CN110712196B - Snakelike arm robot capable of achieving two-degree-of-freedom bending - Google Patents
Snakelike arm robot capable of achieving two-degree-of-freedom bending Download PDFInfo
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- CN110712196B CN110712196B CN201911049376.0A CN201911049376A CN110712196B CN 110712196 B CN110712196 B CN 110712196B CN 201911049376 A CN201911049376 A CN 201911049376A CN 110712196 B CN110712196 B CN 110712196B
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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
A snake-shaped arm robot capable of realizing two-degree-of-freedom bending comprises a driving part, a plurality of rotary joint modules and an end part. The driving part consists of a driving box body, a driving box cover plate, a driving wheel shaft, a guide wheel shaft, a driving rope and a speed reducing motor; the rotary joint module is composed of a spherical magnet and a hard aluminum separation disc, wherein the hard aluminum separation disc is divided into an upper separation disc and a lower separation disc according to the assembly direction; the distal portion is comprised of a probe and a detection device. According to the invention, the first driving wheel and the second driving wheel are respectively driven by the two speed reducing motors, so that the first driving rope and the second driving rope are driven, and the two-degree-of-freedom bending of the snake-shaped arm robot is realized. The invention has the advantages of simple and compact structure and convenient driving.
Description
Technical Field
The invention relates to the field of snakelike arm robots, in particular to a snakelike arm robot driven by a rope.
Background
At present, different from the traditional serial multi-joint robot, the continuum robot and the snake-shaped arm robot can adapt to complex environments through self bending deformation, and are particularly suitable for detection and operation of narrow channels. In order to realize two-degree-of-freedom rotation, the traditional snake-shaped arm robot mostly adopts three ropes or four ropes for independent driving, so that three or four motors are needed for control, and the defects of more complex driving part, higher cost and the like are caused; in addition, the moving joint module has the defects of complex assembly and large volume. The patent No. CN201521101070.2 discloses a snake-shaped mechanical arm for controlling each moving joint group through rope drive, wherein each moving joint comprises a ball head connecting rod and a ball socket connecting rod, the ball head connecting rod and the ball socket connecting rod are mutually connected to form a rotating pair at the positions of two adjacent moving joints, but the periphery of a joint structure in adjacent moving units of the snake-shaped mechanical arm needs a plurality of extension springs to ensure the moving precision, and the ball joints are seriously worn in the rotating process to cause the lowering of the moving precision; in addition, each rope distributed on the circumference of the rope is controlled by one motor module, so that the driving is relatively complex and the cost is high. Patent No. CN201710280187.9 discloses a rope-driven snake-shaped mechanical arm main body module and a snake-shaped mechanical arm with two-degree-of-freedom bending and one-degree-of-freedom stretching, but the structural assembly of each main body module of the snake-shaped mechanical arm is complex and the volume of the snake-shaped mechanical arm is large. The invention adopts two driving ropes to independently drive the rotary joint module, and has simple and compact structure, simple driving and lower cost.
Disclosure of Invention
The invention provides a snakelike arm robot capable of realizing two-degree-of-freedom bending based on a spherical magnet, and each rotary joint module is simple and compact in design structure, low in cost, relatively simple and convenient to install and drive and capable of being used as a flexible wrist of the robot and a detection robot.
The technical scheme adopted by the invention for realizing the purpose is as follows:
a snake-shaped arm robot capable of realizing two-degree-of-freedom bending comprises a driving part, an end part and a joint group formed by a plurality of rotary joint modules. The driving part consists of a driving box body, a driving box cover plate, a driving wheel shaft, a guide wheel shaft, a driving rope and a speed reducing motor. The driving wheels comprise a first driving wheel and a second driving wheel; the driving wheel shafts comprise a first driving wheel shaft and a second driving wheel shaft; the guide wheels comprise a first guide wheel, a second guide wheel, a third guide wheel, a fourth guide wheel, a fifth guide wheel and a sixth guide wheel; the guide wheel shafts comprise a first guide wheel shaft, a second guide wheel shaft, a third guide wheel shaft, a fourth guide wheel shaft, a fifth guide wheel shaft and a sixth guide wheel shaft; the driving rope comprises a first driving rope and a second driving rope; the gear motor comprises a first gear motor and a second gear motor. The first guide wheel, the second guide wheel, the third guide wheel, the fourth guide wheel, the fifth guide wheel and the sixth guide wheel are respectively arranged on a first guide wheel shaft, a second guide wheel shaft, a third guide wheel shaft, a fourth guide wheel shaft, a fifth guide wheel shaft and a sixth guide wheel shaft; the first driving wheel and the second driving wheel are respectively arranged on a first driving wheel shaft and a second driving wheel shaft and are respectively driven by a first speed reduction motor and a second speed reduction motor.
The rotary joint module is composed of a spherical magnet and a hard aluminum separating disc. In order to facilitate the installation of the rotary joint module, the hard aluminum separating disc can be divided into an upper separating disc and a lower separating disc according to the assembling direction; the plurality of rotary joint modules are connected in series through opposite attraction of adjacent magnets to form a joint group; in the joint group, only one hard aluminum separating disc is fixed on the spherical magnet matched with the base of the first rotary joint front module, and only one hard aluminum separating disc is fixed on the spherical magnet matched with the top seat of the nth joint rear module; each of the other rotary joint modules consists of a spherical magnet and two hard aluminum separating discs.
The end part is composed of a probe and a detection device; the detection device can be a wireless sensor or a miniature camera and other devices for detecting the working environment information.
Furthermore, four smaller conical driving rope holes, namely a conical hole A, a conical hole B, a conical hole C and a conical hole D, are uniformly distributed on the periphery of the upper separating disc and the lower separating disc; the middle parts of the upper separating disc and the lower separating disc are provided with large conical holes matched with the spherical magnets. In an initial state, the N pole and the S pole of the spherical magnet of each rotary joint module are positioned at two diameter points on the spherical surface; the taper holes A, B, C and D on the upper separating disc and the lower separating disc of each adjacent rotary joint module are respectively kept coaxial so as to improve the assembly precision; the upper separation disc and the lower separation disc are respectively assembled with the spherical magnet from the upper direction and the lower direction, the central axes of the two separation discs are ensured to be superposed with the connecting line of the N pole and the S pole of the spherical magnet, and the upper separation disc and the lower separation disc are fixedly connected by gluing so as to prevent the spherical magnet and the hard aluminum separation disc from moving relatively; the surface near the magnetic poles of each spherical magnet is coated with an anti-slip coating, so that the friction coefficient of the surface can be increased, and the spherical surface can keep pure rolling under the action of external force within a certain range.
Furthermore, the head end of the first driving rope is fixed with the top seat 9 of the nth joint through a screw, and the tail end of the first driving rope sequentially passes through the upper separating disc, the lower separating disc and the taper hole A on the cover plate of the driving box of each joint, enters the driving box through the first guide wheel, bypasses the first driving wheel, and then passes through the driving box body through the second guide wheel; then, the tail end of the first driving rope and the top seat of the nth joint are fixed through screws. Furthermore, the head end of a second driving rope is fixed with the top seat 9 of the nth joint through a screw, and the tail end of the second driving rope sequentially passes through the upper separating disc, the lower separating disc and the taper hole C on the cover plate of the driving box of each joint, enters the driving box through a third guide wheel, bypasses a fifth guide wheel through a second driving wheel from the upper part of a fourth guide wheel, and then passes out of the driving box body through a sixth guide wheel; then, the tail end of the second driving rope sequentially penetrates through the driving box cover plate and the taper holes D in the upper separating disc and the lower separating disc of each joint, and finally the tail end of the second driving rope is fixed with the top seat of the nth joint through screws. The first driving rope and the second tapered rope are in clearance fit with the tapered driving rope holes so as to drive the rotary joint modules.
Further, when the robot bends to any direction, the bending direction and the bending angle of each joint of the robot are the same according to the principle of minimum potential energy. The amount of change in the length of the drive rope in each joint can be solved as follows.
Suppose that the lengths of both sides of the first driving pulley rope in a single joint are respectively L 1 、L 4 (ii) a The lengths of two sides of the second driving rope are respectively L 2 、L 3 . In the initial state, the lengths of the driving ropes on the two sides of each rope are as follows:
L 10 ＝L 20 ＝L 30 ＝L 40 ＝2r (1)
when the robot is bent towards any direction, the separating disc, the spherical magnet and the driving rope form an isosceles trapezoid MNPQ in a bending plane, and the bending angle theta of each joint is assumed; the included angle between the plane formed by the two sides of the driving rope and the bending plane in the initial state is
The angle of the first and second side walls is, the length, the angle theta, the length of the driving rope in the single joint in the bending state and the angle theta are solved by utilizing the geometric structure of an isosceles trapezoid,
The relationship between them is as follows:
the length variation of the driving rope in the single joint and the angle theta,
The relationship between them is as follows:
from equation (3) we can obtain: Δ L 1 ＝-ΔL 4 ，ΔL 2 ＝-ΔL 3 . This indicates that in each revolute joint, the length variation of one side of each driving rope is equal to the opposite number of the length variation of the opposite side, so that the first motor and the second motor can be used to drive the first driving wheel and the second driving wheel which are cylindrical respectively, and then the first driving rope and the second driving rope are driven to move, thereby realizing two-degree-of-freedom bending of the robot.
The invention has the advantages that the rotary joint is constructed by the anisotropic attraction of the spherical magnet, the structure is simple, the assembly is convenient, the single joint can realize the two-degree-of-freedom motion, and the isotropy is better. When the rotary joint rotates, the length variation of any one side of the driving rope in the joint is equal to the opposite number of the length variation of the opposite side of the driving rope, so that two-degree-of-freedom bending of the robot can be realized by adopting two driving ropes.
Drawings
FIG. 1 is a schematic view of a three-dimensional model structure
FIG. 2 is a schematic diagram of an initial state structure
FIG. 3 is a schematic view of a bent state structure
FIG. 4 is a schematic view of the front module structure of the first revolute joint
FIG. 5 is a schematic view of a module structure of the middle rotary joint
FIG. 6 is a schematic view of the structure of the posterior module of the nth revolute joint
FIG. 7 is a schematic view showing the relationship between the length changes of each driving rope in a single joint
In the figure: 1-a first driving wheel, 2-a first driving rope, 3-a second driving wheel, 4-a second driving rope, 5-a base, 6-a lower separating disc, 7-an upper separating disc, 8-a spherical magnet, 9-a top seat, 10-a probe, 11-a detection device, 12-a first speed reduction motor, 13-a second speed reduction motor, 14-a first driving wheel shaft, 15-a second driving wheel shaft, 16-a second guiding wheel shaft, 17-a driving box cover plate, 18-a third guiding wheel, 19-a third guiding wheel shaft, 20-a fourth guiding wheel, 21-a fifth guiding wheel, 22-a sixth guiding wheel, 23-a second guiding wheel, 24-a first guiding wheel, 25-a driving box body, 26-a first guiding wheel shaft, 27-a fourth guiding wheel shaft, 28-a fifth guiding wheel shaft, 29-a sixth guiding wheel shaft
Detailed Description
As shown in fig. 1 to fig. 3, a serpentine arm robot capable of achieving two-degree-of-freedom bending according to an embodiment of the present invention includes a driving portion, an end portion, and a joint group formed by a plurality of rotational joint modules. The driving part consists of a driving box body 25, a driving box cover plate 17, a driving wheel shaft, a guide wheel shaft, a driving rope and a speed reducing motor. The plurality of rotary joint modules are all composed of spherical magnets 8 and hard aluminum separating discs; wherein the duralumin separating tray is divided into an upper separating tray 7 and a lower separating tray 6 according to the assembly direction. The tip portion is constituted by a probe 10 and a detection device 11; the detection device 11 is a device for detecting work environment information, such as a wireless sensor or a micro camera.
As shown in fig. 2, the driving wheels include a first driving wheel 1 and a second driving wheel 3; the driving wheel shafts comprise a first driving wheel shaft 14 and a second driving wheel shaft 15; the guide wheels comprise a first guide wheel 24, a second guide wheel 23, a third guide wheel 18, a fourth guide wheel 20, a fifth guide wheel 21 and a sixth guide wheel 22; the guide wheel shafts comprise a first guide wheel shaft 26, a second guide wheel shaft 16, a third guide wheel shaft 19, a fourth guide wheel shaft 27, a fifth guide wheel shaft 28 and a sixth guide wheel shaft 29; the driving ropes comprise a first driving rope 2 and a second driving rope 4; the gear motor comprises a first gear motor 12 and a second gear motor 13. The first guide wheel 24, the second guide wheel 23, the third guide wheel 18, the fourth guide wheel 20, the fifth guide wheel 21 and the sixth guide wheel 22 are respectively arranged on a first guide wheel shaft 26, a second guide wheel shaft 16, a third guide wheel shaft 19, a fourth guide wheel shaft 27, a fifth guide wheel shaft 28 and a sixth guide wheel shaft 29; the first driving wheel 1 and the second driving wheel 3 are respectively arranged on a first driving wheel shaft 14 and a second driving wheel shaft 15 and are respectively driven by a first speed reducing motor 12 and a second speed reducing motor 13.
As shown in fig. 2-6, a plurality of rotary joint modules are connected in series by attracting adjacent magnets in opposite directions to form a joint group. In the joint group, only one hard aluminum separating disc is fixed on a spherical magnet 8 matched with a base 5 of the first rotary joint front module; only one hard aluminum separating disc is fixed on the spherical magnet 8 matched with the top seat 9 of the nth joint rear module; each of the other rotary joint modules consists of two spherical magnets 8, an upper separating disc 7 and a lower separating disc 6.
As shown in fig. 2 and 5, four smaller tapered drive rope holes, namely a tapered hole a, a tapered hole B, a tapered hole C and a tapered hole D, are uniformly distributed around the upper separating disc 7 and the lower separating disc 6; the middle parts of the upper separating disc 7 and the lower separating disc 6 are provided with large conical holes matched with the spherical magnets 8. In an initial state, the N pole and the S pole of the spherical magnet 8 on each rotary joint module are respectively positioned at two diameter points of the spherical surface; the taper holes A, B, C and D on the upper separating disc 7 and the lower separating disc 6 of each adjacent rotary joint module are respectively kept coaxial; the upper separating disc 7 and the lower separating disc 6 are respectively assembled with the spherical magnet 8 from the upper direction and the lower direction, and the central axes of the two separating discs are ensured to be superposed with the connecting line of the N pole and the S pole of the spherical magnet 8, so that the upper separating disc, the lower separating disc and the spherical magnet are fixedly connected by gluing. The surface near the magnetic poles of each spherical magnet 8 is coated with an anti-slip coating, so that the friction coefficient of the surface can be increased, and the spherical surface can keep pure rolling under the action of external force within a certain range.
As shown in fig. 1-3, the drive cords include a first drive cord 2 and a second drive cord 4. The head end of the first driving rope 2 is fixed with the top seat 9 of the nth joint through a screw, and the tail end of the first driving rope sequentially passes through the upper separating disc 7, the lower separating disc 6 and the taper hole A on the driving box cover plate 17 of each joint, enters the driving box body 25 through the first guide wheel, bypasses the first driving wheel 1 and then passes through the driving box body 25 through the second guide wheel 23; and then sequentially passes through the tapered holes B on the driving box cover plate 17 and the upper separating disc 7 and the lower separating disc 6 of each joint, and finally the tail end of the first driving rope 2 is fixed with the top seat 9 of the nth joint through screws. The head end of the second driving rope 4 is fixed with the top seat 9 of the nth joint through a screw, the tail end of the second driving rope sequentially passes through the upper separating disc 7, the lower separating disc 6 and the taper hole C on the driving box cover plate 17 of each joint, enters the driving box body 25 through the third guide wheel 18, bypasses the fifth guide wheel 21 through the second driving wheel 3 from the upper part of the fourth guide wheel 20, and then passes through the driving box body 25 through the sixth guide wheel 22; then sequentially passes through the drive box cover plate 17 and the taper holes D on the upper separation disc 7 and the lower separation disc 6 of each joint, and finally the tail end of the second drive rope 4 is fixed with the top seat 9 of the nth joint through a screw; the first driving rope 2 and the second driving rope 4 are in clearance fit with the conical driving rope holes.
As shown in fig. 3 and 7, it can be known from the solved relationship of the length variation of the drive rope in each revolute joint: in each rotary joint, the length variation of one side of each driving rope is equal to the opposite number of the length variation of the opposite side, so that the first speed reducing motor 12 and the second speed reducing motor 13 can be used for driving the cylindrical first driving wheel 1 and the cylindrical second driving wheel 3 respectively, and then the first driving rope 2 and the second driving rope 4 are driven to move, and the two-degree-of-freedom bending of the robot is realized.
Claims (1)
1. A snakelike arm robot capable of realizing two-degree-of-freedom bending comprises a driving part, a tail end part and a joint group consisting of a plurality of rotary joint modules; the driving part consists of a driving box body (25), a driving box cover plate (17), a driving wheel shaft, a guide wheel shaft, a driving rope and a speed reducing motor; the rotary joint module consists of a spherical magnet (8) and a hard aluminum separating disc; wherein the hard aluminum separating disc is divided into an upper separating disc (7) and a lower separating disc (6) according to the assembling direction; the end portion is composed of a probe (10) and a detection device (11); the detection equipment (11) is equipment for detecting working environment information by a wireless sensor or a miniature camera;
the plurality of rotary joint modules are attracted in series by the opposite polarities of adjacent magnets to form a joint group; in the joint group, only one hard aluminum separating disc is fixed on a spherical magnet (8) matched with a base (5) of the first rotary joint front module; only one hard aluminum separating disc is fixed on the spherical magnet (8) matched with the top seat (9) of the nth joint rear module; each of the other rotary joint modules consists of a spherical magnet (8) and two hard aluminum separating discs;
four smaller conical driving rope holes, namely a conical hole A, a conical hole B, a conical hole C and a conical hole D, are uniformly distributed on the peripheries of the upper separating disc (7) and the lower separating disc (6); in an initial state, the N pole and the S pole of a spherical magnet (8) of each rotary joint module are positioned at two diameter points on the spherical surface; the taper hole A, the taper hole B, the taper hole C and the taper hole D on each separating disc are respectively kept coaxial; the middle parts of the upper separating disc (7) and the lower separating disc (6) are provided with larger conical holes matched with the spherical magnet (8); when the robot bends towards any direction, the length variation of one side of each driving rope is equal to the opposite number of the length variation of the opposite side, so that a first speed reducing motor (12) and a second speed reducing motor (13) can be used for respectively driving a first cylindrical driving wheel (1) and a second cylindrical driving wheel (3), and then the first driving rope (2) and the second driving rope (4) are driven to move, so that the two-degree-of-freedom bending of the robot is realized;
the driving wheels comprise a first driving wheel (1) and a second driving wheel (3); the driving wheel shafts comprise a first driving wheel shaft (14) and a second driving wheel shaft (15); the guide wheels comprise a first guide wheel (24), a second guide wheel (23), a third guide wheel (18), a fourth guide wheel (20), a fifth guide wheel (21) and a sixth guide wheel (22); the guide wheel shafts comprise a first guide wheel shaft (26), a second guide wheel shaft (16), a third guide wheel shaft (19), a fourth guide wheel shaft (27), a fifth guide wheel shaft (28) and a sixth guide wheel shaft (29); the driving ropes comprise a first driving rope (2) and a second driving rope (4); the speed reducing motor comprises a first speed reducing motor (12) and a second speed reducing motor (13); the first guide wheel (24), the second guide wheel (23), the third guide wheel (18), the fourth guide wheel (20), the fifth guide wheel (21) and the sixth guide wheel (22) are respectively arranged on a first guide wheel shaft (26), a second guide wheel shaft (16), a third guide wheel shaft (19), a fourth guide wheel shaft (27), a fifth guide wheel shaft (28) and a sixth guide wheel shaft (29); the first driving wheel (1) and the second driving wheel (3) are respectively arranged on a first driving wheel shaft (14) and a second driving wheel shaft (15) and are respectively driven by a first speed reduction motor (12) and a second speed reduction motor (13).
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