A Quick Mounting Mechanism for Sensors of a Hyper-Redundant Snake-Like Manipulator

Abstract

The present invention discloses a sensor quick - mounting mechanism for a super - redundant snake - shaped robotic arm, which includes an upper support plate, a deviation - indicating level, a set of set screws, an inertial sensor, a connecting column, a camera, a mounting base, a camera transmission circuit board, an elastic detent, a lower support frame, and a lower support plate; the upper support plate is connected to the upper part of the mounting base through the set of set screws; the lower support plate is connected to the lower part of the mounting base through the lower support frame; the inertial sensor is mounted to the middle of the mounting base through the connecting column; the deviation - indicating level, the camera, the camera transmission circuit board, and the elastic detent are installed at the reserved hole positions of the mounting base; the set of set screws can be tightened and loosened, thereby enabling the quick installation and disassembly of the sensor quick - mounting mechanism for the super - redundant snake - shaped robotic arm. The present invention can achieve the stable and quick installation of sensors and cameras.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor quick-change devices, and particularly to a sensor quick-installation mechanism for an ultra-redundant snake-shaped robotic arm. Background Art

[0002] In scenarios of automated production and scientific research practice, various robotic arms including ultra-redundant snake-shaped arms are widely used. During the operation of the robotic arm, in order to collect relevant data and guide the robotic arm to achieve relevant functions, various sensors including inertial sensors, cameras, etc. are often installed on the robotic arm. By using these sensors, data such as the inclination angle, acceleration, and image at the end of the robotic arm can be obtained. However, existing sensors usually lack proper installation for the robotic arm or the installation steps are too cumbersome. For example, sensors usually use multiple groups of screw connections. Disassembling, installing, and replacing sensors require corresponding installation and removal of multiple groups of screws. The installation process is complex, time-consuming, difficult to adjust, and the overall weight is large.

[0003] An ultra-redundant snake-shaped robotic arm is a robotic arm formed by connecting multiple thin-walled metal cylinders end to end and moving through wire traction. It is snake-shaped as a whole and has the characteristics of a large length-diameter ratio and a high degree of motion redundancy. Due to the above characteristics, the end of the ultra-redundant snake-shaped robotic arm is prone to obvious vibrations with unknown directions and magnitudes, which affect the precise positioning and operation of the robotic arm. Therefore, it is necessary to install multiple sensors for sensing vibrations at the end of the robotic arm. However, limited by the inherent properties of the ultra-redundant snake-shaped robotic arm, the installation space for sensors is limited and the load-bearing capacity at the end of the robotic arm is limited. It is difficult to provide enough space for the conventional screw installation method, and the weight of the screws and related accessory connectors is likely to exceed the load-bearing range of the robotic arm when installing multiple sensors. Therefore, a simple and fast installation mechanism for sensors suitable for ultra-redundant snake-shaped robotic arms has not been widely used.

[0004] The utility model patent with the document number CN216846300U proposes a quick-installation inertial sensor device, which fixes the sensor with a U-shaped block and installs it quickly through a dovetail groove. However, this design has few adjustment degrees of freedom and is not convenient for adjusting the position of the sensor. The invention patent with the document number CN110987160A proposes a quick-installation support for a triaxial acceleration sensor for pipelines, which uses 3 groups of set screws to fix the sensor. The structure is simple, but it is difficult to accurately determine the installation position and it is not convenient for the quick and simple installation of the sensor. The utility model patent with the document number CN212692900U proposes a quick-installation structure for a position sensor, which installs the sensor with the help of a pneumatic component. However, this structure is large in size and not suitable for the robotic arm scenario.

[0005] Therefore, those skilled in the art are committed to developing a sensor quick-installation mechanism for ultra-redundant snake-shaped robotic arms to solve the above problems. Summary of the Invention

[0006] In view of the above defects of the prior art, the technical problem to be solved by the present invention is how to achieve rapid and stable installation of sensors, cameras, etc. on a super-redundant snake-shaped robotic arm.

[0007] To achieve the above object, the present invention provides a quick installation mechanism for sensors of a super-redundant snake-shaped robotic arm, which is characterized by comprising an upper support plate, an indicating level, a set screw group, an inertial sensor, a connecting column, a camera, a mounting seat, a camera transmission circuit board, an elastic catch, a lower support frame and a lower support plate; the upper support plate is connected to the upper part of the mounting seat through the set screw group; the lower support plate is connected to the lower part of the mounting seat through the lower support frame; the inertial sensor is installed in the middle of the mounting seat through the connecting column; the indicating level, the camera, the camera transmission circuit board and the elastic catch are installed at the reserved hole positions of the mounting seat; the set screw group can be tightened and loosened, so as to quickly install and disassemble the quick installation mechanism for sensors of the super-redundant snake-shaped robotic arm.

[0008] Further, the set screw group comprises a set screw, a nut and a ball head nut; the set screw is threadedly connected with the ball head nut, so as to connect the set screw group to the mounting seat; the nut is threadedly connected with the set screw, and the outer periphery of the nut is adhesively connected to the upper support plate, so as to connect the upper support plate to the set screw group.

[0009] Further, the number of the set screw groups is 2.

[0010] Further, the number of the connecting columns is 2.

[0011] Further, the indicating level, the camera, the camera transmission circuit board and the elastic catch are adhesively installed at the reserved hole positions of the mounting seat.

[0012] Further, the inertial sensor adopts the Xsens Mti-630 type.

[0013] Further, the camera adopts a small industrial camera.

[0014] Further, the connecting column, the set screw group and the elastic catch use standard parts made of nylon material.

[0015] Further, the indicating level uses a φ5mm plastic bubble level.

[0016] Further, the upper support plate, the lower support plate, the lower support frame and the mounting seat are all manufactured by 3D printing and adopt resin material.

[0017] Compared with traditional methods and devices, the present invention has the following beneficial effects:

[0018] The present invention utilizes the cylindrical and porous structures of the ultra-redundant snake-shaped robotic arm itself to achieve stable and rapid installation of sensors and cameras. It has the advantages of small size, light weight, reducing the load and space occupation of the robotic arm; convenient and fast installation; with a two-fold design of rough positioning and fine positioning, effectively improving the installation accuracy of sensors. The principle is to achieve rapid installation through elastic detent balls; use friction and pressure for fixation to reduce weight; and achieve position adjustment through the design of elastic detent balls and rotating shafts.

[0019] The following will further illustrate the concept, specific structure and technical effects of the present invention in conjunction with the accompanying drawings to fully understand the purpose, features and effects of the present invention. Description of the Drawings

[0020] Figure 1 Schematic diagram of the component composition structure of a preferred embodiment of the present invention;

[0021] Figure 2 Schematic diagram of the overall structure of a preferred embodiment of the present invention;

[0022] Figure 3 Schematic diagram of the structure of the set screw group of a preferred embodiment of the present invention;

[0023] Figure 4 Schematic diagram of the structure of the upper support plate of a preferred embodiment of the present invention;

[0024] Figure 5 Schematic diagram of the overall installation state structure of a preferred embodiment of the present invention.

[0025] Wherein, 1 - upper support plate, 2 - deviation indicating level, 3 - set screw group, 301 - nut, 302 - set screw, 303 - ball nut, 4 - inertial sensor, 5 - connecting column, 6 - camera, 7 - mounting seat, 8 - camera transmission circuit board, 9 - elastic detent ball, 10 - lower support frame, 11 - lower support plate. Detailed Embodiments

[0026] The following introduces multiple preferred embodiments of the present invention with reference to the accompanying drawings of the specification to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0027] In the drawings, components with the same structure are denoted by the same numeral labels, and components with similar structures or functions everywhere are denoted by similar numeral labels. The dimensions and thicknesses of each component shown in the drawings are arbitrarily illustrated, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustration clearer, the thicknesses of some components in the drawings are appropriately exaggerated in some places.

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0029] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "middle", "upper", "lower", "left", "right", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0030] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] As Figure 1 、 Figure 2 shown, this embodiment includes an upper support plate 1, 3 deviation indicating level gauges 2, 2 sets of set screws 3, an inertial sensor 4, 2 connecting columns 5, a camera 6, a mounting base 7, a camera transmission circuit board 8, 2 elastic beads 9, a lower support frame 10, and a lower support plate 11. Among them, as Figure 3As shown in the figure, the set screw group 3 includes a nut 301, a set screw 302, and a ball head nut 303. The upper support plate 1 is connected to the upper part of the mounting base 7 through two set screw groups 3. The lower support plate 11 is connected to the lower part of the mounting base 7 through the lower support frame 10. The inertial sensor 4 is installed in the middle of the mounting base through two connecting columns 5. The deviation indicating level 2, the camera 6, the camera transmission circuit board 8, and the elastic catch 9 are bonded at the reserved hole positions of the mounting base 7 with an adhesive. The set screw 302 and the ball head nut 303 are connected by threads, thereby connecting the set screw group 3 to the mounting base. The nut 301 and the set screw 302 are connected by threads, and the outer periphery of the nut 301 is connected to the upper support plate 1 with an adhesive, thereby realizing the connection between the upper support plate 1 and the set screw group 3.

[0032] An embodiment of the present invention is as Figure 5 shown. The inertial sensor 4 uses the Xsens Mti-630 type. The camera 6 and the camera transmission circuit board 8 use a small industrial camera and its corresponding circuit board. The connecting columns 5, the set screw group 3, and the elastic catch 9 use standard parts made of nylon. The nut 301 is of model M4, the set screw 302 is of model M4*10, and the ball head nut 303 is of model M4. The deviation indicating level 2 uses a φ5mm plastic bubble level. The upper support plate 1, the lower support plate 11, the lower support frame 10, and the mounting base 7 are manufactured by 3D printing with a resin material. The working scenario is at the end of an ultra-redundant snake-like robotic arm. The end is a thin-walled cylinder with an inner diameter of φ55mm, and a plurality of φ10mm round holes are evenly distributed on the surface wall of the cylinder. The present invention is installed in a cylindrical cavity inside the above-mentioned thin-walled cylinder, and the installation and positioning functions of the present invention are realized by using the inner wall of the cylinder and the round holes evenly distributed on the cylinder.

[0033] When the operator assembles the present invention, the mounting base 7 is placed according to Figure 1 shown. After connecting the inertial sensor 4 with the two connecting columns 5, it is placed into the square space in the middle of the mounting base 7, and the connecting columns 5 are connected to the mounting base 7. The two elastic catches 9 are horizontally pushed into the circular holes on the side of the mounting base 7 to complete the connection between the elastic catches 9 and the mounting base 7. The three deviation indicating levels 2 are placed in the grooves above the mounting base 7 and bonded with an adhesive. The camera 6 is stuck in the square groove on the side of the mounting base 7 and bonded with an adhesive. The camera transmission circuit board 8 is snapped into the buckle below the mounting base 7 and bonded with an adhesive. The buckle above the lower support plate 11 is buckled with the buckle below the lower support frame 10 to complete the connection between the two. The buckle above the lower support frame 10 is buckled with the buckle below the mounting base 7 to complete the connection between the lower support frame 10 and the mounting base 7. The nut 301, the set screw 302, and the ball head nut 303 are arranged according to Figure 3Tighten the connections in sequence and direction to form the set screw group 3, and make the set screw 302 pass through the round hole above the mounting seat 7, with the nut 301 and the ball nut 303 located on the upper and lower sides of the round hole of the mounting seat 7 respectively, so as to connect the set screw group 3 with the mounting seat 7. Place the upper support plate 1 above the set screw group 3 to complete the assembly of the present invention.

[0034] After the operator completes the assembly of the present invention according to the above steps, the present invention can be installed and used according to the following steps. First, rotate the set screw 302 to lower the upper support plate 1 to the relaxed position, as Figure 4 (a) Push the mechanism into the cylindrical cavity of the robotic arm, so that the elastic detent 9 engages with the selected round hole on the inner wall of the cylindrical cavity to complete the rough positioning. The user finely adjusts the position and angle of the present invention in the ultra-redundant snake-like robotic arm by observing the deviation indicating level 2 until the bubbles of the level are all located in the middle of the level. At this time, the device has been adjusted to the horizontal position and the fine positioning is completed. At this time, the set screw 302 is exactly opposite to the round hole on the barrel wall of the robotic arm. The operator inserts a tool such as a screwdriver through the round hole and rotates the set screw 302 to raise the upper support plate 1 until it tightly presses against the inner wall of the robotic arm cylinder. At this time, the present invention reaches the tightened state, as Figure 4 (b), and complete the installation of the mechanism. An example of the installation of the present invention on the ultra-redundant snake-like robotic arm is as Figure 5 shown.

[0035] After the above installation is completed, the present invention reaches the following installation state. The present invention is fixedly installed on the inner wall of the robotic arm cylinder through the upper support plate 1, the lower support plate 11 and the elastic detent 9. The elastic detent 9 engages with any round hole on the side wall of the cylindrical cavity of the robotic arm, so as to realize the rapid installation and rough positioning of the mechanism. The precise adjustment of the position of the present invention is realized through the rotating shaft formed between the lower support frame 10 and the lower support plate 11. By tightening the set screw group 3, the upper support plate presses tightly against the inner wall of the robotic arm cylinder upward, and then the upper support plate 1 and the lower support plate 11 press tightly against the inner wall of the robotic arm cylinder by relying on the pressure to realize the further fixed installation of the present invention. At this time, the upper support plate 1, the lower support plate 11 and the elastic detent 9 respectively contact and press tightly against the inner wall of the robotic arm cylinder from different directions of the mechanism to form multiple support points. And a triangular structure is formed between the support points, so as to stably fix the mechanism in the cavity.

[0036] After the above installation is completed, connect the inertial sensor 4, the camera 6 and the camera transmission circuit board 8 in the present invention to the computer through a special data cable, and use the computer to obtain data such as the acceleration, attitude angle, and image at the end of the robotic arm. For the data such as the acceleration, attitude angle, and image obtained at the end of the robotic arm, a sensor fusion algorithm such as the "Visual-Inertial Odometry" algorithm can be used for data processing to obtain the precise motion data at the end of the robotic arm.

[0037] The present invention is not limited to the above-described embodiments. Any other changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principles of the present invention shall be equivalent replacement methods, including but not limited to changes in names, changes in the models and sizes of parts, adjustments to the installation positions or angles of mechanisms, overall or partial enlargement or reduction, and adjustments to the relative positions of parts, all of which are included within the protection scope of the present invention.

[0038] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative labor. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field of the present invention through logical analysis, reasoning, or limited experiments based on the concept of the present invention on the basis of the prior art shall fall within the protection scope determined by the claims.

Claims

1. A quick - mounting mechanism for sensors of a super - redundant snake - shaped robotic arm, characterized in that, It includes an upper support plate, a deviation indicating level, a set screw group, an inertial sensor, a connecting column, a camera, a mounting seat, a camera transmission circuit board, an elastic catch, a lower support frame and a lower support plate; the upper support plate is connected to the upper part of the mounting seat through the set screw group; the lower support plate is connected to the lower part of the mounting seat through the lower support frame; the inertial sensor is installed in the middle of the mounting seat through the connecting column; the deviation indicating level, the camera, the camera transmission circuit board and the elastic catch are installed at the reserved hole positions of the mounting seat; the set screw group can be tightened and loosened, so as to quickly install and disassemble the ultra-redundant snake-shaped robotic arm sensor quick-installation mechanism.

2. The quick mounting mechanism for sensors of the ultra-redundant snake-like robotic arm according to claim 1, wherein The set screw group includes a set screw, a nut and a ball head nut; the set screw is threadedly connected to the ball head nut, so as to connect the set screw group to the mounting seat; the nut is threadedly connected to the set screw, and the outer circumference of the nut is adhesively connected to the upper support plate, so as to connect the upper support plate to the set screw group.

3. The quick mounting mechanism for sensors of the ultra-redundant snake-like robotic arm according to claim 1, characterized in that, The number of the set screw groups is 2.

4. The quick mounting mechanism for sensors of the ultra-redundant snake-like robotic arm according to claim 1, characterized in that, The number of the connecting columns is 2.

5. The quick installation mechanism of the sensor for the ultra-redundant snake-shaped robotic arm according to claim 1, characterized in that The deviation indicating level, the camera, the camera transmission circuit board and the elastic catch are adhesively installed at the reserved hole positions of the mounting seat.

6. The quick installation mechanism of the sensor of the ultra-redundant snake-shaped robotic arm according to claim 1, characterized in that The inertial sensor adopts the Xsens Mti-630 type.

7. The quick - mounting mechanism for sensors of the ultra - redundant snake - shaped robotic arm according to claim 1, wherein, The camera adopts a small industrial camera.

8. The quick installation mechanism of the sensor of the ultra-redundant snake-shaped robotic arm according to claim 1, characterized in that, The connecting column, the set screw group and the elastic catch use standard parts made of nylon material.

9. The sensor quick installation mechanism of the ultra-redundant snake-shaped robotic arm according to claim 1, characterized in that The deviation indicating level uses a φ5mm plastic bubble level.

10. The sensor quick installation mechanism of the ultra-redundant snake-shaped robotic arm according to claim 1, characterized in that, The upper support plate, the lower support plate, the lower support frame and the mounting seat are all manufactured by 3D printing and adopt resin material.

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