Snake-shaped robot for deep and narrow environment operationTechnical Field
The invention belongs to the technical field of industrial mechanical arms, and particularly relates to a snake-shaped robot for deep and narrow environment operation.
Background
A serpentine robot is a type of super-redundant continuous robot consisting of multiple joints in series, with a serpentine body structure. The cross-sectional dimensions of the body structures are significantly smaller than the total length, which enables them to enter small ducts or apertures and to bend and adapt to irregular environments, reaching places where other robots cannot. Has great application potential in the fields of aerospace, fire rescue, pipeline maintenance and the like.
Serpentine industrial robots typically employ rope drives to control the position and attitude of each of the joints in series, each rope being controlled by an independent rope drive, the movement of each joint being controlled by a change in length between the different ropes. The main body of the serpentine industrial robot is usually directly connected to a drive box containing a rope drive, which is connected to a fixed base by a linear guide, and the feeding of the main body is achieved by the linear movement of the drive box. This results in an oversized overall robot and a limited working range for the serpentine industrial robot.
Although the degree of freedom of super redundancy provides high flexibility, the rigidity of the whole structure is insufficient, so that the terminal load and the positioning precision cannot be ensured when the device works in a deep and narrow environment, and the requirements of fields such as man-machine interaction, industrial production and the like on fine operation are difficult to meet.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a snake-shaped robot for deep and narrow environment operation, so as to solve the problems of small artificial range and insufficient overall rigidity of the traditional snake-shaped industrial robot.
The technical scheme is that the snake-shaped robot for deep and narrow environment operation comprises a snake-shaped mechanical arm and a snake-shaped mechanical arm control box for driving the snake-shaped mechanical arm, wherein the snake-shaped mechanical arm comprises a snake-shaped mechanical arm main body;
The snake-shaped mechanical arm main body comprises a head joint, a tail joint and a plurality of middle joints, wherein the middle joints are connected between the head joint and the tail joint through universal joints, each middle joint comprises a middle connecting shaft and middle connecting cylinders coaxially sleeved at two ends of the middle connecting shaft, the two ends of the middle connecting shaft are used for connecting the universal joints, a plurality of rope passing holes are circumferentially formed in the middle connecting cylinders, driving ropes are arranged in the rope passing holes and used for penetrating through the rope passing holes to be fixedly connected with the corresponding middle joints, and the driving ropes are used for controlling the corresponding middle joints;
The serpentine mechanical arm control box comprises a plurality of linear driving units arranged on a driving unit frame, wherein a single linear driving unit is used for driving one driving rope to do contraction or relaxation motion, the linear driving unit comprises a driving motor, a motor flange, a supporting column, a coupler, a screw rod lower seat, a driving screw rod, a driving optical axis, a linear bearing, a driving screw rod nut, a nut seat, a tension sensor, a driving rope fixing clamp and a screw rod upper seat, the driving motor is fixedly connected with the motor flange, the motor flange is fixedly connected with the screw rod lower seat at intervals through the supporting column, an output shaft of the driving motor is connected with the driving screw rod through the coupler, the driving screw rod is fixedly connected with the driving unit frame through a bearing, the upper end of the driving screw rod is fixedly connected with the driving screw rod nut through a thread, the rotating motion of the driving screw rod is converted into the linear motion of the driving screw rod nut, the linear bearing and the tension sensor are all fixed on a nut seat, the driving optical axis is fixed between the screw rod lower seat and the screw rod upper seat, the linear bearing is coaxially matched with the driving optical axis, the driving optical axis is used for providing support for the axial motion of the nut seat, the driving rope is fixedly connected with the screw rod lower seat through the tension sensor, and the driving rope is fixedly connected with one end of the driving rope through the clamping clamp.
Further, the head joint comprises a head connecting shaft and a head connecting cylinder coaxially sleeved on the outer side of the head connecting shaft, one end of the head connecting shaft is a connecting shaft with a key slot and used for being connected with a universal joint, the other end of the head connecting shaft is a disc with a connecting hole and used for being connected with an end actuating mechanism, and the edge of the disc is fixedly connected with the head connecting cylinder;
the tail joint comprises a tail connecting shaft and a tail connecting cylinder coaxially sleeved on the outer side of the tail connecting shaft, one end of the tail connecting shaft is a connecting shaft with a key slot and used for connecting a universal joint, and the other end of the tail connecting shaft is a disc with a connecting hole and fixedly connected with the tail connecting cylinder.
Further, the serpentine robotic arm further comprises a linear feed mechanism for transporting the serpentine robotic arm body, the linear feed mechanism comprising:
The holder is of a hollow tubular structure, a head end cover and a tail end cover are respectively arranged at two ends of the holder, the snake-shaped mechanical arm main body penetrates through the head end cover and the tail end cover and is arranged, the part of the snake-shaped mechanical arm main body positioned in the holder is overlapped with the axis of the holder, a screw rod seat and two optical axis holding devices are arranged on the head end cover and the tail end cover, and the two optical axis holding devices and the screw rod seat are arranged in an equilateral triangle with the axis of the holder as a center point;
the screw rod is movably connected between the two screw rod seats;
the two optical axes are respectively arranged in the corresponding optical axis holding tool, and the screw rod and the two optical axes are parallel to the axis of the retainer;
The feeding motor is arranged on the tail end cover, and is coaxially connected with the screw rod through a coupling piece and used for driving the screw rod to rotate;
The connecting plate is arranged inside the retainer, a screw nut and two limit bearings are arranged on the connecting plate, the screw nut is sleeved on the outer side of the screw rod in a threaded fit manner, the screw nut is used for converting rotary motion of the screw rod into linear motion of the screw nut, driving force is provided for the connecting plate, the two limit bearings are sleeved on the outer sides of two optical axes respectively for corresponding movable sleeves, the connecting plate is used for limiting motion of the connecting plate, the connecting plate is connected with the tail connecting shaft, and the feeding and exiting motion of the snake-shaped mechanical arm main body is realized through the linear motion of the connecting plate.
Further, the driving rope includes:
the inner wire is formed by winding a plurality of strands of thin steel wires, one end of the inner wire is used as a moving end and welded with a cylindrical alloy block, and the cylindrical alloy block is used for being fixedly connected with the inner wall of a middle connecting cylinder of a middle joint controlled by a driving rope;
the support structure layer comprises a plurality of annular steel wire sections sleeved on the outer side of the inner wire;
The outer skin is wrapped and arranged on the outer side of the supporting structure layer;
The two wire tube caps are respectively arranged at two ends of the outer skin and are used for sealing the two ends of the outer skin;
And the two wire tube seats are respectively clamped on the two wire tube caps and used for fixing the two ends of the driving rope, one wire tube seat is fixed on the driving unit frame, and the other wire tube seat is fixed on the connecting plate.
Further, the snake-shaped robot further comprises a lifting platform car, the control box of the snake-shaped mechanical arm is arranged on the lifting platform car, and a total control box is further arranged on the lifting platform car and is in control connection with the control box of the snake-shaped mechanical arm.
Further, a rigid mechanical arm is arranged on the lifting platform truck and is in control connection with the main control box, the far end of the rigid mechanical arm is connected with a retainer through a flange plate, and the retainer is internally provided with the snake-shaped mechanical arm main body.
Further, a rigid mechanical arm is arranged on the lifting platform truck and is in control connection with the main control box, a connecting mechanism is arranged at the far end of the rigid mechanical arm, two retainers are fixedly arranged on the connecting mechanism in parallel, and each retainer is internally provided with one snake-shaped mechanical arm main body.
Further, the screw rod upper seat and the screw rod lower seat are respectively and fixedly provided with an asymptotic switch, and the asymptotic switches are used for sending signals to a control module of the driving motor when the nut seat moves to a set position, so that the nut seat is prevented from exceeding a set movement range.
The invention has the working principle that the snake-shaped robot can control the joint angle change of the rigid mechanical arm and the snake-shaped mechanical arm through the total control box, thereby changing the integral gesture and the tail end position of the robot;
firstly, moving a lifting platform truck to a proper working place and fixing the lifting platform truck to provide a working platform with enough rigidity for the movement of the snake-shaped robot, secondly, controlling the gesture of a rigid mechanical arm through a main control box to place the snake-shaped mechanical arm at a proper working position, finally, controlling the gesture of the snake-shaped mechanical arm through a control box of the snake-shaped mechanical arm, and stretching the main body of the snake-shaped mechanical arm into a deep and narrow environment in a complex gesture to complete the operation in cooperation with the axial feeding movement of a linear feeding mechanism;
A plurality of straight line drive units in the snakelike arm control box all control a drive rope respectively, and each joint of every snakelike arm is by a plurality of drive rope control, realizes pitch and yaw motion of single joint through the concertina movement of drive rope, and every joint has two rotational degrees of freedom, realizes the redundant degree of freedom of snakelike arm through a plurality of joints series connection.
Compared with the prior art, the invention has the beneficial effects that:
1. by installing the serpentine mechanical arm at the tail end of the rigid mechanical arm through a reconstruction design, higher freedom degree can be provided under the premise of larger working range and higher motion stability, and the serpentine mechanical arm can work in more complex deep and narrow environments.
2. The driving structure and the executing structure of the snake-shaped mechanical arm are separated, the volume and the weight of the snake-shaped mechanical arm can be obviously reduced, so that the snake-shaped robot can obtain larger work bearing capacity and higher flexibility, and meanwhile, the separation design enables the installation and the deployment of the snake-shaped robot to be more flexible, so that the snake-shaped robot can be applied to different working platforms.
3. The linear feeding mechanism can realize feeding and exiting of the snake-shaped mechanical arm, the gesture and the feeding length of the snake-shaped mechanical arm can be independently controlled in the deep and narrow environment, and the operability and the flexibility of the snake-shaped robot are improved.
4. The lifting platform car can enlarge the moving range of the snake-shaped robot, and the flexible operation of all terrain can be realized by replacing platforms of different types.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic illustration of a serpentine robotic arm of the present invention;
FIG. 3 is a schematic illustration of the body structure of a serpentine robotic arm of the present invention;
FIG. 4 is a schematic view of the cephalad joint and caudal joint configuration of the present invention;
FIG. 5 is a schematic illustration of the intermediate joint structure of the present invention;
FIG. 6 is a schematic diagram of the driving rope structure of the present invention;
FIG. 7 is a schematic diagram of a double arm connection structure in embodiment 2 of the present invention;
fig. 8 is a schematic view of the structure of the linear driving unit of the present invention;
fig. 9 is a schematic view of the structure of the driving unit frame of the present invention.
Wherein, 1, a snake-shaped mechanical arm, 11, a snake-shaped mechanical arm main body, 111, a head joint, 1111, a head connecting shaft, 1112, a head connecting cylinder, 112, a tail joint, 1121, a tail connecting shaft, 1122, a tail connecting cylinder, 113, a middle joint, 1131, a middle connecting shaft, 1132, a middle connecting cylinder, 114, a driving rope, 1141, an inner wire, 1142, a supporting structure layer, 1143, a sheath, 1144, a spool cap, 1145, a spool seat, 115, a universal joint, 12, a linear feeding mechanism, 121, a retainer, 122, a screw rod, 123, an optical axis, 124, a connecting plate, 125, a head end cover, 126, a tail end cover, 127, a feeding motor, 13, a connecting mechanism, 2, a rigid mechanical arm, 3, a total control box, 31, a snake-shaped mechanical arm control box, 312, a driving unit frame, 311, a linear driving unit, 31101, a driving motor, 31102, a motor flange, 31103, 31104, a coupling, 31105, a screw lower seat, 31106, a driving screw rod, 31107, a driving optical axis, 31108, a driving screw rod, 3116, a driving shaft seat, 3118, a driving screw rod, a driving shaft, 3117, a driving shaft seat, a driving shaft, a piston, a 31114, a lifting and a lifting/lowering mechanism, a bearing, a 11, a lifting/a table, a 14, a lifting/a bearing, a lifting/a 14.
Detailed Description
The following describes in detail the embodiments of the present invention with reference to fig. 1 to 9. In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature, and in the description of the invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
It should be noted that, the circuit connection related in the present invention adopts a conventional circuit connection manner, and no innovation is related.
Embodiment As shown in FIG. 1, a serpentine robot for deep narrow environment work includes a serpentine robotic arm 1 and a serpentine robotic arm control box 31 for driving the serpentine robotic arm 1. Wherein:
As shown in fig. 2-3, the snake-shaped mechanical arm 1 comprises a snake-shaped mechanical arm main body 11, the snake-shaped mechanical arm main body 11 comprises a head joint 111, a tail joint 112 and a plurality of middle joints 113, the plurality of middle joints 113 are connected between the head joint 111 and the tail joint 112 through universal joints 115, as shown in fig. 5, the middle joints 113 comprise middle connecting shafts 1131 and middle connecting drums 1132 coaxially sleeved at two ends of the middle connecting shafts 1131, two ends of the middle connecting shafts 1131 are used for connecting the universal joints 115, a plurality of rope passing holes are circumferentially arranged on the middle connecting drums 1132, driving ropes 114 are arranged in the rope passing holes and used for fixedly connecting the corresponding middle joints 113 through the rope passing holes and used for controlling the corresponding middle joints 113, the head joint 111 comprises a head connecting shaft 1111 and a head connecting drum 1112 coaxially sleeved outside the head connecting shaft 1111, one end of the head connecting shaft is a connecting shaft with a key groove, the other end of the head connecting shaft 1111 is a disc with a tail connecting drum 1112 is used for connecting an end executing mechanism, the edge of the disc is fixedly connected with the head connecting drum 1112, the tail joint 112 is connected with the tail part 112 through the key groove, and the tail part 112 is connected with the tail part 112 through the other end of the shaft 1121, and the tail part 112 is connected with the tail part 1122 coaxially sleeved outside the shaft 1121, and is connected with the tail part 112 through the other end of the shaft 1121 is connected with the shaft 1121 through a connecting shaft through a key joint hole, as shown in fig. 4;
as shown in fig. 6, the driving rope 114 comprises an inner wire 1141, a supporting structure layer 1142, a skin 1143, two wire tube caps 1144 and two wire tube seats 1145, wherein the inner wire 1141 is formed by winding a plurality of thin steel wires, one end of the inner wire 1141 is used as a moving end and welded with a cylindrical alloy block, the cylindrical alloy block is used for being fixedly connected with the inner wall of a middle connecting cylinder 1132 of a middle joint 113 controlled by the driving rope 114, the supporting structure layer 1142 comprises a plurality of annular steel wire joints sleeved outside the inner wire 1141, the skin 1143 is wrapped outside the supporting structure layer 1142, the two wire tube caps 1144 are respectively arranged at two ends of the skin 1143 and used for sealing two ends of the skin 1143, the two wire tube seats 1145 are respectively clamped on the two wire tube caps 1144 and used for fixing two ends of the driving rope 114, one wire tube seat 1145 is fixed on the driving unit frame 312, and the other wire seat 1145 is fixed on the connecting plate 124;
As shown in fig. 9, the serpentine mechanical arm control box 31 includes a plurality of linear driving units 311 disposed on a driving unit frame 312, a single linear driving unit 311 is used for driving one driving rope 114 to do a contraction or relaxation motion, as shown in fig. 8, the linear driving unit 311 includes a driving motor 31101, a motor flange 31102, a supporting column 31103, a coupling 31104, a screw lower seat 31105, a driving screw 31106, a driving optical axis 31107, a linear bearing 31108, a driving screw nut 31109, a nut seat 31110, a tension sensor 31111, a driving rope fixing clamp 31112 and a screw upper seat 31113, the driving motor 31101 is fixedly connected with the motor flange 31102 at intervals, the motor flange 31102 is fixedly connected with the screw lower seat 31105 through the supporting column 31103, an output shaft of the driving motor 31101 is connected with the driving screw 31106 through the coupling 31104, the driving screw 31106 is fixedly connected on a central axis between the screw lower seat 31105 and the screw upper seat 31113 through a bearing, the screw lower base 31105 is fixedly connected with the driving unit frame 312, the upper end of the driving screw 31106 is connected with the driving screw nut 31109 through threads for converting the rotation motion of the driving screw 31106 into the linear motion of the driving screw nut 31109, the linear bearing 31108 and the tension sensor 31111 are all fixed on the nut base 31110, the driving optical axis 31107 is fixed between the screw lower base 31105 and the screw upper base 31113, the linear bearing 31108 is coaxially matched with the driving optical axis 31107 for providing support for the axial motion of the nut base 31110, the driving rope fixing clamp 31112 is fixedly connected with the tension sensor 31111, the driving rope fixing clamp 31112 clamps one end of the driving rope 114 for transmitting the driving force to the driving rope 114 through the motion of the nut base 31110, the screw upper base 31113 and the screw lower base 31105 are respectively fixedly provided with an asymptotic switch 31114, the asymptotic switch 31114 is used for when the nut base 31110 moves to the setting position, a signal is sent to the control module of the drive motor 31101 to prevent the nut seat 31110 from exceeding the set range of motion.
The serpentine mechanical arm 1 further comprises a linear feeding mechanism 12 for conveying the serpentine mechanical arm body 11, wherein the linear feeding mechanism 12 comprises a retainer 121, a screw rod 122, an optical axis 123, a connecting plate 124 and a feeding motor 127, the retainer 121 is of a hollow tubular structure, a head end cover 125 and a tail end cover 126 are respectively arranged at two ends of the retainer 121, the serpentine mechanical arm body 11 penetrates through the head end cover 125 and the tail end cover 126, the part, located inside the retainer 121, of the serpentine mechanical arm body 11 coincides with the axis of the retainer 121, the head end cover 125 and the tail end cover 126 are respectively provided with a screw rod seat and two optical axis holding devices, the two optical axis holding devices and the screw rod seat are arranged in an equilateral triangle shape by taking the axis of the retainer 121 as a central point, the screw rod 122 is movably connected between the two screw rod seats, the two optical axes 123 are respectively arranged in the corresponding optical axis holding devices, the screw rod 122 and the two optical axes 123 are respectively parallel to the axis of the retainer 121, the feeding motor 127 is arranged on the tail end cover 126, the feeding motor 127 is coaxially connected with the screw rod 122 through a coupling piece and is used for driving the screw rod 122 to rotate, the connecting plate 124 is arranged inside the retainer 121, the connecting plate 124 is provided with the connecting plate 124, the connecting plate 124 and the two optical axis holding devices are correspondingly arranged on the screw rod end cover 122 and the connecting plate 124, the connecting plate is in a position-limited by the mode, and the two end covers are correspondingly connected with the screw rod nut and the linear driving nut is in a mode, and is correspondingly connected with the linear nut and the connecting plate 122.
Preferably, the snake-shaped robot further comprises a lifting platform car 4, the snake-shaped mechanical arm control box 31 is arranged on the lifting platform car 4, the lifting platform car 4 is further provided with a total control box 3, the total control box 3 is in control connection with the snake-shaped mechanical arm control box 31, the lifting platform car 4 is provided with a rigid mechanical arm 2, the rigid mechanical arm 2 is in control connection with the total control box 3, the far end of the rigid mechanical arm 2 is connected with a retainer 121 through a flange plate, and the retainer 121 is internally provided with a snake-shaped mechanical arm main body 11.
Embodiment 2 is basically the same as embodiment 1 except that the distal end of the rigid mechanical arm 2 is provided with a connecting mechanism 13, two retainers 121 are fixedly arranged on the connecting mechanism 13 in parallel, and each retainer 121 is internally provided with a serpentine mechanical arm main body 11, as shown in fig. 7.
The working principle of the embodiment is as follows:
the snake-shaped robot can control the joint angle change of the rigid mechanical arm 2 and the snake-shaped mechanical arm 1 through the total control box 3, so that the overall posture and the tail end position of the robot are changed;
Firstly, a lifting platform car 4 is moved to a proper working place and fixed to provide a working platform with enough rigidity for the movement of the snake-shaped robot, secondly, the gesture of a rigid mechanical arm 2 is controlled by a main control box 3 to place the snake-shaped mechanical arm 1 at a proper working position, and finally, the gesture of the snake-shaped mechanical arm 1 is controlled by a snake-shaped mechanical arm control box 31 and the snake-shaped mechanical arm main body 11 is stretched into a narrow and complicated environment in a complicated gesture to complete the operation in cooperation with the axial feeding movement of a linear feeding mechanism 12;
The plurality of linear driving units 311 in the serpentine mechanical arm control box 31 respectively control one driving rope 114, each joint of each serpentine mechanical arm 1 is controlled by the plurality of driving ropes 114, the pitching and yawing movements of a single joint are realized through the telescopic movements of the driving ropes 114, each joint has two rotational degrees of freedom, and the redundant degrees of freedom of the serpentine mechanical arm 1 are realized through the serial connection of the plurality of joints.
The specific model of the electronic component is not specifically specified, and all the electronic components can be common products sold in the market, so long as the use requirements of the electronic component can be met.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the invention thereto, but to limit the invention thereto, and any modifications, equivalents, improvements and equivalents may be made thereto without departing from the spirit and principles of the invention.