技术领域technical field
本发明涉及一种机器人，具体涉及一种自伸缩绳驱连续型机器人。The invention relates to a robot, in particular to a self-expanding rope-driven continuous robot.
背景技术Background technique
机器人在核工业、汽车充电和医疗机器人等多方面得到了广泛的应用，已经成为人类文明发展中不可缺少的重要组成部分。目前，很多机器人都是采用离散的刚性连杆做为本体，并通过离散的运动副进行连接，由于受刚性连杆本身尺寸的影响，机器人运动过程对空间要求较大。Robots have been widely used in the nuclear industry, car charging and medical robots, and have become an indispensable and important part of the development of human civilization. At present, many robots use discrete rigid links as the body, and are connected through discrete kinematic pairs. Due to the influence of the size of the rigid links themselves, the robot movement process requires a large space.
因此，为了满足更复杂且狭小的使用环境，需要一种可以根据环境进行变形且具有一定柔性的连续型机器人，从根本上消除了刚性连杆对机器人应用的局限性。Therefore, in order to meet more complex and narrow use environments, a continuous robot that can be deformed according to the environment and has a certain degree of flexibility is needed, which fundamentally eliminates the limitations of rigid links on robot applications.
但是，大多数连续型机器人较难将本体伸缩(非进给)、高精度运动、轻质、低成本、抗扭、中空等多项功能和特点融合在一起，导致很多连续型机器人只能在部分性能上取得突出表现，难以得到较好的综合性能；如采用镍钛合金杆作为脊柱杆的连续型机器人不具有本体伸缩功能；采用涡卷弹簧又容易受载荷的作用而变形，其抗扭能力较差；而且关节运动具有较强的耦合性(比如绳驱关节末端不能独立控制，绳子拉力一定会作用在整个臂上)；目前气动驱动的连续型机器人控制难度大，控制精度不高，且抗扭能力也比较有限。However, it is difficult for most continuous robots to integrate multiple functions and features such as body expansion and contraction (non-feeding), high-precision motion, light weight, low cost, torsion resistance, and hollowness, resulting in many continuous robots. Part of the performance has achieved outstanding performance, but it is difficult to obtain better comprehensive performance; for example, a continuous robot using a nickel-titanium alloy rod as a spinal rod does not have the function of body expansion and contraction; The ability is poor; and the joint motion has strong coupling (for example, the end of the rope-driven joint cannot be controlled independently, and the tension of the rope will definitely act on the entire arm); the current continuous robot driven by pneumatic control is difficult and the control accuracy is not high. And the torsion resistance is relatively limited.
发明内容Contents of the invention
本发明的目的是解决现有大多数连续型机器人不能自伸缩，抗扭能力较差、关节运动具有较强的耦合性以及气动驱动的连续型机器人控制难度大，控制精度不高，且抗扭能力也比较有限的技术问题，而提供了一种自伸缩绳驱连续型机器人。The purpose of the present invention is to solve the problem that most of the existing continuous robots cannot be self-expanding, have poor torsion resistance, strong coupling of joint motion, and the control difficulty of pneumatically driven continuous robots is difficult, the control accuracy is not high, and the torsion resistance Capability is also relatively limited technical problem, and a self-stretching rope-driven continuous robot is provided.
本发明所采用的技术方案是：The technical scheme adopted in the present invention is:
一种自伸缩绳驱连续型机器人，其特殊之处在于：A self-extending rope-driven continuous robot, which is special in that:
包括驱动装置、N个连续型本体以及与N个连续型本体一一对应的N组连接绳索组，其中，N≥1；It includes a driving device, N continuous bodies, and N sets of connecting rope groups corresponding to the N continuous bodies, wherein, N≥1;
N个所述连续型本体自上而下依次同轴连接形成连续型机械臂；所述连续型机械臂下端安装在驱动装置上，连续型机械臂上端用于与外部负载连接；N continuous bodies are sequentially connected coaxially from top to bottom to form a continuous mechanical arm; the lower end of the continuous mechanical arm is installed on the drive device, and the upper end of the continuous mechanical arm is used to connect with an external load;
所述连续型本体包括多个波纹弹片以及多个截面支撑片，多个波纹弹片以及多个截面支撑片同轴连接，其中最少一个截面支撑片位于连续型本体的最上端；The continuous body includes a plurality of corrugated shrapnel and a plurality of cross-sectional support pieces, the plurality of corrugated shrapnel and a plurality of cross-sectional support pieces are coaxially connected, wherein at least one cross-sectional support piece is located at the uppermost end of the continuous body;
每个截面支撑片沿其周向设置有I组上下贯通的走线孔组，每组包括沿周向均匀分布的Q个走线孔,所述走线孔的外侧边缘小于等于波纹弹片的内径，或者走线孔的内侧边缘大于等于波纹弹片的外径；其中，I的值与对应连续型本体位于连续型机械臂的次序i相同，所述次序自上而下计数，1≤i≤N，Q≥3；Each cross-sectional support piece is provided with a group of wiring holes passing through up and down along its circumference, and each group includes Q wiring holes evenly distributed along the circumference, and the outer edge of the wiring holes is less than or equal to the inner diameter of the corrugated elastic sheet , or the inner edge of the wiring hole is greater than or equal to the outer diameter of the corrugated shrapnel; wherein, the value of I is the same as the order i of the corresponding continuous body located on the continuous mechanical arm, and the order is counted from top to bottom, 1≤i≤N , Q≥3;
每组连接绳索组中连接绳索的数量与每组走线孔组中走线孔的数量相同且一一对应，连接绳索一端安装在对应连续型本体的上端，另一端穿过位于其下方的每一个连续型本体的对应走线孔后与驱动装置连接，驱动装置用于驱动连接绳索收放。The number of connecting ropes in each group of connecting ropes is the same as the number of wiring holes in each group of wiring holes and corresponds one by one. One end of the connecting rope is installed on the upper end of the corresponding continuous body, and the other end passes through each of the wiring holes below it. The corresponding wiring hole of a continuous body is connected with the driving device behind, and the driving device is used to drive the connecting rope to retract.
进一步地，多个所述波纹弹片以及多个截面支撑片交错连接；Further, a plurality of the corrugated elastic sheets and a plurality of cross-sectional support sheets are intertwined;
还包括N-1组套管组，N-1组套管组与从上往下依次设置的N-1个连续型本体一一对应，每组套管组中柔性套管的数量与每组连接绳索组中，连接绳索的数量相同且一一对应，所述柔性套管套设在连接绳索外部，且一端与对应连续型本体的下端连接，另一端依次穿过位于下方的连续型本体后与驱动装置连接；It also includes N-1 sets of casing groups, which correspond to N-1 continuous bodies arranged in sequence from top to bottom, and the number of flexible casings in each group of casing groups is the same as that of each group In the connecting rope group, the number of connecting ropes is the same and corresponds to each other. The flexible sleeve is sleeved outside the connecting rope, and one end is connected to the lower end of the corresponding continuous body, and the other end passes through the lower continuous body in turn. Connect with the driving device;
或者还包括与N个连续型本体一一对应的N组套管组，每组套管组中柔性套管的数量与每组连接绳索组中，连接绳索的数量相同且一一对应，所述柔性套管套设在连接绳索外部，且一端与对应连续型本体的下端连接，另一端依次穿过位于下方的连续型本体后与驱动装置连接。Or it also includes N sets of casing groups corresponding to N continuous bodies one by one, the number of flexible casings in each group of casing groups is the same as the number of connecting ropes in each group of connecting ropes, and the number of connecting ropes corresponds to each other. The flexible sleeve is sheathed on the outside of the connecting rope, and one end is connected to the lower end of the corresponding continuous body, and the other end is sequentially passed through the lower continuous body and connected to the driving device.
进一步地，还包括与连接绳索数量相同且一一对应的绳索回收结构，所述绳索回收结构一端安装在驱动装置上，另一端与对应连接绳索下端连接。Further, it also includes a rope recovery structure having the same number as the connecting ropes and corresponding to each other, one end of the rope recovery structure is installed on the driving device, and the other end is connected to the lower end of the corresponding connecting rope.
进一步地，所述连接绳索通过钢丝锁紧器安装在对应连续型本体最上端截面支撑片的走线孔处，位于对应连续型本体的其余每一个截面支撑片对应走线孔处均设置有限位套筒，所述限位套筒上设置有供连接绳索穿过的通孔。Further, the connecting rope is installed at the wiring hole corresponding to the uppermost cross-section support piece of the continuous body through a wire locker, and a limit stop is provided at the corresponding wiring hole of each other cross-section support piece corresponding to the continuous body. A sleeve, the limit sleeve is provided with a through hole for the connecting rope to pass through.
进一步地，所述驱动装置包括底座以及与连接绳索数量相同的直线电机；Further, the driving device includes a base and linear motors with the same number as the connecting ropes;
所述直线电机安装在底座内；所述连接绳索另一端穿过位于其下方的每一个截面支撑片对应的走线孔后与直线电机的移动端连接；The linear motor is installed in the base; the other end of the connecting rope is connected to the moving end of the linear motor after passing through the wiring hole corresponding to each cross-sectional support piece located below it;
所述连续型机械臂下端安装在底座上；绳索回收结构一端安装在底座上；柔性套管一端与对应连续型本体的下端连接，另一端依次穿过位于下方的连续型本体后与底座连接。The lower end of the continuous mechanical arm is installed on the base; one end of the rope recovery structure is installed on the base; one end of the flexible sleeve is connected to the lower end of the corresponding continuous body, and the other end is connected to the base after passing through the continuous body below.
进一步地，位于其上方的连续型本体上走线孔的位置与位于下方且与其相邻的连续型本体上对应走线孔的位置相同。Further, the positions of the wiring holes on the continuous body above it are the same as the positions of the corresponding wiring holes on the continuous body below and adjacent to it.
进一步地，所述Q＝3。Further, the Q=3.
进一步地，所述连续型机械臂内部设置有气囊。Further, an airbag is provided inside the continuous robot arm.
进一步地，所述连续型机械臂外部套设有防护套管。Further, a protective sleeve is sheathed on the outside of the continuous mechanical arm.
本发明的有益效果是：The beneficial effects of the present invention are:
1、本发明提出的一种自伸缩绳驱连续型机器人，相较于现有连续型机器人而言，通过设置自带镂空网格的波纹弹片以及截面支撑片，使得连续型机器人具有伸缩、盘旋和各向弯曲的运动特点，执行任务时，可以在机器人末端的连续型本体上安装相应的执行器(如手抓)、相机等工具，也可以利用机器人本身具有的运动特性来完成相应工作。1. A self-stretching rope-driven continuous robot proposed by the present invention, compared with the existing continuous robot, by setting corrugated shrapnel with a hollow grid and a cross-sectional support piece, the continuous robot has the functions of stretching, hovering And the movement characteristics of bending in all directions. When performing tasks, corresponding actuators (such as hand grips), cameras and other tools can be installed on the continuous body at the end of the robot, and the movement characteristics of the robot itself can be used to complete the corresponding work.
2、本发明提出的一种自伸缩绳驱连续型机器人，通过在每个截面支撑片上设置走线孔，并通过连接绳索串联，通过在不属于连续型本体自身的连接绳索上套设柔性套筒，这连接绳索在运动时，力会直接作用在柔性套筒上，使得位于运动连续型本体下方的其余连续型本体不受力的影响，使得整个连续型机器人在进行工作时，为N个连续型本体(相当于N个关节)进行运动解耦，有效进行N个连续型本体的独立控制，控制精度高，并且还可以有效提高波纹弹簧连接的稳定性，改善每个波纹弹片上下的作用力分布。2. In the self-stretching rope-driven continuous robot proposed by the present invention, wiring holes are provided on each cross-sectional support piece, connected in series through connecting ropes, and flexible sleeves are set on the connecting ropes that do not belong to the continuous body itself. When the connecting rope is in motion, the force will directly act on the flexible sleeve, so that the remaining continuous bodies located under the continuous motion body will not be affected by the force, so that when the entire continuous robot is working, there are N The continuous body (equivalent to N joints) performs motion decoupling, effectively independent control of N continuous bodies, with high control accuracy, and can also effectively improve the stability of the connection of the corrugated springs and improve the up and down effect of each corrugated shrapnel force distribution.
3、本发明提出的一种自伸缩绳驱连续型机器人，位于对应连续型本体的其余每一个截面支撑片对应走线孔处均设置有限位套筒，限位套筒可以起到限制连接绳索径向移动和润滑的作用。3. A self-stretching rope-driven continuous robot proposed by the present invention is equipped with a limit sleeve at the corresponding wiring hole of each other cross-sectional support piece of the corresponding continuous body, and the limit sleeve can limit the connecting rope. The role of radial movement and lubrication.
4、在其中一个或者多个连续型本体进行运动时，剩余连续型本体会相对驱动装置的位置发生改变，导致柔性套筒和/或连接绳索松懈或拉紧，就需要对连接绳索进行回收与释放，本发明提出的一种自伸缩绳驱连续型机器人，设置了与连接绳索数量相同且一一对应的绳索回收结构，在其中一个或者多个连续型本体进行运动时，剩余连续型本体对应的柔性套筒和/或连接绳索松懈或拉紧，绳索回收结构就对连接绳索进行回收与释放，防止连接绳索紊乱导致的故障。4. When one or more of the continuous bodies moves, the position of the remaining continuous bodies relative to the driving device will change, causing the flexible sleeve and/or the connecting rope to loosen or tighten, and the connecting rope needs to be recovered and Release, a self-stretching rope-driven continuous robot proposed by the present invention, is provided with the same number of connecting ropes and a one-to-one corresponding rope recovery structure. When one or more continuous bodies move, the remaining continuous bodies correspond to When the flexible sleeve and/or the connecting rope are loosened or tightened, the rope recovery structure recovers and releases the connecting rope to prevent failures caused by the disorder of the connecting rope.
5、本发明提出的一种自伸缩绳驱连续型机器人，采用连接绳索控制连续型机器人，较气动驱动的连续型机器人，不仅控制难度降低，而且抗扭能力也得到了提升。5. The self-stretching rope-driven continuous robot proposed by the present invention uses connecting ropes to control the continuous robot. Compared with the pneumatically driven continuous robot, not only the control difficulty is reduced, but the torsion resistance is also improved.
6、本发明提出的一种自伸缩绳驱连续型机器人，通过进行叠加式的设置走线孔，即连续型本体的截面支撑片沿其周向均匀设置有I*Q个贯通的走线孔，使得每一条连接绳索都会穿过其下方的每一个连续型本体截面支撑片的其中一个走线孔，既可以通过连接在每个连续型本体上连接绳索实现连续型本体的独立控制，又可以通过连接绳索依次穿过位于其下方的连续型本体的走线孔，实现所有连续型本体的共同控制。6. A kind of self-stretching rope-driven continuous robot proposed by the present invention, by superimposing setting wiring holes, that is, the cross-sectional support sheet of the continuous body is evenly provided with I*Q through wiring holes along its circumference , so that each connecting rope will pass through one of the routing holes of each continuous body section support piece below it, so that the independent control of the continuous body can be realized by connecting the connecting ropes on each continuous body, and The common control of all continuous bodies is realized by connecting the ropes through the wiring holes of the continuous bodies below them.
7、本发明提出的一种自伸缩绳驱连续型机器人，其结构简单，弯曲和伸缩性较好，抗扭能力较高。7. A self-stretching rope-driven continuous robot proposed by the present invention has a simple structure, good bending and stretching properties, and high torsion resistance.
8、本发明提出的一种自伸缩绳驱连续型机器人，通过在连续型机械臂内部设置气囊，从而提高其负载能力，可以在内部穿设光纤束、电线和传感器等器件，或者采用环形气囊，环形气囊的内部也可以穿设光纤束、电线和传感器等器件。8. A self-stretching rope-driven continuous robot proposed by the present invention can improve its load capacity by setting an airbag inside the continuous robot arm. Optical fiber bundles, wires, sensors and other devices can be installed inside, or an annular airbag can be used. , the inside of the annular airbag can also be pierced with optical fiber bundles, wires, sensors and other devices.
9、本发明提出的一种自伸缩绳驱连续型机器人，在连续型机械臂外部套设有防护套管，可以提高整个连续型机器人的安全性，尤其适用于医疗领域。9. A self-stretching rope-driven continuous robot proposed by the present invention is equipped with a protective sleeve outside the continuous robot arm, which can improve the safety of the entire continuous robot, and is especially suitable for the medical field.
附图说明Description of drawings
图1是本发明实施例中，连续型机器人整体结构示意图(驱动装置未完全示出)；Fig. 1 is in the embodiment of the present invention, the overall structure schematic diagram of continuous type robot (drive device is not fully shown);
图2是本发明实施例中，连续型本体的局部结构示意图；Fig. 2 is a schematic diagram of a partial structure of a continuous body in an embodiment of the present invention;
图3是图2的俯视图；Fig. 3 is the top view of Fig. 2;
图4是本发明实施例中，连接绳索与柔性套管的结构示意图；Fig. 4 is a schematic structural diagram of a connecting rope and a flexible sleeve in an embodiment of the present invention;
图5是本发明实施例中，驱动装置的俯视示意图(直线电机水平设置)；Fig. 5 is a schematic top view of the driving device in an embodiment of the present invention (the linear motor is arranged horizontally);
图6是本发明实施例中，驱动装置的结构示意图(直线电机竖直设置)；Fig. 6 is a schematic structural view of the driving device in an embodiment of the present invention (the linear motor is arranged vertically);
图7是本发明实施例中，连续型本体与连接绳索的连接结构示意图；Fig. 7 is a schematic diagram of the connection structure between the continuous body and the connecting rope in the embodiment of the present invention;
图8是图7的局部结构示意图；Fig. 8 is a partial structural schematic diagram of Fig. 7;
图9是图8的局部结构示意图；Fig. 9 is a partial structural schematic diagram of Fig. 8;
图10是图7的局部结构示意图；Fig. 10 is a partial structural schematic diagram of Fig. 7;
图中，1、连续型本体；2、驱动装置；21、直线电机；22、底座；3、连接绳索；4、波纹弹片；5、截面支撑片；6、走线孔；7、钢丝锁紧器；8、限位套筒；9、拉簧；10、柔性套管。In the figure, 1. Continuous body; 2. Driving device; 21. Linear motor; 22. Base; 3. Connecting rope; 4. Corrugated shrapnel; 8, limit sleeve; 9, extension spring; 10, flexible sleeve.
具体实施方式Detailed ways
下面结合附图和具体实施方式对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
实施例1：Example 1:
本发明提出一种自伸缩绳驱连续型机器人，如图1所示，包括驱动装置2、N个连续型本体1以及与N个连续型本体1一一对应的1组连接绳索组，在本实施例，N＝1。The present invention proposes a self-stretching rope-driven continuous robot, as shown in Figure 1, including a driving device 2, N continuous bodies 1, and a group of connecting rope groups corresponding to the N continuous bodies 1 one-to-one. Example, N=1.
各部件的作用如下：The functions of each component are as follows:
连续型本体1用于实现伸缩和各向弯曲变换；连接绳索组的目的在于控制连续型本体1进行伸缩和各向弯曲变换；驱动装置2一是为连续型本体1提供支承，二是为连接绳索组提供动力，控制连接绳索组收放。The continuous body 1 is used to realize stretching and bending transformation in all directions; the purpose of connecting the rope group is to control the stretching and bending transformation of the continuous body 1; the driving device 2 is to provide support for the continuous body 1, and to connect The rope set provides power to control the retraction of the connected rope set.
连续型本体1结构如图1与图2所示，其整体形式类似于管状，整个臂体通过M个波纹弹片4、M个截面支撑片5和多个连接钉组成，在本实施例中，截面支撑片5的内径小于波纹弹片4的内径，其中每个波纹弹片4的波峰和波谷分别与上下两个截面支撑片5贴合(M＝10)，波纹弹片4与截面支撑片5上均打有安装孔(可以为螺纹孔)，通过连接钉安装在对应安装孔处，实现波纹弹片4和截面支撑片5的固定，安装孔的数量根据波纹弹片4波数选择。The structure of the continuous body 1 is shown in Figures 1 and 2, and its overall form is similar to a tubular shape. The entire arm body is composed of M corrugated shrapnel 4, M cross-sectional support pieces 5 and a plurality of connecting nails. In this embodiment, The inner diameter of the section support sheet 5 is smaller than the inner diameter of the corrugated elastic sheet 4, wherein the crests and troughs of each corrugated elastic sheet 4 are respectively attached to the upper and lower section support sheets 5 (M=10), and the corrugated elastic sheet 4 and the section support sheet 5 are evenly spaced. Mounting holes (may be threaded holes) are drilled, and the connecting nails are installed in the corresponding mounting holes to realize the fixing of the corrugated shrapnel 4 and the section support sheet 5. The number of mounting holes is selected according to the wave number of the corrugated shrapnel 4.
如图3与图7所示，截面支撑片5内侧沿周向均匀设置有三个走线孔6，走线孔6的外侧边缘小于波纹弹片4的内径，连接绳索组内包括与三个走线孔6一一对应的三个连接绳索3，如图8-图10所示，连接绳索3一端通过钢丝锁紧器7安装在最上端截面支撑片5的走线孔6处，另一端依次穿过其余对应走线孔6后，与驱动装置2连接。As shown in Fig. 3 and Fig. 7, three wiring holes 6 are evenly arranged on the inner side of the cross-sectional support piece 5 along the circumferential direction, the outer edge of the wiring holes 6 is smaller than the inner diameter of the corrugated shrapnel 4, and the connecting rope group includes three wiring holes 6. The holes 6 correspond to the three connecting ropes 3 one by one, as shown in Figure 8-Figure 10, one end of the connecting rope 3 is installed at the wiring hole 6 of the uppermost cross-section support piece 5 through a wire locker 7, and the other end is passed through in turn. After passing through the remaining corresponding wiring holes 6, it is connected with the driving device 2.
如图5与图6所示，驱动装置2包括底座22以及与三个连接绳索3一一对应的三个直线电机21；直线电机21安装在底座22内；位于最下端的波纹弹片4固定在底座22上，连接绳索3另一端穿过位于其下方的每一个截面支撑片5对应的走线孔6后与直线电机21的移动端连接，通过直线电机21的运动，带动连接绳索3收放，三个连接绳索3均布安装，通过三个连接绳索3控制单个关节，直线电机21可以竖直放置，也可以水平放置。As shown in Figure 5 and Figure 6, the driving device 2 includes a base 22 and three linear motors 21 corresponding to the three connecting ropes 3; the linear motors 21 are installed in the base 22; On the base 22, the other end of the connecting rope 3 is connected to the moving end of the linear motor 21 after passing through the wiring hole 6 corresponding to each cross-sectional support piece 5 located below it, and the movement of the linear motor 21 drives the connecting rope 3 to retract , the three connecting ropes 3 are evenly distributed, a single joint is controlled by the three connecting ropes 3, and the linear motor 21 can be placed vertically or horizontally.
为了提高连续型机器人的负载能力，可以在连续型本体1内部设置气囊；为了提高整个装置的安全性，可以在连续型本体1外部套设有套管。In order to improve the load capacity of the continuous robot, an airbag can be provided inside the continuous body 1 ; in order to improve the safety of the entire device, a casing can be sleeved outside the continuous body 1 .
每一个截面支撑片5上走线孔6的数量可以根据关节数(即连续型本体1数量)进行选择，截面支撑片5还可以有效提高波纹弹片4连接的稳定性，改善每个波纹弹片4上下的作用力分布。The number of wiring holes 6 on each section support piece 5 can be selected according to the number of joints (that is, the number of continuous body 1). Force distribution up and down.
连接钉可以使用螺钉和螺母、铆钉等连接固定方式。The connecting nails can be connected and fixed by screws and nuts, rivets and the like.
截面支撑片5上页设置有挂载孔，用于挂载其他配件使用(如光纤、传感器)。Mounting holes are provided on the upper page of the cross-section support sheet 5 for mounting other accessories (such as optical fibers and sensors).
波纹弹片4的波数和厚度可以根据臂体大小、载荷等因素选择，本实例中采用的3波弹片。The wave number and thickness of the corrugated shrapnel 4 can be selected according to factors such as the size of the arm body and the load. In this example, the 3-wave shrapnel is used.
如图5所示，为了防止连接绳索3下端紊乱，造成故障，在底座22内部设置有绳索回收结构，在本实施例中，绳索回收结构采用拉簧9，拉簧9为两端挂钩结构，一端钩在底座22内部，另一端钩在连接绳索3下端。As shown in Figure 5, in order to prevent the lower end of the connecting rope 3 from being disturbed and causing a failure, a rope recovery structure is provided inside the base 22. In this embodiment, the rope recovery structure adopts an extension spring 9, which is a hook structure at both ends. One end is hooked inside the base 22, and the other end is hooked at the lower end of the connecting rope 3.
为了防止连接绳索3在运动过程中出现径向移动，在其余对应走线孔6处安装限位套筒8，连接绳索3穿过限位套筒8。In order to prevent the connecting rope 3 from moving radially during the movement, a limit sleeve 8 is installed at the other corresponding routing holes 6 , and the connecting rope 3 passes through the limit sleeve 8 .
实施例2：Example 2:
实施例2与实施例1的区别在于：The difference between embodiment 2 and embodiment 1 is:
如图4所示，还包括套管固定件与三个连接绳索3一一对应的三个柔性套管10，柔性套管10套设在连接绳索3下，柔性套管10上端与连续型本体1的最下端连接，柔性套管10下端固定在底座22内部的套管固定件连接(套管固定件为板状结构，其上设置有供连接绳索3穿过的通孔)，连接绳索3穿过套管固定件后与直线电机21的移动端连接。As shown in Figure 4, it also includes three flexible sleeves 10 corresponding to the sleeve fixing part and the three connecting ropes 3 one by one, the flexible sleeve 10 is set under the connecting rope 3, and the upper end of the flexible sleeve 10 is connected with the continuous body 1, the lower end of the flexible sleeve 10 is fixed to the sleeve fixing part inside the base 22 (the sleeve fixing part is a plate-shaped structure, and a through hole for the connecting rope 3 to pass is provided on it), and the connecting rope 3 Connect with the moving end of the linear motor 21 after passing through the sleeve fixing member.
实施例3：Example 3:
实施例3与实施例1的区别在于：The difference between embodiment 3 and embodiment 1 is:
连续型本体1的数量为三个(即三个关节)，连接绳索组的数量为3组9根；The number of continuous body 1 is three (ie three joints), and the number of connecting rope groups is 3 groups of 9;
如图1所示，三个连续型本体1依次同轴连接，形成连续型机械臂，连续型本体1每个截面支撑片5内侧沿其周向设置有I组上下贯通的走线孔6组，每组包括沿周向均匀分布的3个走线孔6；其中，I的值与对应连续型本体1位于连续型机械臂的次序i相同，次序自上而下计数，1≤i≤3；即最上端连续型本体1的截面支撑片5沿其周向均匀开设有1组走线孔6，即三个走线孔6，中间连续型本体1的截面支撑片5沿其周向均匀开设有两组走线孔组，如图7-图10所示，即六个上下贯通的走线孔6，最下端连续型本体1的截面支撑片5开设有三组上下贯通的走线孔组，即九个上下贯通的走线孔6，其中，每组走线孔6的位置各不干涉，每组走线孔6之间的间隔距离根据需求或者加工难度确定，最下方的连续型本体1上其中两组走线孔6组的位置和中间的连续型本体1上走线孔6组的位置相同，中间的连续型本体1上其中一组走线孔6组的位置和最上端连续型本体111上走线孔6组的位置相同。As shown in Figure 1, three continuous bodies 1 are connected coaxially in turn to form a continuous manipulator, and the inner side of each cross-sectional support piece 5 of the continuous body 1 is provided with 6 groups of wiring holes that penetrate up and down along its circumference. , each group includes 3 wiring holes 6 evenly distributed along the circumference; where, the value of I is the same as the sequence i corresponding to the continuous body 1 located in the continuous robot arm, and the sequence is counted from top to bottom, 1≤i≤3 ; that is, the cross-sectional support sheet 5 of the uppermost continuous body 1 is evenly provided with a group of wiring holes 6 along its circumferential direction, that is, three wiring holes 6, and the cross-sectional support sheet 5 of the middle continuous type body 1 is evenly distributed along its circumferential direction. There are two sets of routing holes, as shown in Figure 7-10, that is, six routing holes 6 that penetrate up and down, and the cross-sectional support piece 5 of the bottom continuous body 1 is provided with three groups of routing holes that penetrate up and down. , that is, nine wiring holes 6 penetrating up and down, wherein the positions of each group of wiring holes 6 do not interfere with each other, and the distance between each group of wiring holes 6 is determined according to the requirements or processing difficulty. The positions of the 6 groups of two wiring holes on the 1 are the same as the positions of the 6 groups of wiring holes on the middle continuous body 1, and the positions of the 6 groups of wiring holes on the middle continuous body 1 are continuous with the uppermost end The positions of the 6 groups of routing holes on the type body 111 are the same.
连接绳索3有九根，其中三根一端分别固定对应直线电机21的移动端，穿出底座22后，依次穿过三个连续型本体1的其中一组走线孔6组后与最上端连续型本体1最上端的截面支撑片5连接；另外三根一端分别固定对应直线电机21的移动端，穿出底座22后，依次穿过两个连续型本体1的另外一组走线孔6组后与中间连续型本体1最上端的截面支撑片5连接，剩余三根一端分别固定对应直线电机21的移动端，穿出底座22后，并穿过最下端连续型本体1的剩余一组走线孔6组后与最下端连续型本体1最上端的截面支撑片5连接。There are nine connecting ropes 3, three of which are respectively fixed at one end corresponding to the moving end of the linear motor 21. After passing through the base 22, they pass through one group of 6 wiring holes of the three continuous type bodies 1 in turn, and then connect with the uppermost continuous type. The uppermost cross-sectional support piece 5 of the body 1 is connected; the other three ends are respectively fixed to the moving end of the corresponding linear motor 21. After passing through the base 22, they pass through another group of 6 wiring holes of the two continuous body 1 in turn and the middle The uppermost cross-sectional support piece 5 of the continuous body 1 is connected, and the remaining three ends are respectively fixed to the moving end of the corresponding linear motor 21, after passing through the base 22, and passing through the remaining set of 6 wiring holes of the bottom continuous body 1 It is connected with the section support sheet 5 at the uppermost end of the lowermost continuous body 1 .
由于实施例中，关节数为3个，每个关节都具有3个自由度(2个转动自由度和1个伸缩自由度)，并通过3个连接绳索3和对应直线电机21来控制，因此连接绳索3共9个，即每个关节上均布分布了3个连接绳索3，因此可以通过直线电机21拉动连接绳索3，控制关节的3个自由度。Since in the embodiment, the number of joints is 3, each joint has 3 degrees of freedom (2 rotational degrees of freedom and 1 telescopic degree of freedom), and is controlled by 3 connecting ropes 3 and corresponding linear motors 21, so There are 9 connecting ropes 3 in total, that is, 3 connecting ropes 3 are evenly distributed on each joint, so the connecting ropes 3 can be pulled by the linear motor 21 to control the 3 degrees of freedom of the joints.
连接绳索3在其对应连续型本体1的走线孔6处套设有限位套筒8，限位套筒8安装在走线孔6处。The connecting rope 3 is provided with a limiting sleeve 8 at the wiring hole 6 corresponding to the continuous body 1 , and the limiting sleeve 8 is installed at the wiring hole 6 .
实施例4：Example 4:
实施例4与实施例3的区别在于：The difference between embodiment 4 and embodiment 3 is:
还包括套管固定件与9个连接绳索3一一对应的9根柔性套管10，其中三个柔性套管10套设在连接绳索3未设置限位套筒8的下端，且上端固定在连续型本体1的最下端，另一端依次穿过位于其下方的连续型本体1上对应的走线孔6后，与固定在底座22内部的套管固定件连接(套管固定件为板状结构，其上设置有供连接绳索3穿过的通孔)，连接绳索3穿过套管固定件后与直线电机21的移动端连接。It also includes 9 flexible sleeves 10 corresponding to the 9 connecting ropes 3 one-to-one, wherein the three flexible sleeves 10 are sleeved on the lower end of the connecting rope 3 without the limit sleeve 8, and the upper end is fixed on the The lowermost end of the continuous body 1, and the other end sequentially passes through the corresponding wiring holes 6 on the continuous body 1 below it, and is connected with the casing fixing part fixed inside the base 22 (the casing fixing part is a plate-shaped structure, which is provided with a through hole for the connecting rope 3 to pass through), and the connecting rope 3 is connected with the moving end of the linear motor 21 after passing through the casing fixture.
在本实施例中，直线电机21拉紧连接绳索3，柔性套管10与连接绳索3发生移动，连接绳索3的牵引力只会作用在单个关节的起始位置和末端，不会影响其他关节，消除了关节受力的运动耦合作用(例如，只通过没有柔性套管10的连接绳索3进行驱动，第1节关节收缩时，收缩力会作用在第2节和第3节上，导致关节运动较强的耦合性)。In this embodiment, the linear motor 21 tightens the connecting rope 3, the flexible sleeve 10 and the connecting rope 3 move, the traction force of the connecting rope 3 will only act on the starting position and end of a single joint, and will not affect other joints. The kinematic coupling effect of the force on the joint is eliminated (for example, only through the connection rope 3 without the flexible sleeve 10, when the first joint is contracted, the contraction force will act on the second joint and the third joint, causing the joint to move strong coupling).
在其他实施例中，驱动装置2可以采用其他结构，如驱动装置2可以采用电机与卷收轮的方式实现连接绳索3的收放。In other embodiments, the driving device 2 can adopt other structures, for example, the driving device 2 can realize retracting and unwinding of the connecting rope 3 by means of a motor and a retracting wheel.
本发明的工作原如下：The working principle of the present invention is as follows:
每个连续型本体1均通过三个连接绳索3独立控制，通过控制直线电机21运行，改变连接绳索3的伸缩量，从而控制连续型机器人运动：若连续型本体1波纹弹片4一侧的变形量小与另一侧的变形量，连续型机器人就实现自身弯曲运动，若连续型本体1的每个波纹弹片4变形量都一样时，连续型机器人就实现自身伸缩运动，通过控制多个连续型本体1处于不同的弯曲方向，实现盘旋功能。Each continuous body 1 is independently controlled by three connecting ropes 3. By controlling the operation of the linear motor 21, the expansion and contraction of the connecting ropes 3 are changed, thereby controlling the movement of the continuous robot: if the deformation of one side of the corrugated shrapnel 4 of the continuous body 1 If the amount of deformation is small and the deformation on the other side is small, the continuous robot will realize its own bending movement. If the deformation of each corrugated shrapnel 4 of the continuous body 1 is the same, the continuous robot will realize its own telescopic movement. By controlling multiple continuous The shape body 1 is in different bending directions to realize the hovering function.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310163737.4ACN116442268A (en) | 2023-02-24 | 2023-02-24 | Self-telescopic rope-driven continuous robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310163737.4ACN116442268A (en) | 2023-02-24 | 2023-02-24 | Self-telescopic rope-driven continuous robot |
| Publication Number | Publication Date |
|---|---|
| CN116442268Atrue CN116442268A (en) | 2023-07-18 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310163737.4APendingCN116442268A (en) | 2023-02-24 | 2023-02-24 | Self-telescopic rope-driven continuous robot |
| Country | Link |
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| CN (1) | CN116442268A (en) |
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