Mechanism for locking freedom degree of continuum robot

Abstract

The invention relates to the technical field of robots, in particular to a mechanism for locking the degree of freedom of a continuum robot, the mechanism comprises a cutting section in the whole continuum robot, the cutting section comprises a plurality of disc pieces, the disc pieces are sequentially connected together, any two adjacent disc pieces are rotationally connected, and the disc pieces are connected with the cutting section. The two adjacent disc pieces are fixedly connected with a sleeve and a copper column respectively, the sleeve is rotationally connected with a driving shaft, and the driving shaft is fixedly connected with a concave support. Through the structures of the threaded adjusting piece and the rotating shaft, posture freedom degree locking of the disc pieces at different angles can be achieved; the extensible degree-of-freedom locking mechanism can be achieved between the disc pieces, and the extensible degree-of-freedom locking mechanism has the advantages of being small in size and integrated in design, meanwhile has the advantages of being light, extensible, high in locking force and easy to control, and can better meet the requirements for executing inspection, maintenance, repair and service tasks in the complex environment.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a mechanism for locking the freedom degree of a continuum robot. Background Art

[0002] The degree of freedom locking mechanism of the continuum robot is an important component of the multi-segment rope-driven rigid-flexible coupled continuum robot, which can assist the robot's free movement and the free locking during and after the movement.

[0003] In the prior art, the degree of freedom locking technology of the continuum robot has the following major defects:

[0004] 1. Long locking time: Many existing locking schemes, such as shape memory polymers and low melting point alloys, have the problem of long activation and relaxation time. This long operation time limits the robot's response speed and work efficiency and is not suitable for application scenarios that require quick response.

[0005] 2. Increased weight and volume: Many locking technologies require the addition of additional materials or structures inside the robot, resulting in an increase in the overall weight and volume of the robot. For example, both SMP and LMPA require the addition of materials to the passive part of the robot, which increases weight and reduces flexibility. In addition, low-melting-point alloys take up a lot of space, making the robot more cumbersome and difficult to operate in narrow and complex geometric spaces.

[0006] 3. Non-scalability: Many existing locking technologies have limitations in reducing size or increasing modular design. For example, the use of piezoelectric grippers has high excitation force but very small stroke and requires levers to increase the range of motion, making it difficult to miniaturize.

[0007] 4. Insufficient locking force: Many existing locking technologies rely on friction to fix cables, such as friction-based clamps. However, the locking effect of friction is limited, and it is difficult to withstand high loads. Cable sliding is prone to occur, which limits the robot's carrying capacity and application scope.

[0008] Therefore, the existing degree of freedom locking technology of continuum robots has many defects such as long operation time, increased weight and volume, non-scalability, insufficient locking force and complex control. Summary of the invention

[0009] The object of the present invention is to provide a mechanism for locking the degrees of freedom of a continuum robot to solve the problems raised in the above background technology.

[0010] The purpose of the present invention can be achieved through the following technical solutions:

[0011] A mechanism for locking the degree of freedom of a continuum robot comprises a cut-off section in the overall continuum robot, wherein the cut-off section comprises a plurality of discs which are sequentially connected together, and any two adjacent discs are rotationally connected.

[0012] Two adjacent discs are respectively fixedly connected with a sleeve and a copper column, the sleeve is rotatably connected with a driving shaft, the driving shaft is fixedly connected with an inner recessed bracket, the inner recessed bracket is rotatably connected with a threaded adjustment piece, the copper column is embedded in the disc, one end of which protrudes from the outside of the disc, the inner wall of the copper column is provided with a thread, and the threaded adjustment piece and the copper column are threadedly connected for adjusting the spacing between the two adjacent discs.

[0013] Preferably, both ends of the disc are fixedly connected with symmetrically arranged annular protrusions, the annular protrusions of any two adjacent discs are fitted together, and a rotating shaft is provided between the two annular protrusions fitted together, and the protrusion rings are rotationally connected through the rotating shaft to realize the rotational connection between any two adjacent discs.

[0014] Preferably, a pressure relief plate is fixedly connected to the disc member, and a flexible latch shaft is provided on the cut-off section, and the flexible latch shaft penetrates the pressure relief plate and extends to the outside of the disc member.

[0015] Preferably, two annular protrusions are fixedly connected to both ends of the disc member, and the annular protrusions at both ends of the disc member are staggered.

[0016] Beneficial effects of the present invention:

[0017] The present invention can achieve posture freedom locking of the disc member at different angles through the structure of the threaded adjustment member and the rotating shaft, and can realize an expandable freedom locking mechanism between each disc member, which has the advantages of small size and integrated design, and at the same time has the characteristics of lightness, scalability, high locking force and simple control, and can better meet the needs of performing inspection, maintenance, repair and service tasks in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 The present invention is a schematic structural diagram of a robot using the mechanism for locking the degrees of freedom of a continuum robot proposed in the present invention.

[0021] The reference numerals in the figures are as follows:

[0022] 1. Threaded adjustment part, 2. Copper column, 3. Disc part, 4. Flexible latch shaft, 5. Pressure relief plate, 6. Sleeve, 7. Driving shaft, 8. Rotating shaft. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] A mechanism for locking the degrees of freedom of a continuum robot comprises a cut-off section in the overall continuum robot, wherein the cut-off section comprises a plurality of disc members 3, the plurality of disc members 3 are connected together in sequence, and any two adjacent disc members 3 are rotationally connected.

[0025] Two adjacent disc members 3 are respectively fixedly connected with a sleeve 6 and a copper column 2, the sleeve 6 is rotatably connected with a driving shaft 7, the driving shaft 7 is fixedly connected with an inner recessed bracket, the inner recessed bracket is rotatably connected with a threaded adjustment member 1, the copper column 2 is embedded in the disc member 3, and one end protrudes from the outside of the disc member 3, the inner wall of the copper column 2 is provided with a thread, and the threaded adjustment member 1 and the copper column 2 are threadedly connected for adjusting the spacing between two adjacent disc members 3.

[0026] like Figure 1 and Figure 2 , Figure 1 The mechanism for locking the degrees of freedom of the continuum robot is Figure 2 The components of the robot are as follows: each drive shaft 7 can be driven independently to drive the continuum robot to move; the sleeve 6 can reduce the friction resistance between the drive shaft and the disc member 3, thereby increasing the service life of the robot and reducing the noise during the robot's activities; the threaded adjustment member 1 and the copper column 2 are threadedly connected, so that when the threaded adjustment member 1 is rotated, the distance between two adjacent disc members 3 can be adjusted, thereby increasing the freedom of the robot during activities.

[0027] like Figure 1 Both ends of the disc member 3 are fixedly connected with symmetrically arranged annular protrusions. The annular protrusions of any two adjacent disc members 3 are fitted together, and a rotating shaft 8 is provided between the two fitted annular protrusions. The protrusion rings are rotatably connected through the rotating shaft 8 to realize the rotational connection between any two adjacent disc members 3.

[0028] The disc member 3 is fixedly connected with a pressure relief plate 5 , and the cut section is provided with a flexible latch shaft 4 , which penetrates the pressure relief plate 5 and extends to the outside of the disc member 3 .

[0029] like Figure 1 By passing the flexible latch shaft 4 through the disc member 3 from the pressure relief plate 5, the connection strength between different disc members 3 can be improved. At the same time, the flexible and bendable characteristics of the flexible latch shaft 4 itself will not hinder the movement of the robot.

[0030] Two annular protrusions are fixedly connected to both ends of the disc member 3, and the annular protrusions at both ends of the disc member 3 are arranged alternately.

[0031] like Figure 1 By staggeredly arranging the annular protrusions at both ends of the disc member 3, the degree of freedom between different intercepted segments when the robot rotates can be improved.

[0032] Compared with the related art, the mechanism for locking the degrees of freedom of a continuum robot provided by the present invention has the following beneficial effects:

[0033] The present invention can achieve locking of the posture freedom of the disc member 3 at different angles through the structure of the threaded adjustment member 1 and the rotating shaft 8, and an expandable freedom locking mechanism can be implemented between each disc member 3, which has the advantages of small size and integrated design, and at the same time has the characteristics of lightness, scalability, high locking force and simple control, so that the robot using the mechanism for locking the freedom of the continuum robot proposed by the present invention can better meet the needs of performing inspection, maintenance, repair and service tasks in complex environments.

[0034] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A mechanism for locking the degrees of freedom of a continuum robot, comprising a cut-off segment of the whole continuum robot, characterized in that: The cutting section comprises a plurality of disc members (3), the plurality of disc members (3) are connected together in sequence, and any two adjacent disc members (3) are rotationally connected; Two adjacent discs (3) are respectively fixedly connected with a sleeve (6) and a copper column (2); a drive shaft (7) is rotatably connected to the sleeve (6); an inner recessed bracket is fixedly connected to the drive shaft (7); a threaded adjustment member (1) is rotatably connected to the inner recessed bracket; the copper column (2) is embedded in the disc (3) and one end protrudes outside the disc (3); a thread is provided on the inner wall of the copper column (2); the threaded adjustment member (1) and the copper column (2) are threadedly connected to adjust the spacing between the two adjacent discs (3).

2. A mechanism for locking the degrees of freedom of a continuum robot according to claim 1, characterized in that: Both ends of the disc member (3) are fixedly connected with symmetrically arranged annular protrusions, the annular protrusions of any two adjacent disc members (3) are fitted together, and a rotating shaft (8) is arranged between the two fitted annular protrusions, and the protrusion rings are rotationally connected via the rotating shaft (8) to achieve a rotational connection between any two adjacent disc members (3).

3. A mechanism for locking the degrees of freedom of a continuum robot according to claim 1, characterized in that: The disc member (3) is fixedly connected with a pressure relief plate (5), and the cut section is provided with a flexible latch shaft (4), which penetrates the pressure relief plate (5) and extends to the outside of the disc member (3).

4. A mechanism for locking the degrees of freedom of a continuum robot according to claim 2, characterized in that: Two annular protrusions are fixedly connected to both ends of the disc member (3), and the annular protrusions at both ends of the disc member (3) are arranged in a staggered manner.

Images