.

The wire driving unit comprises a steel wire rope, a ball body and an elastic rope. The bottom end of the elastic rope is connected with the control unit, penetrates through the driving hole and is connected with the framework unit, and the winding mechanism is controlled to bend; the middle diameter of the ball body is provided with a through hole which forms a ball pair with a spherical groove of the winding framework to support and transfer force; the elastic rope is arranged at the position of the through hole in the middle of the elastic body, the ball body is connected with the elastic body, and the two adjacent winding frameworks are connected through the ball pair.

Compared with the prior art, the invention has the following obvious substantive characteristics and remarkable advantages:

1. the invention can simultaneously drive the multi-line movement, the inner and outer line driving mechanisms work independently, and the mechanism has small overall mass and low cost.

2. The invention has a flexible structure, is self-adaptively wound according to the surface shape of an object, and has the characteristics of high reliability, stable work and good robustness.

3. The invention has better shape following adaptability, applies the advantage of under-actuated technology, is suitable for objects with complex shapes by rotating and telescoping devices, and realizes effective nondestructive winding of target objects.

4. The invention adopts multi-framework unit connection, improves the fitting degree during grasping and fixing by controlling and changing the state of each part of the mechanism, and is suitable for complex environments.

5. The invention adopts linear driving, has simple structure, easy control, higher reliability and better economy and can be widely applied.

Drawings

Fig. 1 is a schematic diagram of an under-actuated parallel winding mechanism.

Fig. 2 is a schematic diagram of the internal structure of the under-actuated parallel winding mechanism of the present invention.

Fig. 3 is a schematic structural diagram of a winding mechanism unit in the invention.

Fig. 4 is a schematic diagram of deformation of the internal structure of the parallel winding mechanism of the present invention when winding a target object.

Fig. 5 is a schematic diagram of the deformation of two winding mechanism units of the present invention at a certain angle.

Fig. 6 is a cross-sectional view of a wound bobbin structure within the present invention.

Fig. 7 is a schematic circuit diagram of the control unit of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to fig. 1 to 7 and preferred embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.

The first embodiment is as follows:

referring to fig. 1 to 7, a plurality of skeleton units III of the flexible winding mechanism are connected in series by a wire driving unit II, and a long strip-shaped winding mechanism is covered by a flexible skin IV, and the wire driving unit is connected with a control unit to control the bending deformation of the winding mechanism.

Example two:

this embodiment is substantially the same as the first embodiment, and the features are as follows: the control unit I comprises a single chip microcomputer 12, a plurality of switches 13, a trigger switch input end 15, a motor control end 14 and a system reset end 16, and is communicated with an upper computer, and the upper computer 18 controls a line driving unit II through the control unit I, so that the bending degree of the flexible winding mechanism is controlled.

The wire driving unit II comprises a steel wire rope 6, a ball body 5 and an elastic rope 4, wherein the bottom end of the steel wire rope 6 is connected with the control unit I and penetrates through a driving hole 8 connected to one elastic body 3 in the framework unit III; a through hole is formed in the middle diameter of the sphere 5, and the through hole and one spherical groove 9 of the framework unit III, which is wound around the framework 1, form a sphere pair; the elastic rope 4 is arranged at a through hole in the middle of the elastic body 3, the ball body 5 is connected with the elastic body 3 and penetrates through the hole in the middle of the spherical groove 9, and two adjacent winding frameworks 1 are connected through a ball pair.

The framework unit III comprises a winding framework 1, a limiting spring 2 and an elastic body 3. The winding framework 1 is of a square structure, four conical bosses 10 for limiting rotation are arranged at the four corners of the winding framework, and a limiting sliding chute 11 for limiting the linear motion of the elastic body 3 is arranged in the winding framework, so that the stability of the whole structure can be kept; the limiting springs 2 are arranged on two sides of the elastic body 3, one ends of the two limiting springs 2 are connected with the lug boss of the winding framework 1, and the other ends of the two limiting springs 2 are connected with the lug boss on the elastic body 3; elastomer 3 is "ten" word shape, and shorter both ends set up circular boss, links firmly with spacing spring 2, and longer both ends set up square boss, and the smooth spacing spout 11 of joining in marriage in winding skeleton 1 forms stable sliding pair, has the drive hole 8 that is used for connecting wire rope on the elastomer 3, and the centre sets up spherical recess 9.

The flexible surface skin IV is used for transmitting the motion continuity of the winding mechanism, is made of wear-resistant and anti-aging silicon plates, has the characteristic similar to that of skin, is fixedly connected with the framework unit III in an adhesive mode into a whole, and is externally provided with uneven grains.

Example three:

as shown in fig. 1, a flexible winding mechanism includes a control unit I, a wire driving unit II, a skeleton unit III capable of rotating at a certain angle, and a flexible skin IV with better stretching performance.

The control unit I adopts a single chip microcomputer 12 and a plurality of switches 13, comprises a trigger switch input end 15, a motor control end 14 and a system reset end 16, is communicated with an upper computer through a port, controls a wire driving unit II, finally controls the bending degree of the winding mechanism, the reset end triggers a reset signal, a motor 17 is in an initialization state, and the flexible winding mechanism is in an initial opening state.

The wire driving unit II comprises a steel wire rope 6, a ball body 5 and an elastic rope 4, the bottom end of the steel wire rope 6 is connected with the control unit I, and the steel wire rope penetrates through a driving hole 8 to be connected with the framework unit III; a through hole is formed in the middle diameter of the ball body 5, a ball pair is formed by the through hole and the spherical groove 9 wound on the framework, and the ball pair is in a flexible rotation state and is coated with lubricating oil; elastic rope 4 installs in elastomer 3 middle through-hole department, is connected spheroid and elastomer 3 and passes the middle trompil department of spherical recess 9, relies on the ball pair to connect between two adjacent winding skeletons 1, can rotate in a flexible way.

The framework unit III capable of rotating at a certain angle comprises a framework 1, a limiting spring 2 and an elastic body 3. The winding framework is of a square structure and is a rigid elastic sheet, the winding framework can play a role in supporting and bearing, four conical bosses 10 for limiting rotation are arranged at the four corners of the winding framework, the rotation angle of the framework unit III is limited when the winding framework is in contact with an object, the winding framework is connected with the next framework unit III when the winding framework is bent, a limiting chute 11 for limiting the linear motion of the elastic body 3 is arranged in the winding framework, and the stability of the whole structure can be kept when external force is applied; the limiting springs 2 are arranged on two sides of the elastic body 3, the performance and the state of the two limiting springs 2 are consistent, one end of each limiting spring is connected with the boss of the framework 1, the other end of each limiting spring is connected with the boss on the elastic body 3, and the limiting springs are in a compressed state in an initial state and can play a role in buffering when colliding and contacting with the front of an object; elastomer 3 is "ten" word shape, and shorter both ends set up circular boss, link firmly with spacing spring 2, set up the recess, and restriction spacing spring 2 breaks away from when receiving the pulling force, and longer both ends set up square boss, install in the spacing spout 11 of skeleton, form stable sliding pair, and the design is used for connecting wire rope's drive hole 8 on the elastomer 3, and the centre sets up spherical recess 9.

The flexible epidermis IV with better elasticity for the continuity of transmission winding mechanism motion, the compliance of assurance mechanism, high resilience performance has, can improve device global rigidity, the flexible epidermis is made by wear-resisting, anti-aging's silicon slab, has the characteristic similar with skin, it cuts into and twines the mechanism length the same, and the square part surface girth that has the same width evenly paints glue with flexible epidermis IV on silicone one side, splice with the skeleton unit and link firmly as whole, the outside has unevenness's line.

The working process of the device of the invention is as follows:

the control unit I runs a control program, the control program realizes the winding process of the flexible winding mechanism, the upper computer is communicated with the lower computer to work, the singlechip discovers that the flexible winding mechanism is not in a working state through the dynamic scanning switch, the input end of the trigger switch works, the motor control end receives a working signal, the servo motor converts the received electric signal into angular displacement or angular velocity on the motor shaft to be output, the wire drive unit II works under the action of the servo motor, the wire rope connected to the driving hole 8 on the elastic body 3 is under the action of tensile force, the winding mechanism bends due to different angular displacements output by each servo motor, the winding framework 1 rotates to the side with larger stress, the conical boss 10 on the winding framework 1 is connected with the adjacent winding framework 1 to slide linearly, the framework unit III slides with the ball body 5, the elastic body 3 slides along the limiting sliding chute 11 under the action of the elastic rope 4, and the limiting spring 2 is compressed; when an object with an irregular surface shape is wound, the framework unit III rotates along the conical boss 10 under the action of force, the elastic rope 4 elastically deforms, the limiting spring compresses, the rigid collision influence with the target surface is reduced, and good adaptability is provided. After the whole winding process is finished, the single chip microcomputer receives a release signal of the upper computer, the servo motor rotates reversely, the winding mechanism stretches and resets, and the grasped target is released.

The winding mechanism is simple in structure and flexible to operate, the winding mechanism is subjected to various deformations by controlling the driver, the flexibility of the winding mechanism is enhanced according to the under-actuated principle, the winding mechanism can meet more complex working requirements, and the winding mechanism is suitable for grabbing and fixing objects under the condition of complex space. Compared with the traditional parallel winding mechanism, the mechanism has better environmental adaptability and higher scientific research value.

Claims

1. A flexible winding mechanism comprises a control unit (I), a line driving unit (II), a plurality of skeleton units (III) and a flexible skin (IV); the method is characterized in that: the plurality of framework units (III) are connected in series through the wire driving unit (II), the flexible skin (IV) covers the long strip-shaped winding mechanism, and the wire driving unit is connected with the control unit to control the bending deformation of the winding mechanism; the framework unit (III) comprises a winding framework (1), a limiting spring (2) and an elastic body (3); the winding framework (1) is of a square structure, four conical bosses (10) for limiting rotation are arranged at the four corners of the winding framework, and a limiting sliding groove (11) for limiting the linear motion of the elastic body (3) is arranged in the winding framework, so that the stability of the whole structure can be kept; the limiting springs (2) are arranged on two sides of the elastic body (3), one ends of the two limiting springs (2) are connected with the boss of the winding framework (1), and the other ends of the two limiting springs are connected with the boss on the elastic body (3); elastomer (3) are "ten" word shape, and shorter both ends set up circular boss, link firmly with spacing spring (2), and longer both ends set up square boss, and the sliding fit forms stable sliding pair in spacing spout (11) of winding skeleton (1), has drive hole (8) that are used for connecting wire rope on elastomer (3), and the centre sets up spherical recess (9).

2. The flexible winding mechanism of claim 1, wherein: the control unit (I) comprises a single chip microcomputer (12), a plurality of switches (13), a motor control end (14), a trigger switch input end (15) and a system reset end (16), the control unit (I) and an upper computer (18) are connected and communicated through parallel wires and correspondingly connected with a motor (17), and the upper computer (18) controls the motor (17) through the control unit (I) to rotate to change the length of a steel wire rope corresponding to each motor, so that the bending degree of the flexible winding mechanism is controlled.

3. A flexible winding mechanism according to claim 1, wherein: the wire driving unit (II) comprises a steel wire rope (6), a sphere (5) and an elastic rope (4), the bottom end of the steel wire rope (6) is connected with the control unit (I) and penetrates through a driving hole (8) connected to one elastic body (3) in the framework unit (III); a through hole is formed in the middle diameter of the sphere (5), and the through hole and a spherical groove (9) of the framework unit (III) which is wound on the framework (1) form a spherical pair; the elastic rope (4) is arranged at a through hole in the middle of the elastic body (3), the ball body (5) is connected with the elastic body (3) and penetrates through the hole in the middle of the spherical groove (9), and two adjacent winding frameworks (1) are connected through a ball pair.

4. A flexible winding mechanism according to claim 1, wherein: the flexible surface skin (IV) is used for transmitting the motion continuity of the winding mechanism, is made of a wear-resistant and anti-aging silicon plate, has the characteristic similar to skin, is fixedly connected with the framework unit (III) into a whole in a gluing mode, and is externally provided with uneven grains.

5. A flexible winding mechanism according to claim 1, wherein: adopt many skeleton unit connections (III), through the state of nonlinear drive change mechanism each part, improve the laminating degree when snatching and fixing, through rotatory and telescoping device, can snatch and twine complicated surface target object to play the buffering and reduce the wound effect, realize the effective not damaged winding of target object.