A bearing-type double-core continuum robot

Abstract

The present disclosure discloses a bearing-type double-core continuum robot, comprising: a driving device for driving a continuum robot arm through a driving cable so that the continuum robot arm performs a bending motion; a continuum robot arm, which is connected to the driving device through a driving cable, the continuum robot arm includes M-segment joints, adjacent joints can be deflected, and the continuum robot arm performs a bending motion under the drive of the driving device; a feed screw module, which 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 feeds within the predetermined slide. The above-mentioned continuum robot greatly improves the anti-twisting ability of the robot arm by adopting a rigid-flexible coupling method, and innovatively introduces the design of micro-bearings, avoiding the adverse effects caused by friction between traditional rigid hinges, greatly improving the compliance performance of the robot arm, while maintaining the miniaturization of the structure.

Description

Technical Field

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

[0002] Aircraft engines are the heart of aircraft, and their safety and reliability are a focus of the global aviation industry. Rapid and efficient in-situ inspection and maintenance of key aircraft engine components are crucial to ensuring engine safety and reliability. In recent years, the "robot + autonomous intelligence" engine internal structure inspection model has been gradually adopted by major aviation giants and has become a hotly contested competition within the industry. The development of an inspection robot suitable for aircraft engine internal structures is its core technology, and the structural design of the continuum robotic arm is also a key component of the inspection robot.

[0003] Conventional flexible continuum manipulators with a single-core structure often suffer from problems such as torsion and instability. Flexible continuum manipulators with a dual-core structure overcome torsion issues to a certain extent, but twisting persists as the aspect ratio and load increase. Rigid continuum manipulators with a cross-gimbal structure, while significantly increasing their rigidity and positioning accuracy, suffer from relatively poor compliance and adaptability to the confined spaces within aircraft engines. Consequently, all of these structures suffer from significant drawbacks, to varying degrees. Summary of the Invention

[0004] In response to the deficiencies in the prior art, the purpose of the present disclosure is to provide a bearing-type dual-core continuum robot. By introducing a micro-bearing design, the present disclosure can avoid the adverse effects caused by friction between traditional rigid hinges and greatly improve the compliance performance of the robotic arm.

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

[0006] A bearing-type double-core continuum robot, comprising:

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

[0008] A continuum robotic arm connected to a drive device via a drive cable, the continuum robotic arm 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 robot arm module comprises a metal ring.

[0012] Preferably, both the upper surface and the lower surface of the metal ring are provided with beveled groove surfaces.

[0013] Preferably, earrings are symmetrically arranged on the upper surface of the metal ring.

[0014] Preferably, the lower surface of the metal ring is symmetrically provided with shoulders.

[0015] Preferably, grooves are evenly arranged on the side surfaces of the metal ring.

[0016] Preferably, bosses are symmetrically arranged on the outer side of the earring.

[0017] Preferably, 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.

[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. The present invention greatly improves the anti-twisting ability of the robotic arm by adopting a rigid-flexible coupling method.

[0021] 2. In the present disclosure, the two adjacent metal rings have symmetrical beveled groove surfaces, which can be physically locked after contacting each other, thereby limiting the movement of the robotic arm. This can not only protect the flexible rod from excessive yield deformation, but also enable the robotic arm to have a larger load capacity.

[0022] 3. The present invention innovatively introduces the design of micro bearings, which avoids the adverse effects caused by friction between traditional rigid hinges, greatly improves the compliance performance of the robotic arm, while maintaining the miniaturization of the structure.

[0023] 4. The robot disclosed in the present invention has the characteristics of miniaturized structure, compact and reasonable layout, and scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic structural diagram of a bearing-type double-core continuum robot provided by one embodiment of the present disclosure;

[0025] Figure 2 yes Figure 1 Schematic diagram of the structure of the continuum robot arm;

[0026] Figure 3 yes Figure 2 Schematic diagram of the structure of the continuum robot module;

[0027] Figure 4 yes Figure 3 Schematic diagram of the structure of the metal ring;

[0028] Figure 5 yes Figure 3 A schematic diagram of the structure of another metal ring;

[0029] Figure 6 yes Figure 3 A schematic diagram of the structure of another metal ring;

[0030] Figure 7 yes Figure 6 Schematic diagram of the structure of the metal hoop without earrings and independent earrings;

[0031] The symbols in the accompanying drawings are described as follows:

[0032] 1-driving device; 2-continuum robot arm; 3-feed screw module; 4-hollow conical connector; 5-robot arm base; 6-first section of continuum robot arm structure; 7-second section of continuum robot arm structure; 8-flexible rod; 9-miniature bearing; 10-pin; 11-metal ring; 12-setting screw; 13-arc-shaped bevel groove; 14-cable through hole; 15-earring; 16-blind hole; 17-threaded hole; 18-shoulder; 19-bevel groove surface; 20-groove; 21-weight-reducing bevel groove; 22-boss; 23-earringless metal ring; 24-independent earring; 25-earring setting screw; 26-earring mounting groove; 27-lateral through hole; 28-tapered through hole. DETAILED DESCRIPTION

[0033] The following will refer to the attached Figures 1 to 7 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.

[0034] 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.

[0035] 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.

[0036] In one embodiment, if Figure 1 As shown, the present disclosure provides a bearing-type double-core continuum robot, comprising:

[0037] A driving device 1, configured to drive the continuum robotic arm 2 via a driving cable so that the continuum robotic arm 2 performs a bending motion;

[0038] A continuum robotic arm 2 is connected to the robot body via a hollow conical connector 4 and is connected to the drive device 1 via a drive cable. The continuum robotic arm 2 comprises at least two sections of continuum robotic arm structures. The continuum robotic arm performs bending motions when driven by the drive device.

[0039] 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.

[0040] 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 realize bending movement of the continuum robot.

[0041] In another embodiment, Figure 2 As shown, exemplarily, the continuum robotic arm includes a first section of continuum robotic arm structure 6 and a second section of continuum robotic arm structure 7, each section of the structure includes M sections of joints, and each section of the joint includes N continuum robotic arm modules that are connected in sequence and have the same structure.

[0042] In another embodiment, Figure 3 As shown, each continuum robot arm module includes a metal ring 11 .

[0043] In this embodiment, blind holes 16 are symmetrically provided on both the upper and lower surfaces of the metal rings. Flexible rods 8 are inserted into the blind holes 16 to connect two adjacent metal rings. Furthermore, the blind holes on the upper surface of the metal ring are staggered with the blind holes on the lower surface, and the connecting line between the two symmetrically provided blind holes on the upper surface is perpendicular to the connecting line between the two symmetrically provided blind holes on the lower surface. Superelastic nickel-titanium memory alloy flexible rods are inserted into the blind holes to secure the two adjacent metal rings. Threaded holes 17 are provided on the four cylindrical side surfaces corresponding to the metal rings and the blind holes. Set screws 12 are screwed into the threaded holes 17 to secure the flexible rods. Preferably, the threaded hole 17 has a size of M2×2, and the set screw 12 is a hexagon socket flat-point set screw, specifically model GB / T77-2000.

[0044] It should be noted that the blind holes adopt an staggered layout, so that the two pairs of flexible rods adjacent to the upper and lower surfaces of the metal ring are staggered, thereby forming a staggered double-core column structure, and then the planes where the bending directions of the upper and lower adjacent flexible rods are located are staggered with each other. Compared with the structure using a single flexible rod, the torsion of the continuum robotic arm around the central axis can be greatly reduced.

[0045] In another embodiment, Figure 3 、 Figure 4 As shown, the upper surface and the lower surface of the metal ring are both provided with beveled groove surfaces 19 , the beveled groove surfaces 19 are provided with cable through holes 14 , and beveled grooves are provided between adjacent beveled groove surfaces.

[0046] In this embodiment, Figure 4 As shown, the upper and lower surfaces of the metal ring are each provided with four beveled grooves, with a bevel groove provided between two adjacent beveled grooves on each surface. The beveled grooves include two symmetrically arranged circular arc-shaped beveled grooves 13 and two symmetrically arranged weight-reducing beveled grooves 21, with blind holes located on the circular arc-shaped beveled grooves. The provision of beveled grooves not only reduces weight but also facilitates processing. If beveled grooves were omitted and a flat surface were used instead, the surface roughness of this portion would affect the contact between the two metal rings. If the beveled surfaces of the beveled grooves already come into contact due to protrusions, while the beveled surfaces of the threading holes on either side do not, this would affect the bending angle of the joint.

[0047] Furthermore, the two arc-shaped bevel grooves on the upper surface of the metal ring are staggered with the two arc-shaped bevel grooves on the lower surface, and the two weight-reducing bevel grooves on the upper surface of the metal ring are staggered with the two weight-reducing bevel grooves on the lower surface. By staggering the bevel grooves, the blind holes on the upper surface of the metal ring and the blind holes on the lower surface can be staggered.

[0048] In addition, each bevel groove surface is provided with a group of cable through holes 14, the number of the through holes decreasing from the outside to the inside, and the driving cable passes through the cable through holes to manipulate the robotic arm to perform bending motion.

[0049] It's important to note that the number of through-holes decreases from the outside to the inside because the outer radius of the metal ring is larger, allowing for more cable holes. However, as the inner radius decreases, the same number of holes cannot be arranged with the same spacing between holes, resulting in a decrease in the number of holes. The minimum distance between cable holes in the outer ring is approximately 0.29mm. If the spacing is smaller, the wall thickness between the two holes will be too thin, hindering cable penetration.

[0050] In another embodiment, Figure 4 As shown, an earring 15 is provided on the upper surface of the metal ring.

[0051] In this embodiment, earrings 15 are symmetrically positioned relative to the circular arc-shaped bevel groove on the upper surface of a metal ring (denoted as metal ring A). A micro-bearing 9 is symmetrically positioned on the outer side of the earring. The symmetrically arranged earrings and micro-bearing are connected by a pin 10, allowing the micro-bearing to fall into the circular arc-shaped bevel groove. (It should be noted that a gap is left between the outer ring of the micro-bearing and the circular arc-shaped bevel groove, and the two do not contact each other.) Adding another metal ring (denoted as metal ring B) to the metal ring with the micro-bearing creates a bendable joint. At this time, the outer ring of the micro-bearing contacts the circular arc-shaped bevel groove on the lower surface of metal ring B. When the joint bends, the outer ring of the micro-bearing remains stationary relative to the circular arc-shaped bevel groove on the upper surface of metal ring A and the circular arc-shaped bevel groove on the lower surface of metal ring B (the rotating axis is the inner ring of the bearing), thereby reducing friction between the metal rings of the robotic arm.

[0052] By setting up micro bearings, the adverse effects caused by friction between traditional rigid hinges can be avoided, and the friction between metal rings can be minimized to the greatest extent, which greatly improves the flexibility of the robotic arm while maintaining the miniaturization of the overall structure.

[0053] In another embodiment, Figure 4 As shown, the lower surface of the metal ring is symmetrically provided with bosses 18 for clamping the miniature bearing.

[0054] In this embodiment, bosses 18 are symmetrically provided on the arc-shaped bevel groove on the lower surface of the metal ring. The bosses 18 and the earrings 15 on the upper surface of the metal ring are arranged alternately. The bosses 18 can firmly fix the micro bearing 9 on the metal ring.

[0055] In another embodiment, Figures 3 to 7 As shown, grooves 20 are evenly arranged on the side surface of the metal ring.

[0056] In this embodiment, Figure 4As shown, four grooves 20 are evenly arranged on the cylindrical side of the metal ring to reduce the weight of the metal ring and thus improve the bending flexibility of the robot arm.

[0057] In another embodiment, bosses 22 are symmetrically provided on the outer side of the earring.

[0058] In this embodiment, in addition to the pins as described above, bosses can also be symmetrically arranged on the earrings to connect the micro bearings. The specific arrangement is as follows: Figure 5 As shown, by using a boss instead of a pin, the mass of the robotic arm can be further reduced to a certain extent, and the overall structure of the metal ring can be made more integrated.

[0059] In another embodiment, the micro bearing is located inside or outside the earring flexible rod.

[0060] In this embodiment, there are two ways to install the micro bearing. First, Figure 3 In the embodiment shown, the micro bearing is located inside the flexible rod; secondly, as shown in FIG. Figure 6 As shown, the micro bearing is located outside the flexible rod. Placing the micro bearing outside the flexible rod can facilitate the installation of the independent earring 24 and the earring-free metal ring 23. Figure 7 In the embodiment, the arc-shaped bevel groove 13 of the metal ring without earrings 23 is provided with an earring mounting groove 26, and a lateral through hole 27 is provided at the groove 20. Conical through holes 28 are provided on both sides of the independent earrings 24. The independent earrings 24 are mounted on the metal ring without earrings 23 via earring set screws 25. If the miniature bearing 9 is mounted on the inner side of the flexible rod 8, then Figure 7 The independent earring 24 in the design will not be able to be fastened to the non-earring metal ring 23; at the same time, the external mounting method also provides greater resistance to twisting. Furthermore, the independent earring 24 and the non-earring metal ring 23 are not integrally formed, but are two separate parts secured by set screws. This separate design facilitates machining. If the non-earring metal ring 23 and the independent earring 24 were integrally formed, while eliminating the need for earring fastening, machining would be extremely difficult, or even impossible.

[0061] 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.

[0062] 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.

[0063] In another embodiment, the feed screw module includes a drive motor, a ball screw and a feed slide.

[0064] 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.

[0065] Industrial Applicability

[0066] The bearing-type double-core continuum robot module and the robot disclosed in the present invention can be manufactured and used in the field of robotics.

[0067] 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.

[0068] 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 bearing-type double-core continuum robot, comprising: A driving device, configured to drive the continuum robotic arm via a driving cable so that the continuum robotic arm performs a bending motion; A continuum robotic arm connected to a drive device via a drive cable, the continuum robotic arm comprising M joints, adjacent joints being deflectable, and the continuum robotic arm performing bending motion under the drive of the drive device; Each joint segment includes N continuum robotic arm modules that are connected in sequence and have the same structure. Each continuum robotic arm module includes a metal ring. The upper and lower surfaces of the metal ring are symmetrically provided with blind holes. Flexible rods are inserted into the blind holes to connect two adjacent metal rings. In addition, the blind holes on the upper surface of the metal ring are staggered with the blind holes on the lower surface. The connecting line between the two symmetrically arranged blind holes on the upper surface is perpendicular to the connecting line between the two symmetrically arranged blind holes on the lower surface. Super-elastic nickel-titanium memory alloy flexible rods are inserted into the blind holes to fix the two adjacent metal rings. In addition, threaded holes are respectively provided on the four cylindrical side surfaces corresponding to the metal rings and the blind holes. The flexible rods are fixed by screwing set screws into the threaded holes. The upper and lower surfaces of the metal ring are both provided with beveled groove surfaces, and beveled grooves are provided between adjacent beveled groove surfaces. The beveled grooves include two symmetrically arranged circular arc beveled grooves and two symmetrically arranged weight-reducing beveled grooves. The two circular arc beveled grooves on the upper surface of the metal ring and the two circular arc beveled grooves on the lower surface are staggered, and the two weight-reducing beveled grooves on the upper surface of the metal ring and the two weight-reducing beveled grooves on the lower surface are staggered. Each beveled groove surface is provided with a group of cable through holes, and the number of through holes decreases from the outside to the inside. Earrings are symmetrically arranged relative to the arc-shaped bevel groove on the upper surface of metal ring A. Micro bearings are symmetrically arranged on the outer sides of the earrings. The symmetrically arranged earrings and micro bearings are connected by pins, so that the micro bearings fall into the arc-shaped bevel groove. Metal ring B is added to the metal ring with the micro bearing to form a bendable joint. The outer ring of the micro bearing contacts the arc-shaped bevel groove on the lower surface of metal ring B. 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.

2. The robot according to claim 1, wherein: Grooves are evenly arranged on the side surfaces of the metal ring.

3. The robot according to claim 1, wherein: Bosses are symmetrically arranged on the outer sides of the earrings.

4. 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.

5. 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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