技术领域technical field
本发明属于机械设计技术领域，特别是涉及一种紧凑型易扩展的多关节段蛇臂驱动机构。The invention belongs to the technical field of mechanical design, in particular to a compact and easy-to-expand multi-joint segment snake arm drive mechanism.
背景技术Background technique
目前，传统的离散型机器人均采用刚性关节和连杆结构，用于实现在自由空间内的多自由度运动，但由于其一般只具有5～7个自由度，因此对类似飞机油箱等工作空间受限的环境适应性较差。与离散型机器人不同，连续型机器人为“无脊椎”的柔性结构，其采用形状可以灵活改变的结构，而不具有任何刚性的关节和连杆。这种新型的仿生机器人具有良好的弯曲性能，可以柔顺而灵活地改变自身的形状，因此具有能根据环境障碍物的状况而改变自身形状的能力，因此对工作空间受限的环境具有独特的适应能力，所以其应用前景十分广阔，可以应用于飞机油箱检查、多障碍物工业环境内的作业、弯曲管道和塌陷建筑物内的侦查和搜救、核电站内部管路的维护、人体疾病的诊疗等场合。At present, traditional discrete robots use rigid joints and connecting rod structures to realize multi-degree-of-freedom movements in free space. Restricted environment adaptability is poor. Different from discrete robots, continuous robots are "spineless" flexible structures, which use a structure that can be flexibly changed in shape without any rigid joints and links. This new type of bionic robot has good bending performance and can change its shape supplely and flexibly, so it has the ability to change its shape according to the conditions of environmental obstacles, so it has a unique adaptation to the environment with limited working space ability, so its application prospect is very broad, it can be applied to aircraft fuel tank inspection, operation in multi-obstacle industrial environment, detection and search and rescue in curved pipelines and collapsed buildings, maintenance of internal pipelines in nuclear power plants, diagnosis and treatment of human diseases, etc. .
中国发明专利第201210218967.8号中公开了一种由本申请人提交的基于连续体结构的飞机油箱检查机器人。该飞机油箱检查机器人为一种连续型机器人，图1为该机器人中蛇臂体结构示意图；如图1所示，所述的蛇臂体16为柔性结构，由至少五个关节20构成，每个关节20具有两个自由度，可向各个方向弯曲，因此蛇臂体16至少具有十个自由度，每个关节20包括首端圆盘21、末端圆盘19、多个支撑圆盘24、柔性支撑杆26和多根驱动绳25；其中首端圆盘21、多个支撑圆盘24和末端圆盘19的中部从下至上相隔距离套装在柔性支撑杆26上，每个首端圆盘21、支撑圆盘24和末端圆盘19的圆周上形成有多个过孔，上一关节20的首端圆盘与下一关节20的末端圆盘通过类似关节连接件22相互连接在一起；多根驱动绳25分别贯穿设置在首端圆盘21、支撑圆盘24和末端圆盘19上的一个过孔内，下端通过一个换向轮卷绕在一个相应的卷线轴上，上端固定在该关节20的末端圆盘19上。Chinese Invention Patent No. 201210218967.8 discloses an aircraft fuel tank inspection robot based on a continuum structure submitted by the applicant. The aircraft fuel tank inspection robot is a continuous robot, and Fig. 1 is a schematic diagram of the structure of the snake arm in the robot; as shown in Fig. Each joint 20 has two degrees of freedom and can bend in various directions, so the snake arm body 16 has at least ten degrees of freedom, and each joint 20 includes a head end disc 21, an end disc 19, a plurality of support discs 24, Flexible support rod 26 and a plurality of driving ropes 25; wherein the middle part of the head end disc 21, a plurality of support discs 24 and the end disc 19 is sleeved on the flexible support rod 26 at a distance from bottom to top, each head end disc 21. A plurality of via holes are formed on the circumference of the support disc 24 and the end disc 19, and the head disc of the previous joint 20 and the end disc of the next joint 20 are connected to each other through similar joint connectors 22; A plurality of driving ropes 25 run through a through hole provided on the head end disc 21, the support disc 24 and the end disc 19 respectively, the lower end is wound on a corresponding bobbin through a reversing wheel, and the upper end is fixed on the The end disc 19 of the joint 20 .
该蛇臂体16的驱动方式采用线驱动方式，驱动电机置于外部，如此可减轻蛇臂体16的重量，增加控制精度，且在易燃易爆的环境中依然具有适用性。但其存在下列缺点：为控制具有单关节段的蛇臂体16进行弯曲和旋转运动，至少需要3根驱动绳25互相配合，为减小各驱动绳25之间的耦合并降低控制难度，每个关节段需要三个驱动电机控制，故具有多关节段的蛇臂体16需要使用三倍于关节段数的驱动电机。传统的驱动电机多采用逐层摆放的方式设置，所以驱动电机需占据较大的空间，且随关节段数的增多，驱动绳25与驱动电机的连接较为复杂，因此不利于机器人的整体移动和关节段的增加，并且装配过程复杂，不利于零件的更换和检查。The driving mode of the snake arm body 16 adopts a wire drive mode, and the drive motor is placed outside, which can reduce the weight of the snake arm body 16, increase control accuracy, and still have applicability in an inflammable and explosive environment. However, it has the following disadvantages: in order to control the bending and rotating movement of the snake arm body 16 with a single joint segment, at least three driving ropes 25 are required to cooperate with each other. In order to reduce the coupling between the driving ropes 25 and reduce the difficulty of control, each Each joint segment needs three drive motors to control, so the snake arm body 16 with multiple joint segments needs to use three times the drive motors of the joint segment number. The traditional drive motors are mostly arranged in a layer-by-layer manner, so the drive motors need to occupy a larger space, and with the increase in the number of joint segments, the connection between the drive rope 25 and the drive motors is more complicated, which is not conducive to the overall movement and operation of the robot. The increase of joint segments and the complicated assembly process are not conducive to the replacement and inspection of parts.
发明内容Contents of the invention
为了解决上述问题，本发明的目的在于提供一种紧凑型易扩展的多关节段蛇臂驱动机构。In order to solve the above problems, the purpose of the present invention is to provide a compact and easily expandable multi-joint snake arm drive mechanism.
为了达到上述目的，本发明提供的紧凑型易扩展的多关节段蛇臂驱动机构包括上轴承固定板、多个上法兰轴承、多个导向滑轮、多个卷轴、多个下法兰轴承、下轴承固定板、多个联轴器、电机固定板、多个驱动电机、底板和固定盘；每个驱动电机的输出轴向上设置；电机固定板利用多个位于边缘且连接在底板和电机固定板之间的底部立柱水平设置在底板和驱动电机上方，外侧设有多个呈环状且用于贯穿驱动电机输出轴的轴设置孔，并且每个驱动电机输出轴外端连接一个联轴器；下轴承固定板利用多个位于边缘且连接在电机固定板和下轴承固定板之间的中部立柱水平设置在电机固定板和联轴器上方，外侧设有多个呈环状的轴承设置孔，每个轴承设置孔内安装一个下法兰轴承；每个卷轴的下端插入在一个下法兰轴承的中心孔内；固定盘安装在下轴承固定板表面中部，其上安装多个呈环状设置的导向滑轮，并且导向滑轮的外圆周面上形成有凹槽；上轴承固定板利用多个位于边缘且连接在下轴承固定板和上轴承固定板之间的上部立柱水平设置在下轴承固定板及导向滑轮、卷轴上方，外侧设有多个呈环状的法兰设置孔，中部设有多个呈环状的穿线孔；每个法兰设置孔内安装一个上法兰轴承，每个上法兰轴承的中心孔内固定住一个卷轴上端；蛇臂体的下端固定在上轴承固定板表面上位于穿线孔外侧的部位，每根驱动绳的上端固定在一个关节的末端圆盘上，另一端向下依次贯穿支撑圆盘、首端圆盘上的一个过孔以及上轴承固定板上一个穿线孔，之后经过一个导向滑轮上凹槽后向外改变90°而最终缠绕在一个卷轴上。In order to achieve the above purpose, the compact and easy-to-expand multi-joint segment snake arm drive mechanism provided by the present invention includes an upper bearing fixing plate, a plurality of upper flange bearings, a plurality of guide pulleys, a plurality of reels, a plurality of lower flange bearings, The lower bearing fixing plate, a plurality of couplings, a motor fixing plate, a plurality of driving motors, a base plate and a fixing plate; the output shaft of each driving motor is arranged upward; the motor fixing plate utilizes a plurality of The bottom column between the fixed plates is arranged horizontally above the bottom plate and the driving motor, and there are a plurality of ring-shaped shaft setting holes on the outside for penetrating the output shaft of the driving motor, and the outer end of each driving motor output shaft is connected to a coupling The lower bearing fixing plate is horizontally arranged above the motor fixing plate and the shaft coupling with a plurality of middle columns located on the edge and connected between the motor fixing plate and the lower bearing fixing plate, and a plurality of ring-shaped bearings are arranged on the outside A lower flange bearing is installed in each bearing setting hole; the lower end of each reel is inserted into the center hole of a lower flange bearing; the fixed plate is installed in the middle of the surface of the lower bearing fixing plate, and multiple ring-shaped bearings are installed on it. The guide pulley is provided, and grooves are formed on the outer circumferential surface of the guide pulley; the upper bearing fixing plate is horizontally arranged on the lower bearing fixing plate and Above the guide pulley and reel, there are multiple ring-shaped flange setting holes on the outside, and multiple ring-shaped threading holes in the middle; an upper flange bearing is installed in each flange setting hole, and each upper method The upper end of a reel is fixed in the center hole of the blue bearing; the lower end of the snake arm body is fixed on the surface of the upper bearing fixing plate outside the threading hole, the upper end of each driving rope is fixed on the end disc of a joint, and the other end It passes through the support disc, a through hole on the head end disc and a threading hole on the upper bearing fixing plate in turn, then passes through a groove on a guide pulley, changes outward by 90° and is finally wound on a reel.
所述的上轴承固定板、下轴承固定板、电机固定板和底板的尺寸相同。The dimensions of the upper bearing fixing plate, the lower bearing fixing plate, the motor fixing plate and the bottom plate are the same.
所述的上轴承固定板上的多个法兰设置孔、下轴承固定板上的多个轴承设置孔、电机固定板上的多个轴设置孔以及底板上的多个电机设置孔相对应且均匀设置。The multiple flange setting holes on the upper bearing fixing plate, the multiple bearing setting holes on the lower bearing fixing plate, the multiple shaft setting holes on the motor fixing plate and the multiple motor setting holes on the bottom plate correspond to and Set evenly.
所述的电机固定板上的多个轴设置孔间隔40°分布。The plurality of shaft setting holes on the motor fixing plate are distributed at intervals of 40°.
本发明提供的紧凑型易扩展的多关节段蛇臂驱动机构具有如下优点：The compact and easily expandable multi-joint segment snake arm drive mechanism provided by the present invention has the following advantages:
⑴结构紧凑，节约空间：采用卷绕方式实现对驱动绳的位移控制，与直线运动方式相比具有占据空间小，易于扩展的特点；驱动电机、联轴器、卷轴的环形排布方式使得驱动结构紧凑，减小了机构的尺寸。⑴Compact structure, saving space: The displacement control of the drive rope is realized by winding, which has the characteristics of small space occupation and easy expansion compared with the linear motion method; the circular arrangement of the drive motor, coupling and reel makes the drive Compact structure reduces the size of the mechanism.
(2)易扩展：电机环形排布减小了驱动机构的体积，并且增加了其可扩展性，便于关节数的增加及以后的进一步研究与应用。(2) Easy to expand: The circular arrangement of motors reduces the volume of the drive mechanism and increases its scalability, which facilitates the increase in the number of joints and further research and application in the future.
附图说明Description of drawings
图1为一种已有技术的基于连续体结构的飞机油箱检查机器人中蛇臂体结构示意图。FIG. 1 is a schematic diagram of a snake arm structure in an aircraft fuel tank inspection robot based on a continuum structure in the prior art.
图2为本发明提供的紧凑型易扩展的多关节段蛇臂驱动机构结构立体图。Fig. 2 is a structural perspective view of the compact and easily expandable multi-joint segment snake arm drive mechanism provided by the present invention.
图3为本发明提供的紧凑型易扩展的多关节段蛇臂驱动机构分解立体图。Fig. 3 is an exploded perspective view of the compact and easily expandable multi-joint segment snake arm driving mechanism provided by the present invention.
图4为图3示出的紧凑型易扩展的多关节段蛇臂驱动机构中卷轴部位结构示意图。FIG. 4 is a schematic diagram of the structure of the reel in the compact and easily expandable multi-joint segment snake arm drive mechanism shown in FIG. 3 .
图5为图3示出的紧凑型易扩展的多关节段蛇臂驱动机构中电机固定板俯视图。Fig. 5 is a top view of the motor fixing plate in the compact and easily expandable multi-joint segment snake arm drive mechanism shown in Fig. 3 .
具体实施方式detailed description
下面结合附图和具体实施例对本发明提供的紧凑型易扩展的多关节段蛇臂驱动机构进行详细说明。与已有技术相同的部件采用相同的附图标号。The compact and easily expandable multi-joint segment snake arm driving mechanism provided by the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The same reference numerals are used for the same components as in the prior art.
如图2—图5所示，本发明提供的紧凑型易扩展的多关节段蛇臂驱动机构包括上轴承固定板2、多个上法兰轴承3、多个导向滑轮4、多个卷轴6、多个下法兰轴承7、下轴承固定板8、多个联轴器10、电机固定板11、多个驱动电机12、底板14和固定盘18；每个驱动电机12的输出轴向上设置；电机固定板11利用多个位于边缘且连接在底板14和电机固定板11之间的底部立柱13水平设置在底板14和驱动电机12上方，外侧设有多个呈环状且用于贯穿驱动电机12输出轴的轴设置孔15，并且每个驱动电机12输出轴外端连接一个联轴器10；下轴承固定板8利用多个位于边缘且连接在电机固定板11和下轴承固定板8之间的中部立柱9水平设置在电机固定板11和联轴器10上方，外侧设有多个呈环状的轴承设置孔17，每个轴承设置孔17内安装一个下法兰轴承7；每个卷轴6的下端插入在一个下法兰轴承7的中心孔内；固定盘18安装在下轴承固定板8表面中部，其上安装多个呈环状设置的导向滑轮4，并且导向滑轮4的外圆周面上形成有凹槽；上轴承固定板2利用多个位于边缘且连接在下轴承固定板8和上轴承固定板2之间的上部立柱5水平设置在下轴承固定板8及导向滑轮4、卷轴6上方，外侧设有多个呈环状的法兰设置孔27，中部设有多个呈环状的穿线孔28；每个法兰设置孔27内安装一个上法兰轴承3，每个上法兰轴承3的中心孔内固定住一个卷轴6上端；蛇臂体16的下端固定在上轴承固定板2表面上位于穿线孔28外侧的部位，每根驱动绳25的上端固定在一个关节20的末端圆盘19上，另一端向下依次贯穿支撑圆盘24、首端圆盘21上的一个过孔以及上轴承固定板2上一个穿线孔28，之后经过一个导向滑轮4上凹槽后向外改变90°而最终缠绕在一个卷轴6上。As shown in Figure 2-Figure 5, the compact and easily expandable multi-joint segment snake arm drive mechanism provided by the present invention includes an upper bearing fixing plate 2, a plurality of upper flange bearings 3, a plurality of guide pulleys 4, and a plurality of reels 6 , a plurality of lower flange bearings 7, a lower bearing fixing plate 8, a plurality of couplings 10, a motor fixing plate 11, a plurality of driving motors 12, a base plate 14 and a fixing plate 18; the output shaft of each driving motor 12 is upward Setting; the motor fixing plate 11 utilizes a plurality of bottom columns 13 located on the edge and connected between the base plate 14 and the motor fixing plate 11 to be horizontally arranged above the base plate 14 and the driving motor 12, and there are a plurality of rings on the outside for penetrating The shaft of the drive motor 12 output shafts is provided with a hole 15, and the outer end of each drive motor 12 output shafts is connected to a shaft coupling 10; The middle column 9 between 8 is horizontally arranged above the motor fixing plate 11 and the shaft coupling 10, and a plurality of ring-shaped bearing setting holes 17 are arranged on the outside, and a lower flange bearing 7 is installed in each bearing setting hole 17; The lower end of each spool 6 is inserted in the central hole of a lower flange bearing 7; the fixed disk 18 is installed in the middle part of the lower bearing fixed plate 8 surface, and a plurality of guide pulleys 4 that are arranged in an annular shape are installed on it, and the guide pulley 4 Grooves are formed on the outer circumferential surface; the upper bearing fixing plate 2 is horizontally arranged on the lower bearing fixing plate 8 and the guide pulley 4, Above the reel 6, the outer side is provided with a plurality of ring-shaped flange setting holes 27, and the middle part is provided with a plurality of ring-shaped threading holes 28; an upper flange bearing 3 is installed in each flange setting hole 27, each The upper end of a reel 6 is fixed in the center hole of the upper flange bearing 3; the lower end of the snake arm body 16 is fixed on the surface of the upper bearing fixing plate 2 at the position outside the threading hole 28, and the upper end of each driving rope 25 is fixed on a joint On the end disc 19 of 20, the other end passes through the support disc 24, a via hole on the head end disc 21 and a threading hole 28 on the upper bearing fixing plate 2, and then passes through a groove on the guide pulley 4. After that, it is changed outward by 90° and finally wound on a reel 6.
所述的上轴承固定板2、下轴承固定板8、电机固定板11和底板14的尺寸相同。The dimensions of the upper bearing fixing plate 2, the lower bearing fixing plate 8, the motor fixing plate 11 and the bottom plate 14 are the same.
所述的上轴承固定板2上的多个法兰设置孔27、下轴承固定板8上的多个轴承设置孔17、电机固定板11上的多个轴设置孔15相对应且均匀设置。The multiple flange setting holes 27 on the upper bearing fixing plate 2 , the multiple bearing setting holes 17 on the lower bearing fixing plate 8 , and the multiple shaft setting holes 15 on the motor fixing plate 11 are correspondingly and uniformly arranged.
所述的电机固定板11上的多个轴设置孔15间隔40°分布。The plurality of shaft setting holes 15 on the motor fixing plate 11 are distributed at intervals of 40°.
现将本发明提供的紧凑型易扩展的多关节段蛇臂驱动机构工作原理阐述如下：当需要改变某些驱动绳25的长短以改变蛇臂体16的姿态时，首先正向或反向启动与这些驱动绳25相对应的驱动电机12，通过联轴器10将力矩传至卷轴6，然后通过卷轴6的转动来改变驱动绳25的长度，由此来控制蛇臂体16的旋转与弯曲运动。The working principle of the compact and easily expandable multi-joint segment snake arm drive mechanism provided by the present invention is now described as follows: When it is necessary to change the length of some drive ropes 25 to change the posture of the snake arm body 16, firstly start the forward or reverse direction The driving motor 12 corresponding to these driving ropes 25 transmits torque to the reel 6 through the coupling 10, and then changes the length of the driving rope 25 through the rotation of the reel 6, thereby controlling the rotation and bending of the snake arm body 16 sports.
本发明提供的紧凑型易扩展的多关节段蛇臂驱动机构上的所有驱动电机12呈环形设置在同一层，这样可使驱动电机12的布置显得更加紧凑。若需增加蛇臂体16上的关节段数，可通过增大用于安装驱动电机12的底板14尺寸的方法，这样就可安装更多的驱动电机12，其它传动装置也相应增加。All the driving motors 12 of the compact and easily expandable multi-joint segment snake arm driving mechanism provided by the present invention are annularly arranged on the same layer, which makes the arrangement of the driving motors 12 appear more compact. If it is necessary to increase the number of joint segments on the snake arm body 16, it is possible to increase the size of the base plate 14 for installing the drive motor 12, so that more drive motors 12 can be installed, and other transmissions are also increased accordingly.
为了节省空间以及方便驱动绳25的传动，本发明采用卷绕方式实现驱动绳25的位移控制。与直线传动方式相比，这样的设计占据较小空间，并且装置简单而且成本较低。In order to save space and facilitate the transmission of the driving rope 25 , the present invention adopts a winding method to realize the displacement control of the driving rope 25 . Compared with the linear transmission method, such a design occupies less space, and the device is simple and low in cost.
卷轴6的直径应考虑到驱动电机12的转速和驱动绳25的运动速度，不宜过大或过小；当驱动电机12的转速一定时，卷轴6直径与驱动绳25的速度成正比，若直径过大，占用空间会增大，并且蛇臂体16上的柔性支撑杆26会因形变过快而损伤；再者由于驱动电机12转动时驱动绳25与卷轴6的切点到对应导向滑轮4间的距离会随着驱动绳25的运动而不断变化，因此若直径过小，缠绕在卷轴6上的驱动绳25圈数会增多，这样会引起控制的不精确；因此卷轴6的直径应在一定的范围内取值。The diameter of reel 6 should take into account the speed of motion of drive motor 12 and drive rope 25, should not be too large or too small; If it is too large, the occupied space will increase, and the flexible support rod 26 on the snake arm body 16 will be damaged due to too fast deformation; moreover, when the drive motor 12 rotates, the tangent point between the drive rope 25 and the reel 6 reaches the corresponding guide pulley 4 The distance between can constantly change along with the motion of driving rope 25, so if the diameter is too small, the number of turns of driving rope 25 wound on the spool 6 will increase, which will cause inaccurate control; therefore the diameter of the spool 6 should be within value within a certain range.
本发明提供的紧凑型易扩展的多关节段蛇臂驱动机构为一种紧凑型易扩展的多关节段蛇臂驱动机构，实现蛇臂机器人驱动机构的合理布局以及当增加蛇臂关节段数时整体驱动机构占据的空间变化小的目标，使蛇臂机器人的驱动机构受关节段数的限制较小，便于关节段的增减，增强驱动机构的适用性。The compact and easy-to-expand multi-joint segment snake arm drive mechanism provided by the present invention is a compact and easy-to-expand multi-joint segment snake arm drive mechanism, which realizes the rational layout of the snake-arm robot drive mechanism and the overall The goal of the small change in the space occupied by the driving mechanism makes the driving mechanism of the snake arm robot less limited by the number of joint segments, which facilitates the increase and decrease of joint segments and enhances the applicability of the driving mechanism.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610166085.XACN105690378A (en) | 2016-03-22 | 2016-03-22 | Compact multi-joint-section snake arm driving mechanism easy to expand |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610166085.XACN105690378A (en) | 2016-03-22 | 2016-03-22 | Compact multi-joint-section snake arm driving mechanism easy to expand |
| Publication Number | Publication Date |
|---|---|
| CN105690378Atrue CN105690378A (en) | 2016-06-22 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610166085.XAPendingCN105690378A (en) | 2016-03-22 | 2016-03-22 | Compact multi-joint-section snake arm driving mechanism easy to expand |
| Country | Link |
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| CN (1) | CN105690378A (en) |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication | Application publication date:20160622 |