CN116968007A - Continuum robot - Google Patents

Abstract

The invention relates to a continuum robot, which includes a wire clamping seat, a motor and a robot drive section. The wire clamping seat is fixed on the motor. The robot drive section includes a sensing disk, a wire clamping disk, a sensor, a center rod and a driving line. The sensor is installed On the sensing disk, the central rod passes through and connects the central hole of the wire clamping holder, the sensing disk and the wire clamping disk. The wire clamping holder and the wire clamping disk are located at both ends of the central rod respectively. The drive line passes through the wire clamping holder and the central hole of the wire clamping disk. There are threading holes on the sensing disk and the cable disk. One end of the drive line is connected to the cable disk, and the other end is connected to the motor. Compared with the existing technology, the present invention uses a line drive method to control the robot drive section, so that the robot can rotate and bend, and the sensing disk is integrated into the overall structure as a part of the continuum robot, so that the sensor can Obtain the posture information of the continuum robot, thereby realizing the self-perception of the continuum robot and providing data support for the control of the continuum robot.

Description

a continuum robot

Technical field

The invention relates to the field of robots, and in particular to a continuum robot.

Background technique

Continuum robots have been a hot research topic in the field of robotics in recent years. The main inspiration for continuum robot research comes from bionics. In recent years, domestic and foreign scholars have proposed flexible robotic arms of different configurations based on flexible biological structures such as elephant trunks and octopus tentacles. According to the driving method, they can be roughly divided into: fluid-based variable pressure Actuation, under-actuation based on wire rod length variation and actuation based on smart material deformation. In recent years, flexible robotic arms have been fully used in earthquake search and rescue, minimally invasive surgery and other fields due to their high flexibility and flexibility and their ability to adapt to complex non-structural environments.

For example, the invention with the publication number CN116214519A discloses a vision-based end position detection method of a rope-driven continuum robot, which obtains the top detection point of the end ball of the rope-driven continuum robot along the direction of the central axis of the robot and the disc base. The three detection points set on the top are respectively defined as the first, second, third and fourth target detection points. Based on the binocular camera, the left eye image and the right eye image of the rope-driven continuum robot are obtained respectively, and according to the left The eye image and the right eye image are used to obtain the three-dimensional position coordinates of the four target detection points in the binocular camera coordinate system. Based on the obtained three-dimensional position coordinates, the bending angle and rotation angle of the rope-driven continuum robot are obtained through the solid geometry method.

The disadvantage of machine vision is that it is difficult to achieve self-perception. The above method requires selecting target detection points in the environment for measurement, and then calculating the robot's position in the environment through three-dimensional geometric calculations. It is difficult to analyze the current status of the robot through the robot's own motion process. Since common continuum robots are wire-driven, it is extremely difficult to establish a mechanical model that simulates the stretching of drive wires. Moreover, continuum robots have a flexible structure. Traditional rigid robot dynamics analysis and control methods cannot meet the analysis and control needs of continuum robots. , so it is very necessary to develop a continuum robot that can sense itself.

Contents of the invention

The purpose of the present invention is to provide a continuum robot capable of self-awareness in order to overcome the above-mentioned defects in the prior art that are difficult to meet the analysis and control requirements.

The object of the present invention can be achieved through the following technical solutions:

A continuum robot includes a wire clamping seat, a motor and a robot drive section. The wire clamping seat is fixed on the motor. The robot drive section includes a sensing disk, a wire clamping disk, a sensor, a center rod and a drive line. The sensor is installed on the sensing plate. On the disk, the wire clamping holder, sensor disk and wire clamping disk are all equipped with central holes, fan-shaped holes and threading holes. The central rod passes through and connects the central holes of the wire clamping holder, sensor disk and wire clamping disk. The wire clamping holder and the cable tray are located at both ends of the central pole respectively. The threading holes are evenly distributed in the cable seat, sensor disk and cable tray. The drive wire passes through the wire socket, sensor disk and cable tray. Through the threading hole, one end of the drive line is connected to the cable tray, and the other end is connected to the motor.

Further, there are multiple robot drive sections. The center rods of two adjacent robot drive sections are connected to the cable tray. Each cable tray is connected to the cable tray and the motor through a drive line. The drive line also Pass through the threading holes on all the cable holders, sensor disks and cable reels between the cable reel and the motor.

Further, the sensing disk is divided into a large sensing disk and a small sensing disk, and the wire jamming disk is divided into a large wire jamming disk and a small wire jamming disk. The structures of the large sensing disk and the large wire jamming disk are divided into outer areas and There are threading holes distributed in the central area and the outer area. The structure of the central area of the large sensing disk corresponds to the structure of the small sensing disk. The structure of the central area of the large wire clamping disk corresponds to the structure of the small wire clamping disk.

Further, the robot drive section also includes a spacer plate, which has a center hole, a sector hole and a threading hole. The center rod passes through and is connected to the center hole of the spacer plate, and the drive line passes through the threading hole of the spacer plate.

Furthermore, the robot drive section also includes a CAN bus that connects all the sensors, and the CAN bus passes through the sector-shaped hole of the wire clamping base, the sensor disk, and the wire clamping disk.

Further, the robot drive section also includes a locking mechanism, which fixes the drive wire on the wire clamping disk.

Further, the locking mechanism includes a pressure base and a pressure piece. The driving wire passes through the pressure base. The pressure piece is used to fix the driving line. There is a cylindrical boss at the bottom of the pressure base that corresponds to the threading hole on the cable clamping disk.

Further, the sensing disks are evenly distributed on the central rod.

Further, the sensor is a nine-axis inertial navigation sensor.

Further, the number of the robot driving sections is five, and the robot driving sections in order from short to long are the first robot driving section, the second robot driving section, the third robot driving section, the fourth robot driving section and the fifth robot In the driving section, the jamming disks in the first robot driving section, the second robot driving section and the third robot driving section are large clamping disks 3, and the sensing disks are large sensing disks 6. The fourth and fifth robot driving sections The clamping disk in the robot drive section is a small clamping disk 5, the sensing disk is a small sensing disk 7, and the center rods are the first center rod 8, the second center rod 9, the third center rod 10, and the fourth center rod. Rod 11 and the fifth center rod 12, the driving lines are the first section driving line 16, the second section driving line 17, the third section driving line 18, the fourth section driving line 19 and the fifth section driving line 20, each section The drive lines each include three equal-length drive lines, and the three equal-length drive lines are connected to the corresponding card reel and the motor 22 of the section.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention provides a continuum robot that uses line drive to control the robot drive section so that the robot can rotate and bend. The sensor is installed on a sensing disk with a central hole, sector-shaped hollows and threading holes. , the sensor disk is integrated into the overall structure as a part of the continuum robot, so that the sensor can obtain the attitude information of the continuum robot, thereby realizing the self-sensing of the continuum robot and providing data support for the control of the continuum robot.

2. The continuum robot of the present invention can have multiple sections, and the drive line of each section is separately controlled by the motor, so that the continuum robot can bend at more angles.

3. The sensor of the present invention adopts a nine-axis inertial navigation sensor, which can obtain the posture information of the sensing disk arrangement point accurately and in real time, so as to further calculate the overall posture of the continuum robot through the algorithm, thereby realizing closed-loop control.

4. The multiple sensors of the present invention are connected using the CAN bus connection method. When a single sensor reports an error, it still does not affect the reception of the overall data.

5. Through uniform design, the present invention can evenly obtain the sensing information of the continuum robot, thereby better obtaining the spatial position of the continuum robot.

6. The sensor used in the present invention is installed on the sensing plate, which is convenient for installation and disassembly, and easy for later maintenance and debugging.

Description of the drawings

Figure 1 is a schematic diagram of the overall structure of a continuum robot without drive lines according to an embodiment of the present invention;

Figure 2 is a schematic structural diagram of a large sensing disk;

Figure 3 is a schematic structural diagram of a small sensing disk;

Figure 4 is a schematic diagram of the first robot driving section of the continuum robot according to the embodiment of the present invention;

Figure 5 is a schematic diagram of the connection between the second robot drive section and the third robot drive section of the continuum robot according to the embodiment of the present invention;

Figure 6 is a schematic diagram of the connection between the third robot driving section and the fourth robot driving section of the continuum robot according to the embodiment of the present invention;

Figure 7 is a schematic diagram of the fifth robot drive section of the continuum robot according to the embodiment of the present invention;

Figure 8 is a schematic diagram of the locking mechanism.

Marking instructions in the picture: 1. Cable holder, 2. Large spacer disk, 3. Large Cable disk, 4. Small spacer disk, 5. Small Cable disk, 6. Large sensor disk, 7. Small sensor disk , 8. The first center rod, 9. The second center rod, 10. The third center rod, 11. The fourth center rod, 12. The fifth center rod, 13. Large locking hoop, 14. Small locking hoop, 15. Locking mechanism, 15-1. Pressing seat, 15-2. Pressing tablet, 16. First section drive line, 17. Second section drive line, 18. Third section drive line, 19. Fourth section drive Line, 20. Section 5 drive line, 21. Sensor, 22. Motor, 61. Large chassis, 71. Small chassis.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, rather than all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

In the description of the present invention, it should be understood that if the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "Front", "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inside", "Outside", "Clockwise", "Counterclockwise" The indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. They are not intended to indicate or imply that the device or element referred to must have a specific orientation or in a specific manner. Orientation structure and operation, therefore cannot be understood as a limitation of the present invention. The description refers to such as "cable tray" includes a large cable tray 3 and a small cable tray 5, "spacer tray" includes a large gap tray 2 and a small gap tray 4. The "sensing disk" includes the large sensing disk 6 and the small sensing disk 7. The "locking hoop" includes the large locking hoop 13 and the small locking hoop 14. The "center rod" includes the first center rod 8 and the first central rod. The second center rod 9, the third center rod 10, the fourth center rod 11, and the fifth center rod 12. The "driving lines" include the first section driving line 16, the second section driving line 17, the third section driving line 18, the third section driving line 18, and the third section driving line 17. The drive line 19 for the fourth section and the drive line 20 for the fifth section. In the description of this application, "plurality" means two or more than two, unless otherwise explicitly and specifically limited. Similar reference numerals and letters in this application refer to similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need further definition or explanation in subsequent drawings.

Example

The invention is a continuum robot, which includes a wire clamping seat, a motor and a robot drive section. The wire clamping seat is fixed on the motor. The robot drive section includes a sensing disk, a wire clamping disk, a sensor, a center rod and a driving line. The sensor is installed On the sensing disk, the wire clamping holder, sensing disk and wire clamping disk are all provided with central holes, fan-shaped holes and threading holes. The center rod passes through and connects the central holes of the wire clamping holder, sensing disk and wire clamping disk. The wire clamping holder and the wire clamping disk are located at both ends of the central rod respectively. The threading holes are evenly distributed in the wire clamping holder, the sensor disk and the cable clamping disk. The driving wire passes through the wire clamping holder, the sensing disk and the cable clamping disk. The threading hole on the plate, one end of the drive line is connected to the cable plate, and the other end is connected to the motor.

Preferably, there are multiple robot drive sections, and the center rods of two adjacent robot drive sections are connected to the wire clamping disk, and each wire clamping disk is connected to the wire clamping disk and the motor through a driving line, and the driving line also Pass through the threading holes on all the cable holders, sensor disks and cable reels between the cable reel and the motor.

Preferably, the robot drive section also includes a spacer disk. The spacer disk has a central hole, a fan-shaped hole and a threading hole. The center rod passes through and is connected to the center hole of the spacer disk. The drive line passes through the threading hole of the spacer disk. The spacer disk can be used Avoid the lack of flexibility of the robot due to too small spacing between each sensor disk.

As shown in Figure 1, a continuum robot with five robot drive sections includes a wire clamping base 1, a large spacer disk 2, a large wire clamping disk 3, a small spacer disk 4, a small wire clamping disk 5, and a large sensor. Disk 6, small sensing disk 7, first center rod 8, second center rod 9, third center rod 10, fourth center rod 11, and fifth center rod 12. The robot driving sections in order from short to long are the first robot driving section, the second robot driving section, the third robot driving section, the fourth robot driving section and the fifth robot driving section. The first robot driving section, the second robot driving section The drive section and the third robot drive section are composed in the form of "large interval disk - large sensor disk - large interval disk - large sensor disk - large interval disk - large sensor disk - large interval disk - large wire jamming disk". The fourth robot drive section and the fifth robot drive section are in the form of "small spacer disk - small sensor disk - small spacer disk - small sensor disk - small spacer disk - small sensor disk - small spacer disk - small clamping disk" It is composed of a wire clamping base and is fixed on the motor. Each robot drive section is controlled by three drive lines of equal length, connecting the corresponding clamping reel and motor of the section, so that the robot drive section can bend in all directions.

Preferably, the sensing disks are uniformly distributed, which can accurately evaluate the real-time status of the continuum robot.

As shown in Figure 2, the large sensing disk 6 is composed of a large chassis 61 and a sensor 21; as shown in Figure 3, the small sensing disk 7 is composed of a small chassis 71 and a sensor 21. The two chassis and the sensor 21 are connected through a detachable structure to facilitate subsequent maintenance of the sensor 21. The large chassis 61 can be divided into an outer part and a central part. The outer part of the large chassis 61 has threading holes evenly distributed. The central part of the large chassis 61 has the same shape as the small chassis 71. The center of the small chassis 71 is designed with a center hole, surrounding the center hole. There are fan-shaped holes. The fan-shaped holes are used for sensor wiring and reduce the overall weight of the robot. Except for the central hole, the holes evenly distributed in the circumferential array are used as threading holes. The shape of the clamping disk and the shape of the spacer disk are consistent with the corresponding size of the sensing disk. The shape of the chassis is the same, the radius and thickness of the wire clamping base are larger than that of the sensing disk chassis, the central hole and fan-shaped holes on the clamping wire base are distributed in the same way as the sensing disk chassis, and the number of threading holes is greater than that of the sensing disk chassis.

Preferably, the sensors 21 are connected through a CAN bus, and the CAN bus connects each sensor through the sector-shaped holes of the sensing disk, the cable holder, the cable disk and the spacer disk to prevent the failure of a certain sensor from causing subsequent sensors to be disconnected. 21 uses a network port to transmit data to the computer to evaluate the status of the continuum robot and provide data support for the closed-loop control of the continuum robot.

Preferably, the core board of the sensor 21 adopts the ARM architecture, which has the characteristics of small size, low energy consumption, low cost, etc., and is suitable for integration in a smaller continuum robot.

Preferably, the sensing unit of the sensor 21 adopts a nine-axis inertial navigation sensor, which has low cost, high reliability and can accurately provide attitude information.

As shown in Figure 4-7, the connection method of each section in this embodiment is: between the first robot driving section and the second robot driving section and between the second robot driving section and the third robot driving section through a large clamping line The disk 3 and the two large locking hoops 13 connect the corresponding first center rod 8 to the second center rod 9 and the second center rod 9 to the third center rod 10 respectively; the third robot drive section and the fourth robot The corresponding third center rod 10 and the fourth center rod 11 are connected through a large cable reel 3, a large locking hoop 13 and a small locking hoop 14 between the driving sections; the fourth robot driving section and the fifth The corresponding fourth center rod 11 and fifth center rod 12 are connected between the robot drive sections through a small cable disk 5 and two small locking hoops 14. A large locking hoop 13 is fixed at the center of the wire clamping base 1 on the upper and lower sides. The large locking hoop 13 is fixed on the wire clamping base 1 through bolts. The large locking hoop 13 clamps the center rod through bolts, thereby connecting the center rod and limit the radial movement of the center rod.

Preferably, the robot drive section also includes a locking mechanism, which fixes the drive wire on the wire clamping disk.

The number of locking mechanisms 15 on each cable reel is three. The locking mechanism 15 on the large cable reel 3 of the first robot drive section corresponds to the first drive wire 16. The large clamp of the second robot drive section The locking mechanism 15 on the wire drum 3 corresponds to the drive wire 17 of the second section, the large clamp of the third robot drive section, the locking mechanism 15 of the wire drum 3 corresponds to the drive wire 18 of the third section, and the small clamp of the fourth robot drive section The locking mechanism 15 on the wire reel 5 corresponds to the fourth section of the drive wire 19, and the locking mechanism 15 on the small wire reel 5 of the fifth robot drive section corresponds to the fifth section of the drive wire 20. The first drive wire 16, the second drive wire 17, the third drive wire 18, the fourth drive wire 19 and the fifth drive wire 20 pass through the wire clamping holder 1, and the wire clamping holder 1 is used to limit the drive wires. direction of movement.

The structure of the locking mechanism is shown in Figure 8. The locking mechanism 15 is composed of a pressure seat 15-1 and a pressure piece 15-2. Pass the wire through the pressure base 15-1 and press the bolt against the pressure piece 15-2 to lock it. drive line. The cylindrical boss at the lower part of the pressure base 15-1 corresponds to the threading hole on the cable clamping disk, and is fastened to the cable clamping disk in conjunction with the pulling force of the driving wire.

The working principle of this embodiment is as follows: the first drive wire 16, the second drive wire 17, the third drive wire 18, the fourth drive wire 19 and the fifth drive wire 20 are tightened by the motor 22, so that the lock The tightening mechanism 15 exerts a tensile force on the wire clamping disk, thereby realizing the bending of each section. The sensing disk adopts an interval arrangement mode to evenly collect the posture information of each point on the continuum robot. The sensors 21 are connected through the CAN bus to prevent the failure of one sensor from causing other sensors to disconnect. The sensor 21 uses a network port with the computer. Transmit data to evaluate the continuum robot's own status and provide data support for the closed-loop control of the continuum robot.

The preferred embodiments of the present invention are described in detail above. It should be understood that those skilled in the art can make many modifications and changes based on the concept of the present invention without creative efforts. Therefore, any technical solutions that can be obtained by those skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention and on the basis of the prior art should be within the scope of protection determined by the claims.

Claims (10)

1. The utility model provides a continuum robot, its characterized in that, includes card line seat, motor and robot drive festival, card line seat is fixed on the motor, robot drive festival includes sensing dish, card line dish, sensor, center pole and drive line, the sensor is installed on the sensing dish, card line seat, sensing dish and card line dish all are equipped with centre bore, fan-shaped hole and through wires hole, the centre bore that the center pole passed and connected card line seat, sensing dish and card line dish, card line seat and card line dish are located the both ends of center pole respectively, the distribution mode of through wires hole on card line seat, sensing dish and card line dish is evenly distributed, the drive line passes the through wires hole on card line seat, sensing dish and the card line dish, drive line one end is connected on the card line dish, and the other end is connected on the motor.

2. The continuum robot of claim 1, wherein the number of robot drive segments is a plurality, the center rods of two adjacent robot drive segments are connected to the wire clamping disc, each wire clamping disc is connected to the wire clamping disc and the motor through a drive wire, and the drive wire also passes through all wire clamping seats between the wire clamping disc and the motor, the sensor disc and the threading holes on the wire clamping disc.

3. The continuum robot of claim 2, wherein the sensing disc is divided into a large sensing disc and a small sensing disc, the wire clamping disc is divided into a large wire clamping disc and a small wire clamping disc, the structures of the large sensing disc and the large wire clamping disc are equally divided into an outer area and a central area, threading holes are distributed in the outer area, the structure of the central area of the large sensing disc corresponds to the structure of the small sensing disc, and the structure of the central area of the large wire clamping disc corresponds to the structure of the small wire clamping disc.

4. The continuum robot of claim 1, wherein the robot drive segments further comprise spacer plates having central holes, fan holes and threading holes, the central rod passing through and connecting the central holes of the spacer plates, the drive wires passing through the threading holes of the spacer plates.

5. The continuum robot of claim 1, wherein said robot drive segments further comprise a CAN bus connecting all sensors, said CAN bus passing through said cartridge, sensor disc and fan-shaped aperture of said cartridge.

6. The continuum robot of claim 1, wherein said robot drive segments further comprise a locking mechanism, said locking mechanism securing said drive wire to a wire spool.

7. The continuum robot of claim 6, wherein the locking mechanism comprises a press seat and a pressing sheet, the driving wire passes through the press seat, the pressing sheet is used for fixing the driving wire, and a cylindrical boss is arranged at the lower part of the press seat and corresponds to the threading hole on the wire clamping disc.

8. The continuum robot of claim 1, wherein said sensor disks are distributed on said central rod in a uniform distribution.

9. The continuum robot of claim 1, wherein said sensor is a nine axis inertial sensor.

10. A continuum robot according to claim 3, characterized in that the number of robot drive joints is five, the robot drive joints are sequentially a first robot drive joint, a second robot drive joint, a third robot drive joint, a fourth robot drive joint and a fifth robot drive joint from short to long according to the length, the wire clamps in the first robot drive joint, the second robot drive joint and the third robot drive joint are large wire clamps (3), the wire clamps in the fourth robot drive joint and the fifth robot drive joint are large wire clamps (6), the wire clamps in the fourth robot drive joint and the fifth robot drive joint are small wire clamps (5) and small wire clamps (7), the center bars are sequentially a first center bar (8), a second center bar (9), a third center bar (10), a fourth center bar (11) and a fifth center bar (12), the wire clamps are sequentially a first wire (16), a second wire drive (17), a third wire drive joint (18), a fourth wire clamp (19) and a fifth wire drive joint (22) are connected to each other, and the wire clamps comprise wire clamps of equal length.