A storage device for a continuous type mechanical arm

Abstract

The present invention discloses a storage device for a continuous type mechanical arm, and relates to the field of robots. It comprises a control component; the control component comprises a mounting frame, a control wheel group is arranged on the mounting frame, the control wheel group comprises a driving wheel and a driven wheel, the driving wheel and the driven wheel are parallel and located in the same horizontal plane, and the driving shaft of the driving wheel is connected to a transmission motor; the surfaces of the driving wheel and the driven wheel are both provided with a rubber layer for increasing friction; the driven wheel is connected to the mounting frame through an adaptive clamping structure, and the adaptive clamping structure drives the driven wheel to move in a direction perpendicular to the driving shaft. The present invention ensures that the power system of the continuous type mechanical arm itself will not be restricted by the storage system by controlling the driving wheel and the driven wheel of the wheel group under the action of the adaptive clamping structure, and can be used more flexibly, and the continuous type mechanical arm parts will not be damaged.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a storage device for a continuous type robot arm. Background Art

[0002] Super-redundant robots have attracted widespread attention due to their flexibility and ability to adapt to complex working environments. They have since been further developed into trunk-like robots or snake-like robots with continuous deformation capabilities, which are called multi-link continuum robots, or continuum robots or continuum manipulators in academia. When a continuum manipulator is working, it is often necessary to achieve axial feeding of the robot end to the work target, and controllable axial length is also very important. Therefore, how to store a "thin" and "long" continuum robot in a small space and achieve controllable extended length has become an urgent problem to be solved.

[0003] There is no storage device for the continuous robotic arm in the prior art. Since the structure of the continuous robotic arm is similar to a linear structure, there is currently a method of using a winder to store the continuous robotic arm. The winder usually winds the cable through a winding wheel to achieve cable storage. This storage method is more practical for cables; however, the continuous robotic arm has a larger diameter than the cable, and some continuous robotic arms are composed of small rigid body segments with a shorter length. Although the continuous robotic arm can be stored, when the winder is stored, the winding shaft and the continuous robotic arm itself cooperate to drag the rigid body that has not been wound, so that the power system of the continuous robotic arm itself is easily stretched to the maximum. When the continuous robotic arm has been wound on the winding shaft, the work of the continuous robotic arm's own power system is likely to cause damage to the robotic arm parts. In addition, due to the randomness of the winding position of the winder, the retraction and extension time of the continuous robot arm is also random, resulting in the randomness of the retraction and extension zero point and the retraction and extension length of the continuous robot arm. It is not easy to control the retraction and extension of the continuous robot arm by controlling the winder. In addition, in order to ensure the smooth winding of the continuous robot arm, the axis of the winding shaft cannot be set too small, making it difficult to flexibly set the storage space, and the volume and area occupied in the axial direction and cross-section of the winding shaft are large. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a stable and reliable storage device for a continuous type robotic arm.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0006] Provided is a storage device for a continuous type robot arm, comprising a control assembly; the control assembly comprises a mounting frame, a control wheel set is arranged on the mounting frame, the control wheel set comprises a driving wheel and a driven wheel, the driving wheel and the driven wheel are parallel and located in the same horizontal plane, a driving shaft of the driving wheel is connected to a transmission motor; the surfaces of the driving wheel and the driven wheel are both provided with a rubber layer for increasing friction;

[0007] The driven wheel is connected to the mounting frame through an adaptive clamping structure, and the adaptive clamping structure drives the driven wheel to move in a direction perpendicular to the driving shaft;

[0008] The top and bottom ends of the installation frame are both provided with openings for the continuous type robot arm to pass through; the opening at the top of the installation frame is connected with a storage bin, and the storage bin is slidably matched with the continuous type robot arm.

[0009] Furthermore, there are several control wheel groups, and the several control wheel groups are arranged at intervals in the vertical direction, and the distance between the center points of two adjacent control wheel groups is d sh ∈[∆ l , 0.8 l ri ], where ∆ l is the gap length between adjacent rigid bodies of the continuous manipulator; l ri is the rigid body length of the continuous robot arm.

[0010] Furthermore, the adaptive clamping structure includes a horizontally arranged sliding shaft, the sliding shaft is located outside the mounting frame, a support plate is arranged on the mounting frame, and an opening is opened on the support plate to slide with the sliding shaft; a clamping force spring is sleeved on the sliding shaft;

[0011] The mounting frame is provided with a slide groove that is slidably matched with the driven shaft; the driven shaft of the driven wheel passes through the slide groove and is fixedly connected with the slide shaft through a connecting piece; the two ends of the clamping force spring are respectively in contact with the support plate and the connecting piece;

[0012] A clamping force adjusting nut is also arranged on the sliding shaft, and the clamping force adjusting nut and the clamping force spring are respectively located on both sides of the supporting plate.

[0013] Furthermore, a stop assembly is provided at the bottom end of the mounting frame, and a trigger structure for triggering the stop assembly is provided at the end of the continuous robotic arm.

[0014] Furthermore, the stop assembly includes a fixed ring and an action ring, and the inner diameters of the fixed ring and the action ring are both greater than or equal to the diameter of the opening; the fixed ring is connected to the mounting frame by bolts, and the action ring and the mounting frame are respectively located on both sides of the fixed ring; a number of springs are provided between the action ring and the fixed ring; a micro switch is provided on the fixed ring, and when the spring is in a contracted state, the upper surface of the action ring triggers the micro switch; a trigger ring with a diameter greater than the inner diameter of the action ring is provided at the end of the continuous robotic arm.

[0015] Furthermore, the centers of the driving wheel and the driven wheel are both provided with curves that fit the rigid body of the continuous robot arm.

[0016] Furthermore, the storage bin is spiral-shaped.

[0017] The beneficial effects of the present invention are:

[0018] The present invention clamps the continuous robotic arm through the driving wheel and the driven wheel of the control wheel group under the action of the adaptive clamping structure, and provides friction through the rubber layer. The driving wheel drives the continuous robotic arm to move under the action of the transmission motor, so that the continuous robotic arm can be stored and retrieved in the storage bin. After the rigid body of the continuous robotic arm passes through the control wheel group, the continuous robotic arm will no longer be restricted by external forces, thereby ensuring that the power system of the continuous robotic arm itself will not be restricted by the storage system, can be used more flexibly, and the parts of the continuous robotic arm will not be damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional structural schematic diagram of the present invention in use;

[0020] Figure 2 It is a schematic diagram of the three-dimensional structure of the control component;

[0021] Figure 3 This is a schematic diagram of the internal structure of the installation frame;

[0022] Figure 4 A schematic diagram of the three-dimensional structure of the stop component.

[0023] Among them, 1. Installation frame; 2. Control wheel group; 21. Driving wheel; 22. Driving shaft; 23. Driven wheel; 24. Driven shaft; 3. Adaptive clamping structure; 31. Sliding shaft; 32. Support plate; 33. Clamping force spring; 34. Clamping force adjustment nut; 4. Storage bin; 41. Storage bin connector; 51. Fixed ring; 52. Action ring; 53. Bolt; 54. Spring; 55. Micro switch; 6. Bracket connector; 7. Bracket; 8. Continuous robotic arm; 81. Trigger ring. DETAILED DESCRIPTION

[0024] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0025] like Figure 1-3 As shown, a storage device for a continuous type robot arm includes a control assembly; the control assembly includes a mounting frame 1, a control wheel set 2 is arranged on the mounting frame 1, and the control wheel set 2 includes a driving wheel 21 and a driven wheel 23, the driving wheel 21 and the driven wheel 23 are parallel and located in the same horizontal plane, the driving shaft 22 of the driving wheel 21 passes through the mounting frame 1 and is connected to a transmission motor, and the driving shaft 22 is slidably matched with the mounting frame 1; the connection between the transmission motor and the driving shaft 22 is the prior art, and the transmission motor is not shown; the surfaces of the driving wheel 21 and the driven wheel 23 are both provided with a rubber layer to increase friction; the centers of the driving wheel 21 and the driven wheel 23 are both provided with a curve that fits the rigid body of the continuous type robot arm 8. A mounting hole is arranged on the side wall of the mounting frame 1, so that the bracket connector 6 is installed by bolts 53, and the control assembly is connected to the bracket 7 through the strip holes on the bracket connector 6 using bolts 53.

[0026] The driven wheel 23 is connected to the mounting frame 1 through the adaptive clamping structure 3, and the adaptive clamping structure 3 drives the driven wheel 23 to move in a direction perpendicular to the driving shaft 22;

[0027] The top and bottom of the mounting frame 1 are both provided with openings for the continuous type robot arm 8 to pass through; the opening at the top of the mounting frame 1 is connected to the storage bin 4 through the storage bin connector 41. The storage bin 4 is slidably matched with the continuous type robot arm 8.

[0028] In order to reduce the manufacturing difficulty and facilitate the disassembly and maintenance of the control wheel group 2, the installation frame 1 is composed of two symmetrical installation frames, and connecting holes are set on the sides of the installation frames. The two installation frames are fixed to form the installation frame 1 by bolts to make the connecting parts cooperate with the connecting holes.

[0029] The storage bin 4 is in a three-dimensional spiral shape. According to actual conditions, the storage bin 4 can also be in a plane spiral shape. The plane spiral storage bin 4 can save volume in the three-dimensional direction, but will increase the plane floor area; the three-dimensional spiral storage bin 4 can save plane floor area, but requires a certain space in the three-dimensional direction.

[0030] There are two control wheel groups 2, and the two control wheel groups 2 are arranged at intervals in the vertical direction. The distance between the center points of the two adjacent control wheel groups 2 is d sh ∈[∆ l, 0.8 l ri ], where ∆ l is the gap length between adjacent rigid bodies of the continuous type robot arm 8; l ri The driving shafts 22 in the two control wheel groups 2 are connected by a coupling, and one transmission motor can provide transmission force to the two control wheel groups 2, which saves costs and reduces the working energy consumption of the storage device.

[0031] The adaptive clamping structure 3 includes a horizontally arranged sliding shaft 31, the sliding shaft 31 is located outside the mounting frame 1, a support plate 32 is arranged on the mounting frame 1, and an opening is opened on the support plate 32 for slidingly cooperating with the sliding shaft 31; a clamping force spring 33 is sleeved on the sliding shaft 31;

[0032] The mounting frame 1 is provided with a slide groove that is slidably matched with the driven shaft 24; the driven shaft 24 of the driven wheel 23 passes through the slide groove and is fixedly connected to the slide shaft 31 through a connecting piece; the two ends of the clamping force spring 33 are respectively in contact with the support plate 32 and the connecting piece;

[0033] A clamping force adjustment nut 34 is also provided on the sliding shaft 31, and the clamping force adjustment nut 34 and the clamping force spring 33 are respectively located on both sides of the support plate 32. Both ends of the driven wheel 23 are provided with adaptive clamping structures 3, and the two adaptive clamping structures 3 enable the driven wheel 23 to move in parallel without jamming.

[0034] A stop assembly is also provided at the bottom end of the mounting frame 1 , and a trigger structure for triggering the stop assembly is provided at the end of the continuous robot arm 8 .

[0035] The stop assembly includes a fixed ring 51 and an action ring 52, and the inner diameters of the fixed ring 51 and the action ring 52 are both greater than or equal to the diameter of the opening; the fixed ring 51 is connected to the mounting frame 1 by bolts 53, and the action ring 52 and the mounting frame 1 are respectively located on both sides of the fixed ring 51; a plurality of springs 54 are provided between the action ring 52 and the fixed ring 51; a micro switch 55 is provided on the fixed ring 51, and when the spring 54 is in a contracted state, the upper surface of the action ring 52 triggers the micro switch 55; a trigger ring 81 with a diameter greater than the inner diameter of the action ring 52 is provided at the end of the continuous robotic arm 8.

[0036] In order to prevent the continuous robot arm 8 from being separated from the control wheel set 2 , a limit ring is provided at the top of the continuous robot arm 8 , and the diameter of the limit ring is larger than the opening diameter of the mounting bracket 7 .

[0037] The use process and working principle of the present invention:

[0038] The continuous type mechanical arm 8 is loaded between the driving wheel 21 and the driven wheel 23 of the control wheel group 2. When the clamping force spring 33 is in a contracted state, the stress of the clamping force spring 33 pushes the sliding shaft 31 toward the driving wheel 21, thereby transmitting to the driven wheel 23, so that the driven shaft 24 of the driven wheel 23 has a driving force in the horizontal direction of the driving wheel 21, so that the driven wheel 23 and the driving wheel 21 clamp the continuous type mechanical arm 8, and the transmission motor works to rotate the driving shaft 22, thereby driving the driving wheel 21 to rotate. Under the action of the rubber layer, the continuous type mechanical arm 8 moves up and down. When the connection between the two rigid bodies of the continuous type mechanical arm 8 passes through the control wheel group 2, the clamping force spring 33 is partially extended, but the clamping force spring 33 is still in a contracted state as a whole, and the driven wheel 23 continues to provide clamping force. At the same time, the setting of the two groups of control wheel groups 2, when the connection between the two rigid bodies passes through one of the control wheel groups 2, there will be no situation where the clamping force is relaxed and the friction of the rubber layer is insufficient to drive the continuous type mechanical arm 8 to move.

[0039] When the end of the continuous robot arm 8 moves upward under the action of the control wheel group 2 until the trigger ring 81 at the end of the continuous robot arm 8 contacts the action ring 52, the transmission motor continues to work, and the trigger ring 81 pushes the action ring 52 upward, thereby triggering the micro switch 55, stopping the transmission motor and completing the storage operation.

Claims

1. A storage device for a continuous type robot arm, characterized in that: The control assembly comprises a mounting frame, a control wheel set is arranged on the mounting frame, the control wheel set comprises a driving wheel and a driven wheel, the driving wheel and the driven wheel are parallel and located in the same horizontal plane, and a driving shaft of the driving wheel is connected to a transmission motor; a rubber layer for increasing friction is arranged on the surfaces of the driving wheel and the driven wheel; The driven wheel is connected to the mounting frame through an adaptive clamping structure, and the adaptive clamping structure drives the driven wheel to move in a direction perpendicular to the driving shaft; The top and bottom ends of the mounting frame are both provided with openings for the continuous type robotic arm to pass through; the opening at the top of the mounting frame is connected to a storage bin, and the storage bin is slidably matched with the continuous type robotic arm; The storage bin is in a spiral shape; the spiral shape is a three-dimensional spiral shape or a flat spiral shape; A stop assembly is also provided at the bottom end of the mounting frame, and a trigger structure for triggering the stop assembly is provided at the end of the continuous type mechanical arm; The stop assembly includes a fixed ring and an action ring, and the inner diameters of the fixed ring and the action ring are both greater than or equal to the diameter of the opening; the fixed ring is connected to the mounting frame by bolts, and the action ring and the mounting frame are respectively located on both sides of the fixed ring; a number of springs are provided between the action ring and the fixed ring; a micro switch is provided on the fixed ring, and when the spring is in a contracted state, the upper surface of the action ring triggers the micro switch; a trigger ring with a diameter greater than the inner diameter of the action ring is provided at the end of the continuous robotic arm.

2. The storage device for the continuous type robot arm according to claim 1, characterized in that: There are several control wheel groups, and the several control wheel groups are arranged at intervals in the vertical direction. The distance d between the center points of two adjacent control wheel groups is sh ∈[∆ l , 0.8 l ri ], where ∆ l is the gap length between adjacent rigid bodies of the continuous manipulator; l ri is the rigid body length of the continuous robot arm.

3. The storage device for the continuous type robot arm according to claim 1, characterized in that: The adaptive clamping structure includes a horizontally arranged sliding shaft, the sliding shaft is located outside the mounting frame, a support plate is arranged on the mounting frame, and an opening is opened on the support plate to slide with the sliding shaft; a clamping force spring is sleeved on the sliding shaft; The mounting frame is provided with a slide groove that is slidably matched with the driven shaft; the driven shaft of the driven wheel passes through the slide groove and is fixedly connected with the slide shaft through a connecting piece; the two ends of the clamping force spring are respectively in contact with the support plate and the connecting piece; A clamping force adjusting nut is also arranged on the sliding shaft, and the clamping force adjusting nut and the clamping force spring are respectively located on both sides of the supporting plate.

4. The storage device for the continuous type robot arm according to claim 1, characterized in that: The centers of the driving wheel and the driven wheel are both provided with curves that fit the rigid body of the continuous type robot arm.

Images