A fork-spring type double-core continuum robot unit and robot

Abstract

The present disclosure discloses a fork-spring-type double-core continuum robot, comprising: a driving device, which includes a plurality of driving units, and is used to drive the continuum robot through a driving cable so that the continuum robot performs a bending movement; a continuum robotic arm, which is connected to the driving device through a driving cable, and the continuum robotic arm includes M-segment joints, and adjacent joints can be deflected, and the continuum robotic arm performs a bending movement under the drive of the driving device; a feed screw module, which is placed at the bottom of the driving device, and the feed screw module has a predetermined feed slide along the feeding direction, so that the driving device feeds within the predetermined slide.

Description

Technical Field

[0001] The present disclosure belongs to the field of robotics technology, and in particular relates to a fork-spring-type double-core-column continuum robot unit and a robot. Background Art

[0002] Although traditional continuum robots with a single-core structure have good compliance, they often suffer from problems such as easy torsion, instability, and low load capacity, resulting in relatively poor motion reliability. Although the design based on a dual-core structure has improved the continuum robot's torsional resistance, stability, and load capacity to a certain extent, as the aspect ratio increases, the above problems still exist, and this has a significant impact on the motion accuracy of the continuum robot. Although continuum robots based on rigid joints such as cross universal joints have significantly improved motion accuracy, torsional resistance, and load capacity compared to continuum robots with flexible joints, the rigid joints limit the compliance and flexibility of such continuum robots, as well as their ability to adapt to narrow and confined spaces.

[0003] Compared with traditional industrial robots, continuum robots have shown important application value in pipeline detection, minimally invasive surgery, aeroengine inspection, post-earthquake search and rescue and other fields due to their unique flexibility and compliance. However, continuum robots also have the contradiction between flexibility and rigidity. Therefore, it is necessary to design a continuum robot that has both flexibility and anti-torsion ability. Summary of the Invention

[0004] In response to the deficiencies in the prior art, the purpose of the present invention is to provide a fork-spring-type dual-core-column continuum robot. By introducing the auxiliary design of cross springs, it can play an auxiliary guiding role in the bending of the dual-core-column structure, greatly improving the anti-twisting ability of the robot arm.

[0005] In order to achieve the above objectives, the present disclosure provides the following technical solutions:

[0006] A cross-spring type double-core continuum robot comprising:

[0007] A driving device, configured to drive the continuum robot via a driving cable so that the continuum robot performs a bending motion;

[0008] A continuum robotic arm connected to a drive device via a drive cable, the continuum robotic arm comprising at least one single-segment robotic arm structure, each single-segment robotic arm structure comprising M joints, adjacent joints being deflectable, and the continuum robotic arm performing bending motion under the drive of the drive device;

[0009] The feed screw module is placed at the bottom of the driving device. The feed screw module has a predetermined feed slide along the feeding direction, so that the driving device can feed within the predetermined slide.

[0010] Preferably, each joint segment includes N sequentially connected continuum robotic arm modules with the same structure.

[0011] Preferably, each continuum robotic arm module comprises a metal ring member and a flexible rod.

[0012] Preferably, a flexible rod blind hole is provided on the metal ring component.

[0013] Preferably, cross springs are provided on both sides of the metal ring component.

[0014] Preferably, the metal ring component is a hollow structure.

[0015] Preferably, the flexible rod is made of superelastic nickel-titanium shape memory alloy.

[0016] Preferably, the metal ring component is further provided with a cable through hole, and the driving cable passes through the cable through hole to transmit traction force to the metal ring component to deflect the joint.

[0017] Preferably, the screw module includes a screw, a slider slidably connected to the screw, and a screw motor for driving the screw.

[0018] Preferably, the feed screw module includes a drive motor, a ball screw and a feed slide.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. By introducing the auxiliary design of cross springs, it plays an auxiliary guiding role in the bending of the double-core column structure, greatly improving the anti-twisting ability of the robot arm.

[0021] 2. The disclosed structure is miniaturized, compact and reasonable in layout, and has scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of a cross-spring type double-core continuum robot provided by one embodiment of the present disclosure;

[0023] Figure 2 yes Figure 1 A schematic diagram of the structure of the continuum manipulator in the robot shown;

[0024] Figure 3 yes Figure 2 The schematic diagram of the structure of a single-segment robotic arm in the continuum robotic arm shown;

[0025] Figure 4 yes Figure 3 Schematic diagram of the metal ring in the single-segment robotic arm shown;

[0026] Figure 5 is a structural schematic diagram of a single-segment robotic arm provided by another embodiment of the present disclosure;

[0027] Figure 6 yes Figure 5 Schematic diagram of the C-shaped cross spring in the single-segment robotic arm shown;

[0028] The symbols in the accompanying drawings are described as follows:

[0029] 1-driving device; 2-continuum robot arm; 3-feed screw module; 4-hollow conical connector; 5-single-section robot arm structure; 6-continuum robot arm module; 7-metal ring component; 8-set screw; 9-integrated cross-shaped structure cross spring; 10-round head screw; 11-flexible rod; 12-cable through hole; 13-flexible rod blind hole; 14-boss beveled surface; 15-boss; 16-flexible rod threaded hole; 17-cross spring threaded hole; 18-C-type structure cross spring. DETAILED DESCRIPTION

[0030] The following will refer to the attached Figures 1 to 6 Specific embodiments of the present disclosure are described in detail. Although specific embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0031] It should be noted that certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that technicians may use different nouns to refer to the same component. This specification and claims do not use the difference in nouns as a way to distinguish components, but use the difference in the functions of the components as the criterion for distinction. As mentioned throughout the specification and claims, "including" or "comprising" is an open term, so it should be interpreted as "including but not limited to". The subsequent description of the specification is a preferred embodiment of the present disclosure, but the description is based on the general principles of the specification and is not used to limit the scope of the present disclosure. The scope of protection of the present disclosure shall be as defined by the attached claims.

[0032] To facilitate understanding of the embodiments of the present disclosure, further explanation will be given below using specific embodiments as examples in conjunction with the accompanying drawings, and the accompanying drawings do not constitute a limitation on the embodiments of the present disclosure.

[0033] In one embodiment, if Figure 1As shown, the present disclosure provides a cross-spring type double-core column continuum robot, comprising:

[0034] The driving device 1 is used to drive the continuum robot through a driving cable so that the continuum robot performs bending motion.

[0035] A continuum robotic arm 2 is connected to the robot body via a hollow conical connector 4 and is connected to a drive device 1 via a drive cable. The continuum robotic arm 2 includes at least one single-segment robotic arm structure 5, each of which includes M joints, with adjacent joints capable of deflection. The continuum robotic arm 2 performs bending motions driven by the drive device 1.

[0036] The feed screw module 3 is placed at the bottom of the driving device 1. The feed screw module 3 has a predetermined feed slide along the feeding direction, so that the driving device 1 can feed within the predetermined slide.

[0037] The robot described in the above embodiment is assembled from modules with the same structure, has a compact structure and a uniform layout, can minimize friction to the greatest extent, improve driving efficiency, and thus realize the bending movement of the continuum robot.

[0038] In another embodiment, Figure 2 As shown, each joint segment includes N sequentially connected continuum robotic arm modules with the same structure.

[0039] In another embodiment, Figure 3 As shown, each continuum robot arm module 6 includes a metal ring member 7 and a flexible rod 11 .

[0040] In this embodiment, the metal ring component 7 includes an upper metal ring and a lower metal ring. The upper and lower surfaces of the upper metal ring and the upper and lower surfaces of the lower metal ring are both provided with flexible rod blind holes. The flexible rod is fixed to the upper and lower metal rings through the flexible rod blind holes on the lower surface of the upper metal ring and the upper surface of the lower metal ring. In addition, the side surfaces of the upper and lower metal rings are both provided with bosses 15, wherein the bosses on the opposite sides of the upper or lower metal ring are arranged in the same direction, and the bosses on the adjacent sides are arranged in opposite directions. A flexible rod threaded hole 16 is opened on the side of each boss, and the flexible rod is fastened in the threaded hole by a set screw 8. Preferably, the size of the flexible rod threaded hole 16 is M2×3.6, and the set screw 8 is a hexagon socket flat-point set screw, and the specific model is GB / T 77-2000.

[0041] In another embodiment, a flexible rod blind hole is provided on the metal ring component.

[0042] In this embodiment, the upper and lower surfaces of the upper metal ring are provided with 2×2 groups of staggered flexible rod blind holes 13, and the center lines of these two groups of flexible rod blind holes 13 are 90°; similarly, the upper and lower surfaces of the lower metal ring are provided with 2×2 groups of staggered flexible rod blind holes 13, and the center lines of these two groups of flexible rod blind holes 13 are 90, and the flexible rod blind holes on the lower surface of the upper metal ring are corresponding to the flexible rod blind holes on the upper surface of the lower metal ring, and the flexible rods are fixed to the upper metal ring and the lower metal ring through the corresponding flexible rod blind holes. By staggering the flexible rod blind holes, the two pairs of flexible rods located adjacent to each other on the upper and lower surfaces of each metal ring are staggered, forming a staggered dual-core column structure. This in turn causes the planes in which the bending directions of the upper and lower adjacent flexible rods intersect, creating an antagonistic effect between them. This makes it easier for the two pairs of flexible rods to bend in a direction perpendicular to the plane in which the flexible rod columns are located. This is equivalent to increasing the bending stiffness of a single-core column structure (i.e., only one pair of flexible rods is provided). A single-core column structure can bend in any direction 360° in space, making it easy for twisting to occur during bending. In short, the dual-core column structure can significantly reduce the twisting of the continuum robot arm around the central axis compared to the single-core column structure.

[0043] In another embodiment, Figure 4 As shown, the surface of the metal ring component is further provided with a cable through hole 12, and the driving cable passes through the cable through hole to transmit traction to the metal ring component to deflect the joint.

[0044] In this embodiment, the cable through holes are arranged circumferentially on the surface of the metal ring, and the number is not less than 20. The driving cable connects the robotic arm to the driving device through the cable through the cable through holes. Under the drive of the driving device, the bending movement of the continuum robotic arm is achieved by stretching the driving cable.

[0045] In another embodiment, Figure 5 、 Figure 6 As shown, cross springs are provided on both sides of the metal ring component.

[0046] In this embodiment, each boss is provided with a boss bevel 14 on both sides, and each boss bevel 14 is provided with a cross spring threaded hole 17. The four ends of the cross spring are provided with holes, two of which are fixed to the boss of the upper metal ring with the boss bevel facing the lower metal ring by round head screws 10, and the other two ends are fixed to the boss of the lower metal ring with the boss bevel facing the upper metal ring by round head screws 10 (i.e., the boss bevels of the bosses on the upper and lower metal rings are opposite), thereby making the cross springs on both sides of the metal ring component symmetrically distributed. This design makes the metal ring component composed of the upper and lower metal rings achieve the most stable state. If the cross spring is fixed to the boss with the boss bevel facing away (i.e., the boss bevel on the upper metal ring faces away from the boss of the lower metal ring and the boss bevel on the lower metal ring faces away from the boss of the upper metal ring), the cross spring needs to be bent to be fixed to the boss, which increases the processing difficulty and is prone to breakage. Alternatively, if one set of cross springs is placed on the bosses with opposing bevels, and the other set is placed on the bosses with opposing bevels, this will result in an asymmetrical distribution of the cross springs on both sides. This will cause the cross springs to twist to one side during arm bending, making them more susceptible to breakage. Therefore, symmetrical placement of the cross springs on bosses with opposing bevels is the best option.

[0047] It should be noted that by symmetrically arranging cross-leaf springs on the boss, the torsion of the continuum robot arm around the central axis can be further improved. This is because the spring leaf is a thin rectangular parallelepiped. Due to the cross-sectional moment of inertia, the spring leaf is more likely to bend toward the side with a smaller cross-sectional moment of inertia. However, if the placement of a single spring leaf is consistent with the placement of the flexible rod, distortion problems are also likely to occur. Therefore, a cross-sectional arrangement of two spring leaves is used. At the same time, the arrangement of the spring leaf forms a certain angle with the arrangement of the flexible rod, which can ensure that the spring leaf bends along the bending plane of the flexible rod. At the same time, when the continuum robot arm is twisted, this layout is equivalent to applying a torque to the non-bending side of the spring leaf. Since the cross-sectional moment of inertia of the non-bending side is larger, it is not easy to bend, thereby reducing the torsion of the spring leaf itself, thereby improving the torsion resistance of the continuum robot arm.

[0048] It should be noted that the cross spring used in this embodiment generally adopts an integrated cross-shaped cross spring. As an improvement, it can also be used as follows Figure 5 The separated C-shaped cross spring 18 shown can avoid the possibility of the cross spring breaking near the center point of the cross compared to the integrated cross structure, thereby increasing the service life of the cross spring and ensuring the safety of the robot arm.

[0049] In another embodiment, the metal ring component is a hollow structure.

[0050] In this embodiment, both the upper metal ring and the lower metal ring adopt a hollow structure design, which can reduce the overall weight of the continuum robotic arm, so that the robotic arm can perform bending movements more flexibly under the drive of the driving device.

[0051] In another embodiment, the flexible rod 11 is made of superelastic nickel-titanium shape memory alloy.

[0052] In another embodiment, the driving device includes a plurality of driving units, and the plurality of driving units are arranged in a ring shape on the front and rear fixing plates.

[0053] In this embodiment, each drive unit includes a support plate having a horizontal section and a first section and a second section extending from both ends of the support section approximately perpendicular to the support ends, the first section being connected to the front plate, and the second section being connected to the rear plate. Each drive unit also includes a screw module fixed to the support section, the screw module including a screw, a slider slidably connected to the screw, and a screw motor for driving the screw. An L-shaped plate is fixed to the slider, and a wire lock is fixed to the L-shaped plate. The wire lock is connected to one end of a wire rope, and the other end of the wire rope passes through evenly distributed through holes on the front plate and is connected to the continuum robot arm.

[0054] In another embodiment, the feed screw module includes a drive motor, a ball screw and a feed slide.

[0055] In this embodiment, the feed slide slides along the ball screw driven by the drive motor, thereby driving the drive device to slide to control the feed movement of the continuum robotic arm. Through the movement of the drive device, the extension and retraction of the wire rope is controlled, and the force is transferred to the continuum robotic arm to control the continuum robotic arm to perform bending movement.

[0056] Industrial Applicability

[0057] The cross-spring type double-core-column continuum robot disclosed in the present invention can be manufactured and used in the field of robotics.

[0058] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0059] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A cross-spring type double-core continuum robot comprising: A driving device, configured to drive the continuum robot via a driving cable so that the continuum robot performs a bending motion; A continuum robotic arm connected to a drive device via a drive cable, the continuum robotic arm comprising at least one single-segment robotic arm structure, each single-segment robotic arm structure comprising M joints, adjacent joints being deflectable, and the continuum robotic arm performing bending motion under the drive of the drive device; A feed screw module is placed at the bottom of the driving device, and the feed screw module has a predetermined feed slide along the feeding direction, so that the driving device can feed within the predetermined slide; in, Each continuum robotic arm module includes a metal ring member and a flexible rod; The metal ring component is provided with a flexible rod blind hole; Cross springs are provided on both sides of the metal ring component; By staggering the flexible rod blind holes, two pairs of flexible rods located adjacent to each other on the upper and lower surfaces of each metal ring are arranged in a staggered manner, thereby forming a staggered dual-core column structure. Furthermore, the planes in which the bending directions of the upper and lower adjacent flexible rods lie intertwined, creating an antagonistic effect between them, making it easier for the two pairs of flexible rods to bend in a direction perpendicular to the plane in which the flexible rod columns lie. The dual-core column structure reduces the torsion of the continuum robotic arm around the central axis compared to the single-core column structure. Bosses are provided on the sides of the upper metal ring and the lower metal ring; Boss chamfered surfaces are provided on both sides of each boss; The cross springs are symmetrically arranged on the bosses opposite to the beveled surfaces of the bosses; By symmetrically arranging cross springs on the boss, the torsion of the continuum robot arm around the central axis is improved; the springs are thin rectangular parallelepipeds; The two springs are arranged crosswise, and the arrangement of the springs forms a certain angle with the arrangement of the flexible rod, ensuring that the springs bend along the bending plane of the flexible rod. At the same time, when the continuum robot arm twists, this layout is equivalent to applying a torque to the non-bending side of the spring. Since the cross-sectional moment of inertia of the non-bending side is larger, it is not easy to bend, thereby reducing the torsion of the spring itself and improving the torsional resistance of the continuum robot arm.

2. The robot according to claim 1, wherein: Each joint segment consists of N sequentially connected continuum robotic arm modules with the same structure.

3. The robot according to claim 1, wherein: The metal ring component is a hollow structure.

4. The robot according to claim 1, wherein: The flexible rod is made of superelastic nickel-titanium shape memory alloy.

5. The robot according to claim 1, wherein: The metal ring component is also provided with a cable through hole, and the driving cable passes through the cable through hole to transmit traction to the metal ring component to deflect the joint.

6. The robot according to claim 1, wherein: The driving device includes a plurality of driving units, and the plurality of driving units are arranged in a ring shape on the front and rear fixing plates.

7. The robot according to claim 1, wherein: The feed screw module includes a drive motor, a ball screw and a feed slide.

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