Single-drive self-locking lifting device and use method thereof

Abstract

The present invention discloses a single-drive self-locking lifting device and a method for using the same, wherein the single-drive self-locking lifting device includes a shell, a lifting mechanism and a self-locking supporting mechanism, the lifting mechanism includes a bearing seat, a motor, an active pair and a horizontal connecting rod, the bearing seat is fixed inside the shell and located in the middle of the transverse channel, the motor is arranged in the bearing seat, and the output shaft of the motor is fixedly connected to the power input end of the active pair, the power output end of the active pair is fixed to the end of the horizontal connecting rod, and a base frame is arranged on the horizontal connecting rod. The single-drive self-locking lifting device and a method for using the same disclosed by the present invention can not only realize the lifting and lowering of the flexible continuum robot at any time according to the application scenario, and maintain working at a specific height with low energy consumption, enriching the application scenarios of human-computer interaction and improving its applicability, but can also be extended to other scenarios where the height needs to be raised and lowered and a state with low energy consumption is selected to achieve staying.

Description

Technical Field

[0001] The present invention relates to the field of intelligent technology, and in particular to a single-drive self-locking lifting device and a use method thereof. Background Art

[0002] The continuum robot comprises a flexible continuum (also known as a flexible arm, robotic arm, snake bone). The flexible continuum is composed of a number of bending segments (or segment units) connected in sequence to form a bending segment chain, and the bending segment chain is then equipped with video and voice devices such as cameras and microphones to form a robot. Among them, the joints of the continuum robot are under-actuated joints with more degrees of freedom, which can easily present smooth, continuous and graceful movements. The movements are flexible and friendly, and can interact with humans. Therefore, the continuum robot is very suitable for application in human-computer interaction scenarios.

[0003] The driving device of the continuum robot is generally placed at the rear of the base of the continuum robot and is transmitted through flexible ropes such as steel wires or ropes. It has the characteristics of small inertia, slender shape, and flexible movement. It is often used in scenarios with limited movement space such as pipeline detection and engine maintenance.

[0004] However, in order to meet the needs of human-computer interaction application scenarios, the continuum robot is required to rise and fall at any time according to the application scenario, and when it rises to a certain height, it needs to stay at these specific heights, and reduce the energy consumption while staying as much as possible. Currently, there is a lack of devices on the market that can enable the continuum robot to rise and fall and maintain working at certain specific heights while reducing energy consumption. Summary of the invention

[0005] The purpose of the present invention is to provide a single-drive self-locking lifting device and a method of using the same, so as to solve the problem that there is a lack of a device on the market that can achieve the lifting of a continuum robot and maintain a certain specific height while reducing energy consumption.

[0006] The present invention provides a single-drive self-locking lifting device, comprising:

[0007] A shell body, wherein a transverse passage is left in the shell body;

[0008] A lifting mechanism, the lifting mechanism comprising a bearing seat, a motor, an active pair and a horizontal connecting rod, the bearing seat being fixed inside the housing and located in the middle of the transverse channel, the motor being arranged in the bearing seat, and the output shaft of the motor being fixedly connected to the power input end of the active pair, the power output end of the active pair being fixed to the end of the horizontal connecting rod, the base frame being arranged on the horizontal connecting rod for arranging the object to be lifted;

[0009] The self-locking support mechanism is arranged on the lifting mechanism and can make the object to be lifted to stay at a certain specific height by self-locking.

[0010] Preferably, a left end hole and a right end hole are respectively provided at both ends of the upper part of the shell, and a transverse channel is left between the left end hole and the right end hole;

[0011] When the motor is working, the motor drives the active pair to rotate, and then drives the horizontal connecting rod and the base frame to make a circular motion along the edge of the inner wall of the shell, thereby realizing the rising or falling of the base frame. When the base frame moves to the leftmost end or the rightmost end of the shell, the base frame is respectively located at the left end hole or the right end hole, so that the object to be lifted on the base frame extends out from the left end hole or the right end hole respectively.

[0012] Preferably, the lifting mechanism further comprises a driven pair, both ends of which are respectively connected to the bearing seat and the other end of the horizontal connecting rod, and the driven pair is parallel to the active pair, thereby forming a parallel four-bar linkage.

[0013] Preferably, a bearing is provided at the connection between the driven pair and the bearing seat.

[0014] Preferably, the self-locking support mechanism includes a vertical connecting rod, a guide block, a left fixed seat and a right fixed seat, wherein the left fixed seat and the right fixed seat are respectively fixed inside the shell and are located at both ends of the transverse channel; the vertical connecting rod is fixed to the bottom surface of the horizontal connecting rod, and a slide groove is provided in the vertical connecting rod, and the guide block is provided in the slide groove and can slide freely up and down in the slide groove; telescopic support blocks are provided in the left fixed seat and the right fixed seat, and a telescopic head is provided in the telescopic support block.

[0015] Preferably, a spring is provided between the telescopic head and the telescopic support block, and the telescopic head can freely telescope in the horizontal direction.

[0016] Preferably, one end of the telescopic head used for contacting with the guide block is set as a lower inclined surface, and one end of the guide block used for contacting with the telescopic head is set as an arc surface, and the arc surface faces downward, and the end surface of the horizontal connecting rod facing the telescopic head is set as an upper inclined surface, and the upper inclined surface of the horizontal connecting rod is matched with the lower inclined surface of the telescopic head;

[0017] When the motor drives the horizontal connecting rod and the vertical connecting rod to rotate to the left fixed seat or the right fixed seat through the active pair and the driven pair, the lower inclined surface of the telescopic head contacts the arc surface of the guide block or the upper inclined surface of the horizontal connecting rod.

[0018] Preferably, the base frame is a rectangular frame, including eight columns, a bottom plate, a top plate and a middle plate, wherein the bottom plate, the middle plate and the top plate are arranged in parallel from bottom to top to divide the base frame into two layers, and four parallel columns are arranged between each layer to divide the rectangular frame into two parts to form an upper frame part and a lower frame part; the top plate of the base frame is used to set the body to be lifted.

[0019] The present invention discloses a method for using the above-mentioned single-drive self-locking lifting device, comprising:

[0020] Start the motor, the motor drives the active pair and the driven pair to rotate, and then drives the horizontal connecting rod and the vertical connecting rod to make an upward arc motion, the horizontal connecting rod gradually rises from a low position, the vertical connecting rod rotates to the left fixed seat or the right fixed seat, the horizontal connecting rod touches the telescopic head of the telescopic support block of the left fixed seat or the right fixed seat upward, the telescopic head is compressed and retracted inward, the horizontal connecting rod passes over the telescopic head of the telescopic support block until the lower bottom surface of the horizontal connecting rod touches the upper surface of the telescopic head, and the self-locking support mechanism reaches the support position;

[0021] The horizontal connecting rod keeps moving in an upward arc until the tip of the arc surface of the guide block just touches the tip of the lower inclined surface of the telescopic head, and then the self-locking support mechanism reaches the high position 1 to avoid the movement interference between the telescopic head and the guide block;

[0022] The guide block continues to rise from the high position 1, and the guide block passes over the telescopic head until the vertical connecting rod makes an upward arc motion and stops rising when it reaches the highest point of the arc motion. At this time, the lower inclined surface of the telescopic head keeps in contact with the arc surface tip of the guide block, and the self-locking support mechanism reaches the high position 2;

[0023] The horizontal connecting rod starts to descend by making a downward arc motion, and the guide block is forced to rise along the slide groove in the vertical connecting rod until it reaches the highest point of the slide groove. At the same time, the arc surface of the block gradually moves away from the telescopic head until the telescopic head and the arc surface of the guide block are about to fall off and contact, and the self-locking support mechanism reaches the highest 3 positions;

[0024] The horizontal connecting rod continues to make a downward arc movement, wherein the guide block is maintained at the highest position of the slide slot in the vertical connecting rod, until the horizontal connecting rod is lower than the telescopic head, and the telescopic head is released from interfering with the movement of the guide block during the descending process, and the self-locking support mechanism reaches the disengagement position;

[0025] The horizontal connecting rod continues to make a downward arc motion until it reaches the lowest point of the arc motion, the motor is turned off, and the guide block begins to slide down at the highest point of the slide groove in the vertical connecting rod under the action of gravity until the guide block slides to the lowest point in the slide groove of the vertical connecting rod and returns to the low position of the self-locking support mechanism;

[0026] Among them, when the self-locking support mechanism reaches the support position, if the motor is turned off, the horizontal connecting rod is supported by the telescopic head. At this time, the lifting body does not need additional power to stay.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention discloses a single-drive self-locking lifting device and a method for using the same, wherein the single-drive self-locking lifting device comprises a shell, a lifting mechanism and a self-locking support mechanism, a base frame is arranged on the lifting mechanism, the lifting mechanism is arranged on the back shell, and the self-locking support mechanism is arranged on the lifting mechanism, wherein the lifting mechanism can control the rise and fall of the base frame, and the self-locking support mechanism can enable the flexible continuum robot to maintain a working state at a certain specific height, and work at the specific height without providing additional support force, and without consuming additional electric energy, thereby reducing the energy consumption of the flexible continuum robot when in use. The single-drive self-locking lifting device and the method for using the same disclosed by the present invention can not only realize the lifting and lowering of the flexible continuum robot at any time according to the application scenario, but also can maintain working at these specific heights when it is lifted to a certain specific height, and reduce energy consumption, thereby greatly enriching the application scenarios of human-computer interaction and improving its applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the structure of the flexible continuum robot provided in Embodiment 1 and Embodiment 2 of the present invention;

[0030] Figure 2 An overall three-dimensional stereogram of the bending section provided in Example 1 of the present invention;

[0031] Figure 3 An exploded view of the bending section provided in Example 1 of the present invention;

[0032] Figure 4 A front view of a connecting member provided in Example 1 of the present invention;

[0033] Figure 5 A three-dimensional diagram of a connecting structure provided in Example 1 of the present invention;

[0034] Figure 6 A front view of the middle structural section provided in Example 1 of the present invention;

[0035] Figure 7 A three-dimensional diagram of the middle structural section provided in Example 1 of the present invention;

[0036] Figure 8 A transverse cross-sectional view of the bending link chain provided in Embodiment 1 and Embodiment 2 of the present invention;

[0037] Fig. 9This is an elevation view of the lifting mechanism and the self-locking support mechanism provided in Example 3 of the present invention;

[0038] Fig.10 A front view of the lifting mechanism and the self-locking support mechanism provided in Example 3 of the present invention;

[0039] Fig.11 A working principle diagram of a self-locking support mechanism provided in Example 3 of the present invention, wherein the working states of the self-locking support mechanism are: (a) low position, (b) support position, (c) high position 1, (d) high position 2, (e) high position 3, and (f) disengaged position;

[0040] Fig.12 A three-dimensional back view of the wearable human-machine interactive robot system provided in Example 5 of the present invention;

[0041] Fig.13 A back view of the wearable human-machine interactive robot system provided in Example 5 of the present invention;

[0042] Fig.14 A schematic diagram of the internal structure of a wearable human-machine interactive robot system provided in Example 5 of the present invention;

[0043] Fig.15 This is a schematic diagram of the wearable human-machine interactive robot system provided in Example 5 of the present invention when in use.

[0044] Explanation of reference numerals: 1-flexible continuum robot, 2-flexible continuum, 11-first steering gear unit, 12-second steering gear unit, 13-base frame, 14-camera and voice device, 15-traction line; 21-head end joint seat, 22-tail end joint seat, 30-arc track groove, 31-connecting structure section, 32-middle structure section, 33-lead shaft, 311-connecting hole in the front-back direction, 312-connecting hole in the left-right direction, 313-upper arc transition zone, 314-lower arc transition zone; A-left connecting hole, B-right connecting hole Hole, C-front connecting hole, D-rear connecting hole; 321-front fan plate, 322-rear fan plate, 323-left fan plate, 324-right fan plate, 150-threading hole; 4-shell, 40-shoulder strap, 41-left end hole, 42-right end hole, 43-transverse channel; 50-bearing seat, 51-motor, 521-active pair, 522-driven pair, 523-horizontal connecting rod; 61-vertical connecting rod, 62-guide block, 63-left fixed seat, 631-telescopic support block, 630-telescopic head, 64-right fixed seat. DETAILED DESCRIPTION

[0045] The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0046] The present invention provides a single-drive self-locking lifting device and a method for using the same. In order to solve the problem that the current continuum robot cannot be lifted and lowered at any time according to the application scenario, first, the flexible continuum robot is arranged on a base frame, and the motor of the lifting mechanism drives the base frame to rotate in the shell to realize the rise or fall of the flexible continuum robot. The flexible continuum robot is analyzed to present multiple working states in the process of the base frame making circular motion, and then some working states can be locked by the self-locking support mechanism. In the working state of the specific height of the support position, no additional support force is required, and no additional electric energy is consumed, which reduces the energy consumption of the flexible continuum robot when in use, not only improves the posture and position control of the flexible continuum, solves the problem of the flexible continuum robot staying at a certain specific height with the lowest energy consumption, but also greatly enriches the application scenarios of human-machine interaction and improves its applicability. The single-drive self-locking lifting device and the method for using the same disclosed by the present invention can be applied to the application scenarios of human-machine interaction of the flexible continuum robot, and can also be extended to other scenarios where the height needs to be lifted and lowered and some states with lower energy consumption are selected to achieve the stay work.

[0047] Example 1: A flexible continuum

[0048] Embodiment 1 provides a flexible continuum, and its structure is described in detail below with reference to the accompanying drawings.

[0049] refer to Figure 1 The flexible continuum 2 is also called a flexible arm. The flexible continuum 2 includes a head end node seat 21, a plurality of bending nodes, a tail end node seat 22 and at least two traction lines 15. The plurality of bending nodes are nested and connected to form a bending node chain. The head end node seat 21 and the tail end node seat 22 are respectively fixed at the two ends of the bending node chain. The traction line 15 shuttles back and forth, left and right of the plurality of bending nodes in turn, and ties all the bending nodes of the bending node chain together.

[0050] Specifically, refer to Figure 2 and Figure 3 Each bending node includes two connecting node parts 31 , one middle node part 32 and six lead shafts 33 .

[0051] refer to Figure 4 and Figure 5 The front and rear ends of the upper part of each connecting structure section 31 are respectively protruded upwards and a pair of connecting holes 311 in the front-to-back direction are provided at the highest point of the protrusion. The left and right ends of the lower part of each connecting structure section 31 are respectively protruded downwards and a pair of connecting holes 312 in the left-to-right direction are provided at the lowest point of the protrusion. The center lines of the pair of connecting holes 311 in the front-to-back direction and the pair of connecting holes 312 in the left-to-right direction are perpendicular to each other in space.

[0052] refer to Figure 6 and Figure 7 An upper arc transition zone 313 is formed between a pair of connecting holes 311 in the front-to-back direction at the upper part of each connecting structural section 31, and a lower arc transition zone 314 is formed between a pair of connecting holes 312 in the left-to-right direction at the lower part of each connecting structural section 31; the front and rear ends of the upper part of the middle structural section 32 are respectively raised upward to form a front fan plate 321 and a rear fan plate 322, and the outer end surfaces of the front fan plate 321 and the rear fan plate 322 of the middle structural section 32 are set as arc surfaces, and the front fan plate 321 and the rear fan plate 322 of the middle structural section 32 are respectively raised upward to form a front fan plate 321 and a rear fan plate 322 of the middle structural section 32. The arc surface of the outer end of the rear fan plate 322 matches with the lower arc transition zone 314 of the connecting structure section 31 located above, and the left and right ends of the lower part of the middle structure section 32 protrude downward respectively to form the left fan plate 323 and the right fan plate 324; the outer end surfaces of the left fan plate 323 and the right fan plate 324 of the middle structure section 32 are set as arc surfaces, and the arc surfaces of the outer ends of the left fan plate 323 and the right fan plate 324 of the middle structure section 32 match with the upper arc transition zone 313 of the connecting structure section 31 located below.

[0053] Continue to refer Figure 2 and Figure 3 The left and right side surfaces of the middle structural section 32 are respectively provided with a left connecting hole A and a right connecting hole B, and the front and rear side surfaces are respectively provided with a front connecting hole C and a rear connecting hole D. The left connecting hole A, the right connecting hole B, the front connecting hole C and the rear connecting hole D are located on the same horizontal plane, and the left connecting hole A and the right connecting hole B are located on the same straight line, the front connecting hole C and the rear connecting hole D are located on the same straight line, and the straight line where the left connecting hole A and the right connecting hole B are located is perpendicular to the straight line where the front connecting hole C and the rear connecting hole D are located.

[0054] Each of the left connection hole A, the right connection hole B, the front connection hole C and the rear connection hole D of each intermediate structural section 32 is respectively provided with a lead shaft 33, and a threading hole 150 is provided at the outer end of each lead shaft 33 to facilitate the insertion of the traction wire 15 into the lead shaft 33. Figure 8 shown.

[0055] The front, rear, left and right sides of each connecting joint 31 between a pair of connecting holes 311 in the front-to-back direction and a pair of connecting holes 312 in the left-to-right direction are respectively provided with arc track grooves 30, such as Figures 2 to 5 shown.

[0056] The two connecting structural sections 31 are respectively provided with the upper and lower ends of the middle structural section 32 to form a bending structural section, wherein the left connecting hole A and the right connecting hole B of the middle structural section 32 are respectively pivotally connected with a pair of left-right connecting holes 312 of the upper connecting structural section 31 by inserting the lead shaft 33, and the front connecting hole C and the rear connecting hole D of the middle structural section 32 are respectively pivotally connected with a pair of front-back connecting holes 311 of the lower connecting structural section 31 by inserting the lead shaft 33, so that the two connecting structural sections 31 and the middle structural section 32 are pivotally connected together to form the bending structural section;

[0057] Two adjacent bending segments are pivotally connected and nested with each other through an intermediate segment portion 32, wherein a pair of left-right connection holes 312 of the lower connection segment portion 31 of the upper bending segment are pivotally connected with the left connection hole A and the right connection hole B of the intermediate segment portion 32 by inserting a lead shaft 33, respectively; a pair of front-to-back connection holes 311 of the upper connection segment portion 31 of the lower bending segment are pivotally connected with the front connection hole C and the rear connection hole D of the intermediate segment portion 32 by inserting a lead shaft 33, respectively; and a lower arc transition area 314 of the connection segment portion 31 below the bending segment is nested with the arc surfaces of the outer ends of the front fan plate 321 and the rear fan plate 322 of the intermediate segment portion 32 of the adjacent bending segment, so as to connect the bending segment with the bending segment below it;

[0058] The upper ends and lower ends of a plurality of the bending segments are connected in sequence by pivoting and nesting to form a bending segment chain.

[0059] Furthermore, the flexible continuum 2 includes four traction lines 15 or two traction lines 15,

[0060] When the flexible continuum 2 includes four pulling wires 15, two pulling wires 15 respectively pass through the threading holes 150 of the lead shaft 33 in a pair of left-right connection holes 312 of the connecting segment 31, and then pass through the arc track grooves 30 on the left and right sides of the connecting segment 31, and finally pass through the threading holes 150 of the lead shaft 33 in the left connection hole A and the right connection hole B of the intermediate segment 32, so as to tie the upper connecting segment 31 and the intermediate segment 32 in the same bending segment together;

[0061] The lead shafts 33 in the left connecting hole A and the right connecting hole B of the middle section 32 of adjacent bending sections and the lead shafts 33 in a pair of left and right connecting holes 312 of the connecting section 31 are alternately arranged to form a left column and a right column of lead shafts, respectively. The two pulling wires 15 continue to shuttle alternately through the left connecting hole A and the right connecting hole B of the middle section 32 between two adjacent bending sections, the arc track grooves 30 on the left and right sides of the connecting section 31, and the threading holes 150 of the lead shafts 33 in a pair of left and right connecting holes 312 of the connecting section 31, to tie the left column and the right column of lead shafts of adjacent bending sections together.

[0062] Similarly, the other two pulling wires 15 are respectively passed through the threading holes 150 of the lead shaft 33 in a pair of front-to-back connection holes 311 of the connecting segment 31, and then respectively passed through the arc track grooves 30 on the front and rear sides of the connecting segment 31, and finally respectively passed through the threading holes 150 of the lead shaft 33 in the front connection hole C and the rear connection hole D of the intermediate segment 32, so as to tie together the lower connecting segment 31 and the intermediate segment 32 in the same bending segment; the front connection hole C and the rear connection hole D of the intermediate segment 32 of the adjacent bending segment The lead shafts 33 and the lead shafts 33 of a pair of front-to-back connecting holes 311 of the connecting segment portion 31 are alternately arranged to form a front row of lead shafts and a rear row of lead shafts, respectively. The two pulling wires 15 continue to shuttle alternately through the front connecting hole C and the rear connecting hole D of the middle segment portion 32 between two adjacent bending segments, the arc track grooves 30 on the front and rear sides of the connecting segment portion 31, and the threading holes 150 of the lead shafts 33 of a pair of front-to-back connecting holes 311 of the connecting segment portion 31, respectively, to tie the front row of lead shafts and the rear row of lead shafts of adjacent bending segments together.

[0063] The lead shafts 33 of several bending segments are passed through the threading holes 150 of the lead shafts 33 in four directions of the left row, the right row, the front row and the rear row of the lead shaft in sequence through four pulling wires 15, so as to tie all the bending segments of the bending segment chain together.

[0064] Furthermore, the two traction lines 15 controlling the front and rear rows of the lead axes of the bending segment chain are combined into one, and the two traction lines 15 controlling the left and right rows of the lead axes of the bending segment chain are combined into one, thereby turning the four traction lines 15 for pulling the movement of several bending segments in the flexible continuum 2 into two traction lines 15.

[0065] Example 2: A flexible continuum robot

[0066] Embodiment 2 provides a flexible continuum robot, including the flexible continuum 2 of embodiment 1, and its structure is described in detail below with reference to the accompanying drawings.

[0067] Continue to refer Figure 1 The flexible continuum robot 1 also includes a first steering gear unit 11, a second steering gear unit 12, a base frame 13 and a camera and voice device 14.

[0068] The video and voice device 14 includes a camera, a microphone and a rotating seat. The camera and the microphone are arranged on the rotating seat, and the camera and the microphone can rotate on the rotating seat, and have two degrees of freedom. The rotating seat of the video and voice device 14 is arranged on the head end joint seat 21 of the flexible continuum 2 to realize information interaction between man and machine.

[0069] The tail end joint 22 of the flexible continuum 2 is arranged on the top plate of the base frame 13;

[0070] The first steering gear group 11 and the second steering gear group 12 both include a steering gear, and a wire wheel is arranged on the output shaft of the steering gear. At least two traction wires 15 are wound around the wire wheel, and the ends of the traction wires 15 are sequentially passed through and tied to all the bending segments of the bending segment chain. The steering gear controls the winding or releasing of the traction wires 15 to adjust the bending degree of the bending segment chain in four directions of front, back, left and right, thereby realizing the posture and position control of the flexible continuum 2, so as to improve the flexibility of information interaction between the camera and voice device 14 and people.

[0071] The base frame 13 is a rectangular frame, including eight columns, a bottom plate, a top plate and an intermediate plate, wherein the bottom plate, the intermediate plate and the top plate are arranged in parallel from bottom to top to divide the base frame 13 into two layers, and four parallel columns are arranged between each layer to support the rectangular frame, so as to divide the rectangular frame into two parts to form an upper frame part and a lower frame part;

[0072] The first steering gear unit 11 and the second steering gear unit 12 are respectively disposed in the upper frame portion and the lower frame portion.

[0073] Specifically, the first servo gear group 11 and the second servo gear group 12 respectively include a servo, and a wire wheel is arranged on the output shaft of each servo, and the middle parts of the two traction wires 15 are wound around the wire wheel, and the two ends of the traction wires 15 are respectively passed through and tied to the threading holes 150 of the four rows of lead shafts 33 of the bending segment chain in sequence, wherein the two ends of the same traction wire 15 are respectively tied to the threading holes 150 of the left row and the right row of lead shafts that control the left and right movement or the front row and the rear row of lead shafts that control the forward and backward movement.

[0074] More specifically, when the flexible continuum 2 includes four traction wires 15, the first steering gear group 11 includes a first steering gear and a second steering gear, the second steering gear group 12 includes a third steering gear and a fourth steering gear, and a wire wheel is provided on the output shafts of the first steering gear, the second steering gear, the third steering gear and the fourth steering gear, and one end of the four traction wires 15 is wound around the wire wheel, and the other ends of two traction wires 15 are passed through the threading holes 150 of the lead shafts 33 of the left and right rows of the lead shafts of the bending and turning segment chain, and the other ends of the other two traction wires 15 are passed through the threading holes 150 of the lead shafts 33 of the front and rear rows of the lead shafts of the bending and turning segment chain, as shown in FIG. Figure 1 shown.

[0075] In another specific implementation manner, when the flexible continuum 2 includes two traction wires 15, the first servo gear unit 11 includes a servo gear, and the second servo gear unit 12 includes a servo gear. The output shafts of the servos of the first servo gear unit 11 and the second servo gear unit 12 are provided with wire wheels, and the middle parts of the two traction wires 15 are wound around the wire wheels. The two ends of one traction wire 15 are passed through the threading holes 150 of the lead shafts 33 in the left and right columns of the lead shafts of the bending and turning segment chain, and the two ends of the other traction wire 15 are passed through the threading holes 150 of the lead shafts 33 in the front and rear columns of the lead shafts of the bending and turning segment chain, wherein the two ends of the same traction wire 15 are respectively tied to the threading holes 150 of the two lead shafts 33 located in the same column, as shown in FIG. Figure 8 shown.

[0076] During the movement of the video and audio device 14, the output shaft of the servo rotates to control the winding length and the releasing length of the traction line 15. During the movement of each degree of freedom, it is necessary to ensure that the length of the line to be taken up is equal to the length of the line to be released. Here, the length of the line to be taken up and the length of the line to be released can be controlled by two servos respectively. The length of the line to be taken up and the length of the line to be released can be ensured to be equal to the length of the line to be released by one servo, and the number of servos can be reduced. Therefore, the present invention drives the four degrees of freedom of the flexible continuum 2 by four servos, and does not require eight servos, so as to realize the posture and position control of the flexible continuum 2, so as to improve the flexibility of information interaction between the video and audio device 14 and people.

[0077] Example 3: A single-drive self-locking lifting device

[0078] Embodiment 3 provides a single-drive self-locking lifting device for controlling the lifting and lowering of the flexible continuum robot 1 of Embodiment 2. The structure thereof is described in detail below in conjunction with the accompanying drawings.

[0079] The single-drive self-locking lifting device includes a housing 4, a lifting mechanism and a self-locking support mechanism, a base frame 13 is arranged on the lifting mechanism, the lifting mechanism is arranged on the back housing 4, and the self-locking support mechanism is arranged on the lifting mechanism. The lifting mechanism can control the rise and fall of the base frame 13, and the self-locking support mechanism can make the flexible continuum robot 1 maintain a specific working state at a specific height and then work after self-locking and staying. When in the working state of the specific height of the support position, no additional support force is required, and no additional electric energy is consumed, which reduces the energy consumption of the flexible continuum robot 1 when in use.

[0080] The shell 4 has a left hole 41 and a right hole 42 at both ends of the upper portion thereof, respectively, to provide a window for the flexible continuum 2 to extend out of the video and audio device 14 , and a transverse passage 43 is left between the left hole 41 and the right hole 42 .

[0081] refer to Fig. 9 and Fig.10 The lifting mechanism includes a bearing seat 50, a motor 51, an active pair 521, a driven pair 522 and a horizontal connecting rod 523.

[0082] The bearing seat 50 is fixed inside the housing 4 and is located in the middle of the transverse channel 43.

[0083] The motor 51 is arranged in the bearing seat 50, and the output shaft of the motor 51 is fixedly connected to the power input end of the active pair 521, the power output end of the active pair 521 is fixed to the left end of the horizontal connecting rod 523, and the two ends of the driven pair 522 are respectively connected to the bearing seat 50 and the right end of the horizontal connecting rod 523, and the active pair 521 and the driven pair 522 are parallel to each other, thereby forming a parallel four-bar linkage;

[0084] A bearing is provided at the connection between the driven pair 522 and the bearing seat 50;

[0085] The base frame 13 is fixedly connected to the horizontal connecting rod 523 and is used to set the object to be lifted. Specifically, the object to be lifted is a flexible continuous body 2, and the tail end seat 22 of the flexible continuous body 2 is set on the top plate of the base frame 13.

[0086] When the motor 51 is started, the motor 51 drives the active pair 521 to rotate, and then drives the horizontal connecting rod 523 and the base frame 13 to make a circular motion along the inner wall edge of the shell 4, thereby realizing the rise or fall of the flexible continuum 2. When the base frame 13 moves to the leftmost end or the rightmost end, the base frame 13 is respectively located at the left end hole 41 or the right end hole 42, and the flexible continuum 2 can extend from the left end hole 41 or the right end hole 42.

[0087] The use of a parallel four-bar linkage mechanism to realize the motor 51 driving and controlling the lifting and lowering of the flexible continuum 2 helps to maintain stability to fix the posture, requires fewer drives, and is simple in transmission.

[0088] When the base frame 13 stays in the high position, the motor 51 needs to continuously output power to overcome gravity and other external loads, which will continuously consume electrical energy.

[0089] Continue to refer Fig. 9 and Fig.10 The self-locking support mechanism includes a vertical connecting rod 61, a guide block 62, a left fixing seat 63 and a right fixing seat 64.

[0090] The left fixing seat 63 and the right fixing seat 64 are respectively fixed inside the housing 4 and located at two ends of the transverse channel 43;

[0091] The vertical connecting rod 61 is fixed to the bottom surface of the horizontal connecting rod 523, and a slide groove is provided in the vertical connecting rod 61, and the guide block 62 is provided in the slide groove and can slide freely up and down in the slide groove;

[0092] A telescopic support block 631 is provided in the left fixed seat 63 and the right fixed seat 64. A telescopic head 630 is provided in the telescopic support block 631. A spring is provided between the telescopic head 630 and the telescopic support block 631. The telescopic head 630 can freely extend and retract in the horizontal direction; that is, when the telescopic head 630 is under pressure, the telescopic head 630 contracts inwardly, and when the external force disappears, the telescopic head 630 extends.

[0093] Specifically, one end of the telescopic head 630 used for contacting the guide block 62 is set as a lower inclined surface, and one end of the guide block 62 used for contacting the telescopic head 630 is set as an arc surface, the arc surface faces downward, and the end surface of the horizontal connecting rod 523 facing the telescopic head 630 is set as an upper inclined surface, and the upper inclined surface of the horizontal connecting rod 523 is matched with the inclined surface of the telescopic head 630;

[0094] When the motor 51 drives the horizontal connecting rod 523 and the vertical connecting rod 61 to rotate to the left fixed seat 63 or the right fixed seat 64 through the active pair 521 and the driven pair 522, the lower inclined surface of the telescopic head 630 contacts the arc surface of the guide block 62 or the upper inclined surface of the horizontal connecting rod 523.

[0095] The working principle of the unlockable support mechanism is described in detail below based on the contact process.

[0096] First, refer to Fig.11The self-locking support mechanism mainly experiences the following working states: a, low position; b, support position; c, high position 1; d, high position 2; e, high position 3; f, disengaged position. The low position refers to the position where the horizontal connecting rod 523 is lower than the telescopic head 630 and the guide block 62 is at the lowest position in the slide groove of the vertical connecting rod 61; the support position refers to the position where the bottom surface of the horizontal connecting rod 523 touches the upper surface of the telescopic head 630. High position 1, high position 2, and high position 3 refer to three states in the process of continuing to rise from the support position to the falling position, all of which are high positions, among which high position 1 refers to the state when the arc tip of the guide block 62 just touches the lower inclined tip of the telescopic head 630; high position 2 refers to the state after the arc tip of the guide block 62 passes over the lower inclined tip of the telescopic head 630, before the vertical connecting rod 61 moves in an arc to the highest point and the lower inclined surface of the telescopic head 630 keeps in contact with the arc tip of the guide block 62; high position 3 refers to the state when the guide block 62 reaches the highest point in the slide groove of the vertical connecting rod 61 and the arc surface of the telescopic head 630 and the guide block 62 are just about to fall off. The falling position refers to the state when the horizontal connecting rod 523 is lower than the telescopic head 630 and the guide block 62 is at the highest point of the slide groove in the vertical connecting rod 61.

[0097] The working principle of the unlockable support mechanism is:

[0098] First, the horizontal connecting rod 523 is gradually raised from a low position, and the telescopic head 630 is compressed and contracted during the raising process;

[0099] The horizontal connecting rod 523 continues to rise until the telescopic head 630 is fully extended from the telescopic support block 631, and the bottom surface of the horizontal connecting rod 523 touches the upper surface of the telescopic head 630 to reach the supporting position. At this time, the horizontal connecting rod 523 can be supported by the telescopic head 630;

[0100] At this time, the flexible continuum 2 can be maintained continuously, that is, when in the support position, the flexible continuum 2 does not need additional support force to present the action, does not need to consume additional electric energy, reduces energy consumption, and improves endurance;

[0101] When the flexible continuum 2 needs to continue to rise or fall, it needs to continue to rise from the support position, and then pass through the high position 1, the high position 2, the high position 3 and finally reach the separation position to achieve support separation.

[0102] The flexible continuum 2 starts to rise from the support position to a certain height and reaches the high position 1, at which time the guide block 62 just contacts the telescopic head 630;

[0103] The horizontal connecting rod 523 continues to rise, and the telescopic head 630 is compressed back to avoid interfering with the movement of the guide block 62;

[0104] When the horizontal connecting rod 523 rises to the high 2 position, it stops rising and starts to descend. During the descent, the guide block 62 is forced to rise along the slide groove in the vertical connecting rod 61 until it reaches the highest position of the slide groove, and the horizontal connecting rod 523 reaches the high 3 position;

[0105] The horizontal connecting rod 523 continues to descend, and the telescopic head 630 is compressed back to eliminate the motion interference during the descending process.

[0106] The self-locking support mechanism can avoid adding additional electronic control components and electrical controls, achieve high-position support, reduce system energy consumption, and improve system endurance.

[0107] Example 4: A method for using a single-drive self-locking lifting device

[0108] Embodiment 4 provides a method for using a single-drive self-locking lifting device, using the self-locking support mechanism provided in Embodiment 3. Assuming that before the motor 51 is started, the self-locking support mechanism is in a low position, that is, the horizontal connecting rod 523 is lower than the telescopic head 630 and the guide block 62 is at the lowest position of the slide groove in the vertical connecting rod 61, the method for using the single-drive self-locking lifting device includes the following steps:

[0109] Start the motor 51, the motor 51 drives the active pair 521 and the driven pair 522 to rotate, and then drives the horizontal connecting rod 523 and the vertical connecting rod 61 to do an upward arc movement, the horizontal connecting rod 523 gradually rises from a low position, the vertical connecting rod 61 rotates to the left fixed seat 63 or the right fixed seat 64, the horizontal connecting rod 523 touches the telescopic head 630 of the telescopic support block 631 of the left fixed seat 63 or the right fixed seat 64 upward, the telescopic head 630 is compressed and retracted inward, the horizontal connecting rod 523 passes over the telescopic head 630 of the telescopic support block 631, until the bottom surface of the horizontal connecting rod 523 touches the upper surface of the telescopic head 630, and the self-locking support mechanism reaches the support position;

[0110] The horizontal connecting rod 523 keeps moving in an upward arc until the tip of the arc surface of the guide block 62 just touches the tip of the lower inclined surface of the telescopic head 630, and the self-locking support mechanism reaches the high position 1 to avoid the movement interference between the telescopic head 630 and the guide block 62;

[0111] The guide block 62 continues to rise from the high position 1, and the guide block 62 passes over the telescopic head 630 until the vertical connecting rod 61 makes an upward arc motion and stops rising when it reaches the highest point of the arc motion. At this time, the lower inclined surface of the telescopic head 630 keeps in contact with the arc surface tip of the guide block 62, and the self-locking support mechanism reaches the high position 2;

[0112] The horizontal connecting rod 523 starts to descend by making a downward arc motion, and the guide block 62 is forced to rise along the slide groove in the vertical connecting rod 61 until it reaches the highest point of the slide groove, and at the same time, the arc surface of the block 62 gradually moves away from the telescopic head 630, until the telescopic head 630 and the arc surface of the guide block 62 are about to fall off and contact, and the self-locking support mechanism reaches the high 3 position;

[0113] The horizontal connecting rod 523 continues to make a downward arc movement, wherein the guide block 62 is maintained at the highest position of the slide slot in the vertical connecting rod 61, until the horizontal connecting rod 523 is lower than the telescopic head 630, and the telescopic head 630 is no longer interfering with the movement of the guide block 62 during the descending process, and the self-locking support mechanism reaches the disengagement position;

[0114] The horizontal connecting rod 523 continues to make a downward arc motion until it reaches the lowest point of the arc motion, the motor 51 is turned off, and the guide block 62 begins to slide down at the highest point of the slide groove in the vertical connecting rod 61 under the action of gravity until the guide block 62 slides to the lowest point in the slide groove of the vertical connecting rod 61 and returns to the low position of the self-locking support mechanism.

[0115] Among them, when the self-locking support mechanism reaches the support position, if the motor 51 is turned off, the horizontal connecting rod 523 is supported by the telescopic head 630, and the object to be lifted does not need to provide additional power to achieve the stop. Specifically, the object to be lifted is a flexible continuous body 2, that is, when the flexible continuous body 2 stays at the support position, it does not need to consume additional electric energy, which reduces energy consumption, improves endurance, and avoids adding additional electric control components and electrical controls.

[0116] Embodiment 5: A wearable human-machine interactive robot system

[0117] Example 5 provides a wearable human-machine interactive robot system, including the flexible continuum robot 1 of Example 2 and the single-drive self-locking lifting device in Example 3. Its structure is described in detail below with reference to the accompanying drawings.

[0118] refer to Figure 12 to Figure 14 The housing 4 of the single-drive self-locking lifting device of the wearable human-machine interactive robot system is a backpack housing, and two straps 10 are arranged on the back of the housing 4 for carrying on the back of a human body during human-machine interaction. The human body wears the wearable human-machine interactive robot system through the two straps 10 of the housing 4. Fig.15 shown.

[0119] The base frame 13 moves in a circular motion along the inner wall edge of the shell 4 to realize the process of the flexible continuum 2 rising or falling. Among them, the self-locking support mechanism helps to reduce the energy consumption of the wearable human-machine interactive robot system.

[0120] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A single-drive self-locking lifting device, characterized in that: include: A housing (4) having a transverse passage (43) therein; A lifting mechanism, comprising a bearing seat (50), a motor (51), an active pair (521) and a horizontal connecting rod (523), wherein the bearing seat (50) is fixed inside the housing (4) and located in the middle of the transverse channel (43), the motor (51) is arranged in the bearing seat (50), and the output shaft of the motor (51) is fixedly connected to the power input end of the active pair (521), the power output end of the active pair (521) is fixed to the end of the horizontal connecting rod (523), and a base frame (13) is arranged on the horizontal connecting rod (523), and the base frame (13) is used to arrange the object to be lifted; A self-locking support mechanism is provided on the lifting mechanism, which can make the object to be lifted to stay at a certain height by self-locking; The self-locking support mechanism comprises a vertical connecting rod (61), a guide block (62), a left fixing seat (63) and a right fixing seat (64). The left fixing seat (63) and the right fixing seat (64) are respectively fixed inside the shell (4) and are located at two ends of the transverse channel (43); The vertical connecting rod (61) is fixed to the bottom surface of the horizontal connecting rod (523), and a slide groove is provided in the vertical connecting rod (61), and the guide block (62) is provided in the slide groove and can slide freely up and down in the slide groove; A telescopic support block (631) is provided in each of the left fixing seat (63) and the right fixing seat (64), and a telescopic head (630) is provided in each of the telescopic support blocks (631); One end of the telescopic head (630) used for contacting the guide block (62) is arranged as a lower inclined surface, one end of the guide block (62) used for contacting the telescopic head (630) is arranged as an arc surface, and the arc surface faces downward, and the end surface of the horizontal connecting rod (523) facing the telescopic head (630) is arranged as an upper inclined surface, and the upper inclined surface of the horizontal connecting rod (523) fits with the lower inclined surface of the telescopic head (630); When the motor (51) drives the horizontal connecting rod (523) and the vertical connecting rod (61) to rotate to the left fixed seat (63) or the right fixed seat (64) through the active pair (521) and the driven pair (522), the lower inclined surface of the telescopic head (630) contacts the arc surface of the guide block (62) or the upper inclined surface of the horizontal connecting rod (523).

2. The single-drive self-locking lifting device according to claim 1, characterized in that: The upper ends of the shell (4) are respectively provided with a left end hole (41) and a right end hole (42), and a transverse channel (43) is left between the left end hole (41) and the right end hole (42); When the motor (51) is working, the motor (51) drives the active pair (521) to rotate, thereby driving the horizontal connecting rod (523) and the base frame (13) to perform circular motion along the inner wall edge of the shell (4), thereby achieving the rise or fall of the base frame (13). When the base frame (13) moves to the leftmost end or the rightmost end of the shell (4), the base frame (13) is located at the left end hole (41) or the right end hole (42), respectively, so that the object to be lifted on the base frame (13) extends out from the left end hole (41) or the right end hole (42), respectively.

3. The single-drive self-locking lifting device according to claim 2, characterized in that: The lifting mechanism further comprises a driven pair (522), the two ends of which are respectively connected to the bearing seat (50) and the other end of the horizontal connecting rod (523), and the driven pair (522) and the active pair (521) are parallel to each other, thereby forming a parallel four-bar linkage mechanism.

4. The single-drive self-locking lifting device according to claim 3, characterized in that: A bearing is provided at the connection between the driven pair (522) and the bearing seat (50).

5. The single-drive self-locking lifting device according to claim 4, characterized in that: A spring is provided between the telescopic head (630) and the telescopic support block (631), and the telescopic head (630) can freely telescope in a horizontal direction.

6. The single-drive self-locking lifting device according to claim 2, characterized in that: The base frame (13) is a rectangular frame, comprising eight columns, a bottom plate, a top plate and an intermediate plate, wherein the bottom plate, the intermediate plate and the top plate are arranged in parallel from bottom to top to divide the base frame (13) into two layers, and four mutually parallel columns are arranged between each layer to support the rectangular frame, so as to divide the rectangular frame into two parts to form an upper frame part and a lower frame part; The top plate of the base frame (13) is used to set the object to be lifted.

7. A method for using the single-drive self-locking lifting device according to claim 1, characterized in that: include: The motor (51) is started, and the motor (51) drives the active pair (521) and the driven pair (522) to rotate, thereby driving the horizontal connecting rod (523) and the vertical connecting rod (61) to move in an upward arc, the horizontal connecting rod (523) gradually rises from a low position, the vertical connecting rod (61) rotates to the left fixed seat (63) or the right fixed seat (64), the horizontal connecting rod (523) touches the telescopic head (630) of the telescopic support block (631) of the left fixed seat (63) or the right fixed seat (64) upward, the telescopic head (630) is compressed and retracts inward, the horizontal connecting rod (523) passes over the telescopic head (630) of the telescopic support block (631), until the bottom surface of the horizontal connecting rod (523) touches the upper surface of the telescopic head (630), and the self-locking support mechanism reaches the support position; The horizontal connecting rod (523) keeps moving in an upward arc until the tip of the arc surface of the guide block (62) just touches the tip of the lower inclined surface of the telescopic head (630), and the self-locking support mechanism reaches the high position 1, thereby avoiding the movement interference between the telescopic head (630) and the guide block (62); The guide block (62) continues to rise from the high position 1, and the guide block (62) passes over the telescopic head (630), until the vertical connecting rod (61) moves in an upward arc until it reaches the highest point of the arc movement and stops rising. At this time, the lower inclined surface of the telescopic head (630) keeps in contact with the arc surface tip of the guide block (62), and the self-locking support mechanism reaches the high position 2; The horizontal connecting rod (523) starts to descend by making a downward arc motion, and the guide block (62) is forced to rise along the slide groove in the vertical connecting rod (61) until it reaches the highest point of the slide groove, and at the same time, the arc surface of the block (62) gradually moves away from the telescopic head (630) until the telescopic head (630) and the arc surface of the guide block (62) are about to fall off and contact, and the self-locking support mechanism reaches the third high position; The horizontal connecting rod (523) continues to make a downward arc movement, wherein the guide block (62) is maintained at the highest position of the slide groove in the vertical connecting rod (61), until the horizontal connecting rod (523) is lower than the telescopic head (630), and the movement interference of the telescopic head (630) on the guide block (62) during the descending process is released, and the self-locking support mechanism reaches the disengagement position; The horizontal connecting rod (523) continues to make a downward arc motion until it reaches the lowest point of the arc motion, the motor (51) is turned off, and the guide block (62) starts to slide down at the highest point of the slide groove in the vertical connecting rod (61) under the action of gravity until the guide block (62) slides to the lowest point in the slide groove of the vertical connecting rod (61) and returns to the low position of the self-locking support mechanism; When the self-locking support mechanism reaches the support position, if the motor (51) is turned off, the horizontal connecting rod (523) is supported by the telescopic head (630), and the object to be lifted does not need to be provided with additional power to stop.

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