High-load continuum mechanical arm structure

Abstract

The invention discloses a high-load continuum mechanical arm structure which comprises a plurality of mechanical arm disc units, and the adjacent mechanical arm disc units are rotationally connected. The mechanical arm connecting end disc unit is connected with the mechanical arm disc unit at the tail end, and the mechanical arm connecting end disc unit is connected with a mechanical arm; the mechanical arm disc unit is of a split structure, discs of the mechanical arm disc unit are connected through a sleeve to be in a separated state, and a steel wire rope is arranged in the sleeve in a penetrating mode. An inertia measurement unit is integrated in the mechanical arm disc unit through an inertia measurement unit fixing piece. The continuum mechanical arm structure has shape adaptability and high load capacity, the control strategy of the continuum mechanical arm structure is optimized in combination with the inertial measurement unit, and installation of the inertial measurement unit is met.

Description

Technical Field

[0001] The present invention relates to the technical field of continuum robot arms, and in particular to a high-load continuum robot arm structure. Background Art

[0002] Currently, many tasks require manipulators to operate in unstructured environments, such as medical surgery, marine exploration, and earthquake rescue. In disaster rescue scenarios such as earthquakes, existing research on continuum manipulators mainly focuses on the realization of detection and search functions. The research usually focuses on the shape adaptability and control accuracy of continuum manipulators, while their load capacity, inherent stiffness, and strength are relatively low.

[0003] In rescue scenarios, the continuum manipulator is required to have a sufficiently large output force and load capacity, and its own stiffness and strength can meet the requirements. However, the existing continuum manipulators rarely weigh tens of kilograms, which cannot meet the needs of this scenario.

[0004] Therefore, based on the above technical problems, technicians in this field urgently need to develop a high-load continuum robotic arm structure. Summary of the invention

[0005] The purpose of the present invention is to provide a high-load continuum manipulator structure, which has shape adaptability and high load capacity, optimizes its control strategy in combination with an inertial measurement unit, and satisfies the installation of the inertial measurement unit.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A high-load continuum mechanical arm structure of the present invention comprises:

[0008] A plurality of robot arm disc units, adjacent robot arm disc units are rotatably connected; and

[0009] A manipulator connecting end disk unit connected to the end manipulator arm disk unit, wherein the manipulator connecting end disk unit is connected to the manipulator;

[0010] The mechanical arm disc unit is a split structure, and the discs of the mechanical arm disc unit are connected by a sleeve to be in a separated state, and a steel wire rope is passed through the sleeve;

[0011] An inertial measurement unit is integrated inside the robotic arm disc unit via an inertial measurement unit fixture.

[0012] Furthermore, the robotic arm disc unit comprises:

[0013] Two disks, each disk being made of aluminum alloy; and

[0014] An intermediate disk located between the two disks, the sleeve passes through the intermediate layer and matches with the wire rope holes of the disks on both sides, the intermediate disk is made of high-strength resin and is formed by 3D printing;

[0015] The disc is protruded to form a disc connection portion, and each disc is protruded to form two disc connection portions.

[0016] Furthermore, a graphite sleeve and bolts are arranged inside the disc connecting part.

[0017] Furthermore, the inertial measurement unit is integrated inside the disk on one side and the middle disk;

[0018] The inertial measurement unit has a chip seat, one end of the chip seat of the inertial measurement unit is connected to the middle layer disk, and the other end is connected to the disk connecting part of the disk through the inertial measurement unit fixing piece.

[0019] Furthermore, the inner ring of the intermediate disk protrudes inward to form a mounting portion, and the chip seat is connected to the mounting portion.

[0020] Furthermore, the position of the disc near the wire rope hole is provided with a hole for a superelastic nickel-titanium alloy rod to pass through, and a wire rope limiting hole built into the disc unit at the end of the tube stage;

[0021] The hole positions of the intermediate disk are consistent with those of the corresponding disk.

[0022] In the above technical solution, the present invention provides a high-load continuum mechanical arm structure, which has the following beneficial effects:

[0023] The continuum robot arm structure of the present invention has shape adaptability and high load capacity, optimizes its control strategy in combination with an inertial measurement unit, and satisfies the installation requirements of the inertial measurement unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. It is obvious that the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0025] Figure 1 A schematic structural diagram of a high-load continuum mechanical arm structure disclosed in an embodiment of the present invention;

[0026] Figure 2 A schematic structural diagram of a robotic arm disc unit of a high-load continuum robotic arm structure disclosed in an embodiment of the present invention;

[0027] Figure 3 A front view of a disk of a high-load continuum mechanical arm structure disclosed in an embodiment of the present invention;

[0028] Figure 4 A front view of a middle disk of a high-load continuum mechanical arm structure disclosed in an embodiment of the present invention;

[0029] Figure 5 A schematic structural diagram of an inertial measurement unit fixing member of a high-load continuum robotic arm structure disclosed in an embodiment of the present invention;

[0030] Figure 6 A schematic structural diagram of an inertial measurement unit of a high-load continuum robotic arm structure disclosed in an embodiment of the present invention.

[0031] Description of reference numerals:

[0032] 1. Robot arm disc unit; 2. Robot arm connecting end disc unit; 3. Casing; 4. Disc; 5. Inertial measurement unit fixing piece; 6. Intermediate layer disc; 7. Inertial measurement unit; 8. Hole position for superelastic nickel-titanium alloy rod to pass through; 9. Wire rope limit hole; 10. Wire rope hole position;

[0033] 401, disc connection portion;

[0034] 601, installation department;

[0035] 701. Chip holder. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0037] See also Figures 1 to 6 As shown;

[0038] A high-load continuum mechanical arm structure of this embodiment includes:

[0039] A plurality of robot arm disk units 1, adjacent robot arm disk units 1 are rotatably connected; and

[0040] A manipulator connecting end disk unit 2 connected to the end manipulator disk unit 1, and the manipulator connecting end disk unit 2 is connected to the manipulator;

[0041] The mechanical arm disc unit 1 is a split structure, and the disc 4 of the mechanical arm disc unit 1 is connected by a sleeve 3 to be in a separated state, and a steel wire rope is passed through the sleeve 3;

[0042] An inertial measurement unit 7 is integrated inside the robot arm disk unit 1 via an inertial measurement unit fixture 5 .

[0043] Specifically, the present embodiment discloses a high-load continuum robotic arm structure, which includes 30 discs 4 whose main bodies are made of aluminum alloy. The present embodiment adopts a rigid-flexible coupling rope-driven design to improve the load capacity and self-rigidity strength of the continuum robotic arm, and adopts a superelastic nickel-titanium alloy rod as the flexible part to ensure the continuity of deformation and good isocurvature of the continuum robotic arm formed by connecting rigid discs.

[0044] Secondly, the single robotic arm disc unit 1 of the present embodiment includes two discs 4 and an intermediate layer disc 6, and is fixed by a plurality of sleeves 3. The present embodiment passes the steel wire rope through the sleeve 3, transforming the direct contact between the steel wire rope and the metal disc into an indirect release. The inner wall material of the sleeve is smooth and wear-resistant, and the friction between the sleeve and the steel wire rope is much smaller than the friction between the steel wire rope and the disc 4. Therefore, the use of the sleeve 3 can effectively reduce the friction between the steel wire rope and the disc 4, and reduce the negative impact of friction in motion control.

[0045] Preferably, the robotic arm disc unit 1 of this embodiment includes two discs 4, the material of the discs 4 is aluminum alloy; and an intermediate disc 6 located between the two discs 4, the sleeve 3 passes through the intermediate disc 6 and cooperates with the wire rope holes 10 of the discs 4 on both sides, the intermediate disc 6 is made of high-strength resin and is formed by 3D printing;

[0046] The disk 4 is protruded to form a disk connection portion 401 , and each disk 4 is protruded to form two disk connection portions 401 .

[0047] In order to realize the rotation connection between two adjacent robot arm disc units 1, a graphite bushing and bolts are arranged inside the disc connection part 401 of this embodiment.

[0048] Preferably, the disc 4 on one side and the middle disc 6 of this embodiment are integrated with an inertial measurement unit 7, and the inertial measurement unit 7 of this embodiment is used to feedback the position information of the joint. ;

[0049] The inertial measurement unit 7 has a chip holder 701 . One end of the chip holder 701 of the inertial measurement unit 7 is connected to the intermediate layer disk 6 , and the other end is connected to the disk connection portion 401 of the disk 4 through the inertial measurement unit fixing member 5 .

[0050] In order to be assembled and fixed with the chip holder 701 of the inertial measurement unit 7 , the inner circle of the intermediate disk 6 of this embodiment protrudes inward to form a mounting portion 601 , and the chip holder 701 is connected to the mounting portion 601 .

[0051] See also Figure 3 and Figure 4As shown, the disc 4 of this embodiment is provided with a hole 8 for a superelastic nickel-titanium alloy rod to pass through near the hole 10 for the wire rope, and a wire rope limiting hole 9 built into the disc unit at the end of the tube stage;

[0052] The hole positions of the middle layer disk 6 are consistent with those of the corresponding disk 4 .

[0053] The segmented design adopted in this embodiment can embed the driving rope fixing groove of each joint segment into the inside of the disc 4, so as to prevent unsafe hanging and scratching when interacting with the outside world, such as with the rescue upper body.

[0054] The axial load of the continuum robot arm of this embodiment can reach more than 250N, and the radial load can reach more than 45N. Compared with most existing continuum robot arms, its load capacity and stiffness strength are significantly improved.

[0055] In the above technical solution, the present invention provides a high-load continuum mechanical arm structure, which has the following beneficial effects:

[0056] The continuum robot arm structure of the present invention has shape adaptability and high load capacity, optimizes its control strategy in combination with an inertial measurement unit, and satisfies the installation requirements of the inertial measurement unit.

[0057] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A high-load continuum robotic arm structure, characterized in that: The structure includes: A plurality of robot arm disc units (1), adjacent robot arm disc units (1) being rotatably connected; and A manipulator connecting end disk unit (2) connected to the end manipulator arm disk unit (1), wherein the manipulator connecting end disk unit (2) is connected to the manipulator; The mechanical arm disc unit (1) is a split structure, and the disc (4) of the mechanical arm disc unit (1) is connected via a sleeve (3) to be in a separated state, and a steel wire rope is passed through the sleeve (3); An inertial measurement unit (7) is integrated inside the robotic arm disk unit (1) via an inertial measurement unit fixing component (5).

2. A high-load continuum mechanical arm structure according to claim 1, characterized in that: The robotic arm disc unit (1) comprises: Two disks (4), wherein the material of the disks (4) is aluminum alloy; and An intermediate disk (6) is located between the two disks (4), the sleeve (3) passes through the intermediate disk (6) and cooperates with the wire rope holes (10) of the disks (4) on both sides, and the intermediate disk (6) is made of high-strength resin and is formed by 3D printing; The disc (4) is protrudingly formed with a disc connection portion (401), and each of the discs (4) is protrudingly formed with two disc connection portions (401).

3. A high-load continuum mechanical arm structure according to claim 2, characterized in that: A graphite bushing and bolts are arranged inside the disc connection part (401).

4. A high-load continuum mechanical arm structure according to claim 2, characterized in that: The inertial measurement unit (7) is integrated inside the disk (4) on one side and the intermediate disk (6); The inertial measurement unit (7) has a chip seat (701), one end of the chip seat (701) of the inertial measurement unit (7) is connected to the intermediate layer disc (6), and the other end is connected to the disc connection part (401) of the disc (4) through the inertial measurement unit fixing part (5).

5. A high-load continuum mechanical arm structure according to claim 4, characterized in that: The inner circle of the intermediate layer disk (6) protrudes inwards to form a mounting portion (601), and the chip seat (701) is connected to the mounting portion (601).

6. A high-load continuum mechanical arm structure according to claim 2, characterized in that: The disk (4) is provided with a hole (8) for a superelastic nickel-titanium alloy rod to pass through at a position close to the wire rope hole (10), and a wire rope limiting hole (9) built into the disk unit at the end of the tube stage; The hole positions of the intermediate disk (6) are consistent with those of the corresponding disk (4).

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