Multi-stage continuum robot based on rod-cable composite drive

Abstract

The application discloses a kind of multistage continuum robots based on rod rope composite drive, it includes screw slide drive module, rod drive system, deployable cable support, nickel-titanium alloy wire, robot motion disc and drive rope.Screw slide drive module is fixed by bolt on the bottom section support, and section support is connected with rod drive system, and rod drive system is connected to the motion disc of each level of robot by nickel-titanium alloy wire, and forms the multistage telescopic system of robot;Meanwhile, four deployable cable supports are fixed by bolt on the outside fixed plate of rod drive system, one end of drive rope is fixed on the motion disc of each level of robot, and the other end is connected to screw slide drive module by deployable support, and forms the steering control system of robot.The robot controls the telescopic of operating arm by the winding and release of rod, controls its steering using rope, under the composite driving action of rod and rope, the robot can well complete various work tasks.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of continuum robots, and particularly relates to a multi-stage continuum robot based on rod-cable composite driving. BACKGROUND

[0002] In recent years, with the rapid development of robot technology, continuum robots have been widely used in medical treatment, detection, maintenance, search and rescue and other fields due to their good flexibility, environmental adaptability and safety. Compared with traditional rigid robots, continuum robots have the characteristics of infinite degrees of freedom, and can complete various complex operation tasks. However, the existing continuum robots still have certain limitations in driving mode and structural design.

[0003] At present, the common continuum robots mainly adopt a single driving mode, such as motor driving, pneumatic driving or cable driving. Among them, the cable driving is widely used in the bending and deformation control of the continuum robot due to its light weight, simple structure and low energy consumption. However, the continuum robot relying solely on cable driving has certain deficiencies in stiffness regulation and load capacity, and it is difficult to realize high-precision and high-load operation. In addition, the rod driving structure as an effective way to realize stretching and retracting can provide higher axial stiffness and enhance the resistance of the robot to external force, but the rod driving alone is difficult to realize precise direction control and complex deformation mode. Therefore, the existing continuum robots still have optimization space in stiffness regulation, motion precision and load capacity, and it is difficult to simultaneously consider flexible motion and structural stability. SUMMARY

[0004] In view of the defects in the prior art, the purpose of the present application is to provide a multi-stage continuum robot based on rod-cable composite driving. The present application combines the high stiffness stretching characteristics of rod driving and the high degree of freedom steering capability of cable driving to realize high-precision and controllable deformation of the robot in complex environments. The robot adopts a multi-stage telescopic rod structure to provide stable support and load capacity, and adjusts the posture through the circumferentially distributed cable, so that it has the characteristics of high flexibility and high stiffness, improves the motion flexibility and environmental adaptability, and is suitable for complex spatial operation tasks. At the same time, the expandable design of the cable support makes the robot well guarantee the stability in working state and the compactness in non-working state, and can meet the working task requirements in various occasions.

[0005] The technical scheme adopted by the present application is as follows:

[0006] A multi-stage continuum robot based on rod-cable composite driving, comprising a lead screw sliding table driving module, a rod driving system, an expandable cable support, a shape memory alloy, at least one motion disc, a driving cable and a cable guide wheel assembly.

[0007] The screw slide drive module comprises a plurality of screw slide unit assemblies, and each screw slide unit assembly is connected with a driving rope;

[0008] The rod driving system comprises a main support structure, a plurality of capstan driving motors, a plurality of capstans, a plurality of friction driving units and a plurality of fixing plates. The capstan driving motors and the capstans are arranged on the main support structure in a preset manner. Each capstan driving motor is connected with a corresponding capstan. Each capstan is connected with a corresponding motion disc through a corresponding shape memory alloy. The rotation of the capstan drives the winding and release of the shape memory alloy, thereby driving the motion disc to move. The friction driving units and the fixing plates are arranged on the corresponding fixing plates in a preset manner, thereby guiding the shape memory alloy.

[0009] The plurality of expandable rope supports are arranged on the surface of the main support structure for guiding the driving rope. Each expandable rope support comprises a support position adjusting mechanism, a support and a rope guide wheel assembly. The rope guide wheel assembly is used for guiding the driving rope. The driving rope is connected with the corresponding motion disc. Part of the rope guide wheel assemblies are installed on the support, and the other part of the rope guide wheel assemblies are installed outside the main support structure of the rod driving system. The support is connected with the support position adjusting mechanism. The support position adjusting mechanism is used for adjusting the angle of the expandable rope support relative to the main support structure.

[0010] Further, the screw slide unit assembly further comprises a rope guide pipe, a rope guide plate, a guide pipe, a profile connecting piece, a profile support and a fixed aluminum plate. The screw slide drive module comprises 12 screw slide unit assemblies arranged in three rows and four columns. The screw slide drive module is fixed on the aluminum plate and the profile support through bolts and angle codes. The rope guide plate is located at the center of the right end surface of the screw slide drive module and is fixed on the guide pipe through the profile connecting piece. The guide pipe connects the screw slide drive module and the rod driving system through the profile connecting piece. The four screw slide unit assemblies in each row of the screw slide drive module control the four directions of the single-stage motion disc of the robot through the driving ropes. The motion disc comprises a first-stage motion disc, a second-stage motion disc and a third-stage motion disc. The three rows of screw slide unit assemblies control the four rotation directions of the first-stage motion disc, the second-stage motion disc and the third-stage motion disc of the robot.

[0011] Further, the screw slide unit assembly comprises a screw driving motor, a screw shaft coupling, a bearing support, a screw, a slide and a rope guide pipe support. One end of the driving rope is fixed on the slide of the screw slide unit assembly, and the driving rope is tightened and loosened with the movement of the slide on the screw. The other end of the driving rope is connected to the rope guide pipe through the rope guide pipe support, and finally passes through the rope guide plate and enters the expandable rope support.

[0012] Further, the guide rope plate is located at the center of the right end face of the screw slide drive module, and the guide rope hole is fixedly connected with the guide rope pipe on the left side to pass the driving rope. The profile connecting pieces are mirror arranged on the left and right sides of the guide rope plate and are fixed through the profile connecting piece holes to limit the transverse displacement of the guide rope plate. The guide pipe passes through the guide pipe hole and is fixed with the profile connecting piece to limit the longitudinal displacement and the front and back displacement of the guide rope plate.

[0013] Further, the main support structure is composed of a profile bracket to form a basic frame, and the outer side is closed by a bracket fixed plate. The guide rope wheel assembly and the expandable rope support are mounted on the bracket fixed plate. The capstan drive motor is a right-angle motor. The rod drive system is mainly driven by five right-angle motors to wind and release the shape memory alloy through seven capstans. The shape memory alloy is assisted in guiding and driving through the three-stage friction drive unit, so as to realize the telescopic function of the robot operating arm.

[0014] Further, the right-angle motor is fixed on the motor fixed plate through M5 bolts. The output shaft is fixed with the transmission shaft through the shaft coupling and the bearing seat. The capstan is fixed on the transmission shaft through the key connection. The rotation of the transmission shaft drives the rotation of the capstan.

[0015] Further, the friction drive unit is set to a three-stage drive mode corresponding to the three-stage rod drive mode. The first-stage friction drive unit is arranged at the fixed plate through which the shape memory alloy corresponding to the first-stage motion disc passes. The second-stage friction drive unit is arranged at the fixed plate through which the shape memory alloy corresponding to the second-stage motion disc passes. The third-stage friction drive unit is arranged at the fixed plate through which the shape memory alloy corresponding to the third-stage motion disc passes. The three-stage friction drive units work independently and do not affect each other.

[0016] Further, the friction drive unit includes a friction wheel fixed frame, a support rod, a friction wheel transmission shaft, a shaft coupling, a micro motor, a motor fixed plate and a friction wheel. The support rod is fixed on the friction wheel fixed frame through bolts. The friction wheel fixed frame and the motor fixed plate are fixed with the fixed plate through bolts. A single friction drive unit is composed of three groups of friction wheel drive kits arranged equidistantly on the circumference. The mechanical structures and drive parameters of the three groups of friction wheel drive kits are completely consistent. The shape memory alloy passes through the center formed by the three friction wheels. The shape memory alloy is assisted in guiding and driving through the extrusion and rotation of the three friction wheels, so as to realize the telescopic function of the robot operating arm.

[0017] Further, the support position adjusting mechanism comprises a first electric push rod and a second electric push rod, and the expandable rope support comprises a push rod fixing plate, a U-shaped fixing seat, the first electric push rod, a support, the second electric push rod, a linear guide rail and a guide rail slider; the first electric push rod and the second electric push rod are arranged on both sides of the support, and the approximate 90° overturning of the support is driven by the simultaneous extension and contraction of the two electric push rods, so that the angle adjustment of the expandable rope support is realized; the electric push rod is connected with the push rod fixing plate and the support through the U-shaped fixing seat and the connecting pin respectively, and the support is connected with the guide rail slider through the U-shaped fixing seat and the connecting pin; and the linear guide rail is fixed on the support fixing plate through M5 bolts.

[0018] Further, the support comprises three groups of guide rope wheel assemblies arranged longitudinally and equidistantly, which respectively support the drive ropes of the first-stage motion disc, the second-stage motion disc and the third-stage motion disc. The bottom of the support is fixed on the guide rail slider through the U-shaped fixing seat and the connecting pin, and moves with the guide rail slider on the linear guide rail. In combination with the thrust of the first electric push rod and the second electric push rod, the support realizes the approximate 90° overturning function, and the robot drive ropes are stretched to form the rope parallel structure.

[0019] Further, the shape memory alloy, the first-stage motion disc, the second-stage motion disc and the third-stage motion disc together constitute the operating arm part of the robot; one end of the shape memory alloy is fixed on the reel of the rod driving system through a screw, and the winding and release of the shape memory alloy are realized by following the rotation of the reel; the other end of the shape memory alloy passes through the stage fixing plates and the stage motion discs and is fixed on the corresponding robot motion disc through the rod disc connector; one end of the rod disc connector is fixedly connected with the shape memory alloy through a screw, and the other end is connected with the robot motion disc through a bolt, so that the main structure of the operating arm is formed; in order to reduce the friction, linear bearings are arranged to support the shape memory alloy when it passes through the stage fixing plates and the stage motion discs, and the linear bearings are welded and fixed on the stage fixing plates and the stage motion discs of the robot.

[0020] Further, the guide rope wheel assembly comprises a guide rope wheel, a guide rope wheel transmission shaft, a sleeve support, a spring, a spring fixing plate and a guide rod; the guide rope wheel is fixed on the sleeve support through the guide rope wheel transmission shaft; the bottom of the guide rod is welded and fixed on the robot fixing plate and the fixing rod, and the other end of the guide rod extends into the sleeve support through the spring and the spring fixing plate; one end of the spring is fixed on the bottom of the sleeve support, and the other end of the spring is fixed with the spring fixing plate; the spring fixing plate is connected with the fixing plate and the fixing rod of the robot through bolts; during the operation of the robot, the guide rope wheel can press the spring tightly under the tension of the drive rope, so that the drive rope is always kept in a tension state under the elastic force of the spring, and the control accuracy of the robot is improved.

[0021] Compared with the prior art, the robot has the advantages that: the robot combines the high-rigidity telescopic characteristics of the rod driving and the high-degree-of-freedom steering capability of the rope driving, realizes high precision and controllable deformation of the robot in a complex environment, and has high flexibility and high rigidity. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0023] Figure 1 is a schematic diagram of the robot in a working state;

[0024] Figure 2 is a schematic diagram of the robot in a non-working state;

[0025] Figure 3 is a front view of the robot in the working state and the non-working state, wherein (a) is the robot in the working state, and (b) is the robot in the non-working state;

[0026] Figure 4 is a right view of the robot in the working state and the non-working state, wherein (a) is the robot in the working state, and (b) is the robot in the non-working state;

[0027] Figure 5 is a schematic diagram of a driving module structure of a robot screw slide;

[0028] Figure 6 is a schematic diagram of a screw slide unit assembly structure of a robot;

[0029] Figure 7 is a schematic diagram of a robot guide rope plate structure;

[0030] Figure 8 is a schematic diagram of a robot rod driving system structure;

[0031] Figure 9 is a schematic diagram of an internal structure of a robot rod driving system;

[0032] Figure 10 is a top view of a robot rod driving structure;

[0033] Figure 11 Fig. 1 is a schematic diagram of the robot in working and non-working states, wherein (a) is the working state of the robot, and (b) is the non-working state of the robot;

[0034] Figure 12 Fig. 2 is a schematic diagram of the structure of the robot reel;

[0035] Figure 13 Fig. 3 is a schematic diagram of the structure of the robot friction drive unit;

[0036] Figure 14 Fig. 4 is a schematic diagram of the structure of the robot operating arm;

[0037] Figure 15 Fig. 5 is a schematic diagram of the structure of the robot rod disc connecting piece;

[0038] Figure 16 Fig. 6 is a schematic diagram of the structure of the robot expandable rope support;

[0039] Figure 17 Fig. 7 is a schematic diagram of the structure of the robot guide rope wheel assembly;

[0040] Figure 18 Fig. 8 is a schematic diagram of the structure of the robot U-shaped fixing seat;

[0041] Figure 19 Fig. 9 is a schematic diagram of the robot expandable rope support in working and non-working states, wherein (a) is the stretched state of the rope support, and (b) is the contracted state of the rope support;

[0042] In the figure: 1, screw slide drive module; 11, screw slide unit assembly; 111, screw drive motor; 112, screw shaft coupling; 113, bearing support; 114, screw; 115, slide; 116, rope guide tube support; 12, rope guide tube; 13, rope guide plate; 131, rope guide hole; 132, profile connecting piece hole; 133, guide tube hole; 14, guide tube; 15, profile connecting piece; 16, profile support; 17, fixed aluminum plate; 2, rod drive system; 21, support fixed plate; 22, motor fixed plate; 23, right-angle motor; 24, reel; 25, bearing seat; 26, shaft coupling; 27, transmission shaft; 28, friction drive unit; 281, friction wheel fixed frame; 282, support rod; 283, friction wheel transmission shaft; 284, shaft coupling; 285, micro motor; 286, motor fixed plate; 287, friction wheel; 29, fixed plate; 3, expandable rope support; 31, push rod fixed plate; 32, U-shaped fixed seat; 33, first electric push rod; 34, support; 35, second electric push rod; 36, linear guide rail; 37, guide rail slider; 38, connecting pin; 4, nickel-titanium alloy wire; 5, I-level motion disc; 6, II-level motion disc; 7, III-level motion disc; 8, drive rope; 9, rope guide wheel assembly; 91, rope guide wheel; 92, rope guide wheel transmission shaft; 93, sleeve support; 94, spring; 95, spring fixed plate; 96, guide rod; 10, linear bearing; 100, rod disc connecting piece. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0044] The embodiments of the present application will be further described below in connection with the drawings.

[0045] As Figure 1 , Figure 2 , Figure 3 and Figure 4The illustrated multi-stage continuous robot based on a rod-rope composite drive includes a lead screw and slide table drive module 1, a rod drive system 2, a deployable rope support 3, a nickel-titanium alloy wire 4, a first-stage motion disk 5, a second-stage motion disk 6, a third-stage motion disk 7, a drive rope 8, and a guide wheel assembly 9. In this embodiment, the shape memory alloy is a nickel-titanium alloy. The lead screw and slide table drive module 1 includes 12 lead screw and slide table unit assemblies 11 arranged in three rows and four columns, a guide rope tube 12, a guide rope plate 13, a guide tube 14, a profile connector 15, a profile support 16, and a fixed aluminum plate 17. The movement of the slide table 115 on the lead screw and slide table unit assembly 11 drives the tightening and loosening of the drive rope 8. The lever drive system 2 includes a support fixing plate 21, a motor fixing plate 22, a right-angle motor 23, a reel 24, a bearing seat 25, a coupling 26, a transmission shaft 27, a friction drive unit 28, and a fixing plate 29. The rotation of the reel 24 drives the winding and unwinding of the nickel-titanium alloy wire 4, enabling the extension and retraction of the robotic arm. The deployable rope support 3 includes a push rod fixing plate 31, a U-shaped fixing seat 32, a first electric push rod 33, a support 34, a second electric push rod 35, a linear guide rail 36, a guide rail slider 37, a connecting pin 38, and a guide rope wheel assembly 9. Two electric push rods drive the deployable rope support 3 to achieve an approximately 90° rotation function. The nickel-titanium alloy wire 4, the first-stage motion disc 5, the second-stage motion disc 6, and the third-stage motion disc 7 together form the robot's manipulator arm. Through the combined drive control of the driving rope 8 and the lever drive system 2, the robot can perform various tasks.

[0046] like Figure 5 The lead screw slide drive module 1 shown consists of 12 lead screw slide unit assemblies 11 arranged in three rows and four columns, and is fixed to the aluminum plate 17 and the profile bracket 16 by bolts and angle brackets. In this embodiment, the profile bracket 16 includes a main bracket at the left and right ends and a transverse bracket on the main bracket for mounting the multi-layer lead screw slide unit assemblies 11. The aluminum plate 17 is installed on the front and rear sides of the main bracket and has several transverse holes. These holes serve as weight reduction holes and, under certain working conditions, also facilitate real-time observation of the lead screw slide. The state of the unit assembly 11 is such that the upper end height of the aluminum plate 17 matches the uppermost screw slide unit assembly 11. The guide rope plate 13 is located at the center of the right end face of the screw slide drive module 1 and is fixed to the guide tube 14 through the profile connector 15. The guide tube 14 connects the screw slide drive module 1 to the rod drive system 2 through the profile connector 15 installed on the rod drive system 2. The four screw slide unit assemblies 11 in each row of the screw slide drive module 1 control the four directions of the robot's single-stage motion disk through the drive rope 8. The three rows of screw slide unit assemblies 11 control the four rotation directions of the robot's first-stage motion disk 5, second-stage motion disk 6, and third-stage motion disk 7 respectively.

[0047] like Figure 6The shown screw slide unit assembly 11 includes a screw drive motor 111, a screw shaft coupling 112, a bearing support 113, a screw shaft 114, a slide 115, a guide rope tube support 116 and a slide rail, the output end of the screw drive motor 111 is connected with the screw shaft 114 through the screw shaft coupling 112, the bearing support 113 is installed on the slide 115, bearings are arranged on the bearing support 113, the screw shaft passes through the bearings of the bearing support 113, the guide rope tube support 116 is arranged on the right side end face of the screw slide drive module 1, the guide rope tube support 116 is provided with a hole through which the driving rope 8 passes, one end of the driving rope 8 is fixed on the slide 115 of the screw slide unit assembly 11, and the driving rope 8 is tightened and loosened along with the movement of the slide 115 on the screw shaft 114. The height of the hole of the guide rope tube support 116 is flush with the height at which the driving rope 8 is installed on the slide 115, so that the driving rope 8 above the slide rail is arranged in parallel with the slide rail, the other end of the driving rope 8 is connected to the guide rope tube 12 through the guide rope tube support 116, and finally passes out of the guide rope plate 13 and enters the expandable rope support, the guide rope tube 12 is used to keep the driving rope 8 corresponding to the hole on the guide rope plate 13.

[0048] As shown in Figure 7 The guide rope plate 13 is located at the center of the right side end face of the screw slide drive module 1, the guide rope hole 131 is fixedly connected with the guide rope tube 12 on the left side to enable the driving rope 8 to pass through, the profile connecting piece 15 is mirror-imaged arranged on the left and right sides of the guide rope plate 13 and is fixed through the profile connecting piece hole 132, so as to limit the transverse displacement of the guide rope plate 13, the guide tube 14 passes through the guide tube hole 133 and is fixed with the profile connecting piece 15, so as to limit the longitudinal displacement and the forward and backward displacement of the guide rope plate 13.

[0049] As shown in Figure 8 and Figure 9 The rod driving system 2 is composed of a basic frame of profile supports, the outer side is closed by a support fixing plate 21, and a guide rope wheel assembly 9 and an expandable rope support 3 are installed on the support fixing plate 21; the basic frame is a cuboid structure, and the expandable rope supports 3 are arranged on the four non-end faces of the basic frame to correspond to each group of driving ropes passing through the guide rope plate 13, and the guide rope wheel assembly 9 is multiple, and the specific positions at least include the four non-end faces close to the front end face and the rear end face.

[0050] The inside of the rod driving system 2 mainly includes five right-angle motors to drive seven winding reels 24 to wind and release the nickel-titanium alloy wire 4, and the nickel-titanium alloy wire 4 is assisted to guide and drive through the three-stage friction driving unit 28, so as to realize the telescopic function of the robot operating arm.

[0051] As shown in Figure 10 , Figure 11 andFigure 12 The right-angle motor 23 shown is fixed on the motor fixing plate 22 by M5 bolts, and its output shaft is fixed with the transmission shaft 27 through the shaft coupling 26 and the bearing seat 25, and the reel 24 is fixed on the transmission shaft 27 by key connection, and the rotation of the transmission shaft 27 drives the rotation of the reel 24.

[0052] The friction driving units 28 are arranged in a three-stage driving mode, corresponding to the three-stage rod driving mode, the first-stage friction driving unit 28 is arranged at the fixed plate 29 through which the nitinol wire 4 corresponding to the first-stage movement disc 5 passes, the second-stage friction driving unit 28 is arranged at the fixed plate 29 through which the nitinol wire 4 corresponding to the second-stage movement disc 6 passes, and the third-stage friction driving unit 28 is arranged at the fixed plate 29 through which the nitinol wire 4 corresponding to the third-stage movement disc 7 passes, and the three-stage friction driving units 28 work independently and do not affect each other.

[0053] The three motors arranged therein are taken as the 1st motor, the 2nd motor and the 3rd motor, and the two motors on the other side are taken as the 4th motor and the 5th motor, the 1st motor, the 2nd motor and the 3rd motor are connected with the first reel, the second reel and the third reel respectively, the 4th motor is connected with the fourth reel and the sixth reel, the 5th motor is connected with the fifth reel and the seventh reel, when the 1st motor, the 2nd motor and the 3rd motor drive the first reel, the second reel and the third reel to rotate counterclockwise respectively, the nitinol wire 4 will be wound on the corresponding reel 24 to drive the operation arm movement disc to contract, and when the 1st motor, the 2nd motor and the 3rd motor drive the first reel, the second reel and the third reel to rotate clockwise respectively, the nitinol wire 4 will be released from the corresponding reel 24 to drive the operation arm movement disc to expand, the 4th motor and the 5th motor drive the fourth reel, the sixth reel and the fifth reel, the seventh reel to rotate clockwise respectively, the nitinol wire 4 will be wound on the corresponding reel 24 to drive the operation arm movement disc to contract, and when the 4th motor and the 5th motor drive the fourth reel, the sixth reel and the fifth reel, the seventh reel to rotate counterclockwise respectively, the nitinol wire 4 will be released from the corresponding reel 24 to drive the operation arm movement disc to expand, the first reel directly drives the expansion and contraction of the third-stage movement disc 7, the second reel, the fourth reel and the sixth reel arranged coaxially with the fourth reel jointly control the expansion and contraction of the second-stage movement disc 6, and the third reel, the fifth reel and the seventh reel arranged coaxially with the third reel jointly control the expansion and contraction of the first-stage movement disc 5.

[0054] As Figure 13The shown friction drive unit 28 contains a friction wheel fixing frame 281, a support rod 282, a friction wheel transmission shaft 283, a coupling 284, a micro motor 285, a motor fixing plate 286 and a friction wheel 287; the support rod 282 is fixed on the friction wheel fixing frame 281 by bolts, and the friction wheel fixing frame 281 and the motor fixing plate 286 are fixed with the fixing plate 29 by bolts; the friction wheel 287 is installed between the two support rods 282, the input end thereof is connected with the friction wheel transmission shaft 283, the output end of the micro motor 285 fixed on the motor fixing plate 286 is connected with the friction wheel transmission shaft 283 through the coupling 284, and a single friction drive unit 28 is composed of three groups of friction wheel drive sets arranged at equal distances on the circumference, the mechanical structures and driving parameters of the three groups of friction wheel drive sets are completely consistent, the nickel-titanium alloy wire 4 passes through the center formed by the three friction wheels 287, and the nickel-titanium alloy wire 4 is assisted to be guided and driven through the extrusion and rotation of the three friction wheels 287, so that the telescopic function of the robot operating arm is realized.

[0055] As Figure 16 , Figure 18 and Figure 19The expandable rope support 3 shown comprises a push rod fixed plate 31, a U-shaped fixed seat 32, a first electric push rod 33, a support 34, a second electric push rod 35, a linear guide rail 36 and a guide rail slider 37; the first electric push rod 33 and the second electric push rod 35 are arranged on both sides of the support 34, and through the simultaneous extension and contraction of the two electric push rods, the approximately 90° overturning of the support 34 is driven, the electric push rods are connected with the push rod fixed plate 31 and the support 34 through the U-shaped fixed seat 32 and the connecting pin 38 respectively, and the support 34 is connected with the guide rail slider 37 through the U-shaped fixed seat 32 and the connecting pin 38, the guide rail slider 37 can slide along the linear guide rail 36, and the linear guide rail 36 is fixed on the support fixed plate 21 through M5 bolts. The number of the linear guide rail 36 is two, as a preferred embodiment, the first electric push rod 33 and the second electric push rod 35 are arranged in parallel with the two linear guide rails 36, in this embodiment, the first electric push rod 33 is arranged close to one side of the guide rail, that is, the guide rail at the upper left position in the figure, which is the first guide rail, and the second electric push rod 35 is arranged close to the other side of the guide rail, which is the second guide rail. The support comprises a bottom cross beam connecting the two guide rails, a column mainly supporting the guide rope wheel assembly 9 and a connecting part for connecting with the first electric push rod 33. The first electric push rod 33 and its corresponding push rod fixed plate 31, the first electric push rod 33 and the connecting part, the second electric push rod 35 and its corresponding push rod fixed plate, the second electric push rod 35 and the bottom cross beam, and the bottom cross beam and the two guide rail sliders 37 are all connected through the U-shaped fixed seat and the connecting pin. The push rods of the first electric push rod 33 and the second electric push rod 35 all have limiting structures, in the working state of the robot, the second electric push rod 35 is stretched to the outer limit position, and the first electric push rod 33 is stretched to the outer limit position, in the non-working state of the robot, the first electric push rod 33 is retracted to the inner limit position, and the second electric push rod 35 is retracted to the inner limit position.

[0056] The support 34 comprises three groups of longitudinally equidistantly arranged guide rope wheel assemblies 9, which support the drive ropes 8 of the first-level motion disc 5, the second-level motion disc 6 and the third-level motion disc 7 respectively. The bottom of the support 34 is fixed on the guide rail slider 37 through the U-shaped fixed seat and the connecting pin, and moves along with the guide rail slider 37 on the linear guide rail 36. In combination with the thrust of the first electric push rod 33 and the second electric push rod 35, the support 34 realizes the approximately 90° overturning function, and then the robot drive ropes 8 are stretched to form the rope-driven parallel structure.

[0057] As Figure 14 and Figure 15The nickel-titanium alloy wire 4, the first-stage motion disc 5, the second-stage motion disc 6 and the third-stage motion disc 7 shown together constitute a robot operating arm part; one end of the nickel-titanium alloy wire 4 is fixed on the reel 24 of the rod driving system 2 through a screw, and the rotation of the reel 24 realizes the winding and releasing of the nickel-titanium alloy wire 4, and the other end of the nickel-titanium alloy wire 4 is fixed through a rod-disc connecting piece 100 in a preset rule through the fixed plates and the motion discs of various stages and the corresponding robot motion discs, one end of the rod-disc connecting piece 100 is fixedly connected with the nickel-titanium alloy wire 4 through a screw, and the other end is connected with the robot motion disc through a bolt, so as to form the main structure of the operating arm; in order to reduce the friction, the linear bearings 10 are arranged to support when the nickel-titanium alloy wire 4 passes through the fixed plates and the motion discs of various stages, and the linear bearings 10 are welded and fixed on the fixed plates and the motion discs of various stages of the robot. The sectional areas of the fixed plate 29, the first-stage motion disc 5, the second-stage motion disc 6 and the third-stage motion disc 7 gradually decrease, and the first-stage motion disc 5, the second-stage motion disc 6 and the third-stage motion disc 7 are concentric discs, specifically, seven through holes are arranged on the fixed plate 29, corresponding to seven linear bearings, the seven through holes include a center hole and three inner circumferential through holes arranged on the outer periphery of the center hole and three outer circumferential through holes arranged outside the three through holes; three rod-disc connecting pieces are arranged on the first-stage motion disc 5 at positions corresponding to the three outer circumferential through holes, and the center hole and the three inner circumferential through holes of the first-stage motion disc are arranged at the center hole and the three inner circumferential through holes; three rod-disc connecting pieces are arranged on the second-stage motion disc 6 at positions corresponding to the three inner circumferential through holes, and the center hole of the second-stage motion disc is arranged at the center hole; a rod-disc connecting piece is arranged on the third-stage motion disc 7 at a position corresponding to the center hole.

[0058] In the embodiment, the 1# motor drives the first reel to control the lead screw connected with the third-stage motion disc 7, and drives the lead screw to stretch and retract. The 2# motor drives the second reel, the 4# motor drives the fourth reel and the sixth reel, and the three reels control the three lead screws connected with the second-stage motion disc 6, and all the control parameters of the three reels need to be consistent to make the three lead screws retract at the same time, so as to drive the motion disc to stretch and retract. The 3# motor drives the third reel, the 5# motor drives the fifth reel and the seventh reel, and the three reels control the three lead screws connected with the first-stage motion disc 5, and only need to satisfy the same stretching and retracting freedom.

[0059] As Figure 17The shown guide rope wheel assembly 9 comprises a guide rope wheel 91, a guide rope wheel transmission shaft 92, a sleeve support 93, a spring 94, a spring fixing plate 95 and a guide rod 96. The guide rope wheel 91 is symmetrically structured with a space in the middle for accommodating the driving rope 8. The guide rope wheel transmission shaft 92, the sleeve support 93, the spring 94, the spring fixing plate 95 and the guide rod 96 are symmetrically arranged in two sets. The guide rope wheel 91 is fixed on the sleeve support 93 through the guide rope wheel transmission shaft 92. The base of the guide rod 96 is welded and fixed on the fixing plate and the fixing rod of the robot. The other end of the guide rod 96 extends into the sleeve support 93 through the spring 94 and the spring fixing plate 95. One end of the spring 94 is fixed on the bottom of the sleeve support 93, and the other end of the spring 94 is fixed with the spring fixing plate 95. The spring fixing plate 95 is connected with the fixing plate and the fixing rod of the robot through bolts. When the robot works, the guide rope wheel 91 can make the sleeve support 93 press the spring 94 under the tension of the driving rope 8, so that the driving rope 8 is always kept in a tension state under the elastic force of the spring 94, thereby improving the control accuracy of the robot.

[0060] Working principle: a multi-stage continuum robot based on rod and rope composite driving can be in a contracted state in a non-working state, the nickel-titanium alloy wire of the robot operating arm is also wound on the reel of the rod driving system, the three movement discs are tightly attached to the fixed plate, and the driving rope is also kept in tension state under the action of the screw slide driving module, so that the robot maintains a certain compactness in the non-working state, when the robot is in the working state, the expandable rope support is supported to form the effect of rope parallelism while the driving rope is relaxed, so that the robot maintains a certain stability in the working state, then the rod driving system releases the nickel-titanium alloy wire corresponding to the movement disc of the robot through the rotation of the reel, first, the nickel-titanium alloy wire connected with the first movement disc is released, so as to drive the elongation of the robot operating arm, then the nickel-titanium alloy wire corresponding to the second movement disc is released on the basis of the length of the operating arm reached by the first movement disc, so that the robot operating arm realizes two-stage elongation, then the pose of the operating arm is controlled under the action of the eight driving ropes corresponding to the first movement disc and the second movement disc, and the work task is realized; if the length of the operating arm is still not enough, the nickel-titanium alloy wire corresponding to the third movement disc is continuously released on the basis of the length of the operating arm, so that the robot operating arm realizes three-stage elongation, then the pose of the operating arm is controlled under the action of the twelve driving ropes corresponding to the first movement disc, the second movement disc and the third movement disc, so as to realize a certain work task. When the robot completes the work task, the expandable rope support returns to the contracted state, and the nickel-titanium alloy wire corresponding to the three movement discs of the robot is also wound on the corresponding reel, so that the robot operating arm is contracted, and the entire robot system exhibits the compactness feature in the non-working state. The above steps are a work flow of a multi-stage continuum robot based on rod and rope composite driving.

[0061] It should be noted that in the present application, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another, without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0062] The foregoing detailed description of the application has been presented for purposes of illustration and description. Various modifications and changes can be made to these embodiments without departing from the spirit and scope of the application. It is intended that the scope of the application should not be limited by the particular representative embodiments described above.

Claims

1. A multi-stage continuous robot based on rod-wire composite drive, characterized in that: It includes a lead screw slide drive module (1), a rod drive system (2), a deployable rope support (3), a shape memory alloy, at least one motion disc, a drive rope (8), and a guide wheel assembly (9); The lead screw slide drive module (1) includes several lead screw slide unit components (11), and each lead screw slide unit component (11) has a slide (115) connected to a drive rope (8). The rod drive system (2) includes a main support structure, a reel drive motor, a reel (24), a friction drive unit (28), and a fixed plate (29). There are multiple reel drive motors and reels (24), which are set on the main support structure according to a preset rule. Each reel drive motor is connected to the corresponding reel (24). Each reel (24) is connected to the corresponding motion disk through the corresponding shape memory alloy. The rotation of the reel (24) drives the winding and release of the shape memory alloy, thereby realizing the action of the motion disk. There are multiple friction drive units (28) and fixed plates (29). Each friction drive unit (28) is set on the corresponding fixed plate (29) to guide the shape memory alloy. The number of deployable rope supports (3) is several, and they are respectively set on the surface of the main support structure for guiding the drive rope (8). Each deployable rope support (3) includes a support position adjustment mechanism, a support (34), and a guide wheel assembly (9). The guide wheel assembly (9) is used to guide the drive rope (8). The drive rope (8) is connected to the corresponding motion disc. A part of the guide wheel assembly (9) is installed on the support (34), and another part of the guide wheel assembly (9) is installed outside the main support structure of the rod drive system (2). The support (34) is connected to the support position adjustment mechanism, which is used to adjust the angle of the deployable rope support (3) relative to the main support structure.

2. The multi-stage continuous robot based on rod-wire composite drive according to claim 1, characterized in that: The lead screw slide unit assembly (11) further includes a guide tube (12), a guide plate (13), a guide tube (14), a profile connector (15), a profile bracket (16), and a fixed aluminum plate (17). The lead screw slide drive module (1) consists of 12 lead screw slide unit assemblies (11) arranged in three rows and four columns, and is fixed to the aluminum plate (17) and the profile bracket (16) by bolts and angle brackets. The guide plate (13) is located at the center of the right end face of the lead screw slide drive module (1) and is fixed to the guide tube (14) by the profile connector (15). The tube (14) connects the screw slide drive module (1) to the rod drive system (2) through the profile connector (15); the four screw slide unit assemblies (11) in each row of the screw slide drive module (1) control the four directions of the robot's single-stage motion disk through the drive rope (8). The motion disk includes a first-stage motion disk (5), a second-stage motion disk (6) and a third-stage motion disk (7). The three rows of screw slide unit assemblies (11) control the four rotation directions of the robot's first-stage motion disk (5), second-stage motion disk (6) and third-stage motion disk (7) respectively.

3. The multi-stage continuous robot based on rod-wire composite drive according to claim 2, characterized in that: The lead screw slide unit assembly (11) includes a lead screw drive motor (111), a lead screw coupling (112), a bearing support (113), a lead screw (114), a slide (115), and a guide rope tube support (116). One end of the drive rope (8) is fixed on the slide (115) of the lead screw slide unit assembly (11). As the slide (115) moves on the lead screw (114), it drives the tightening and loosening of the drive rope (8). The other end of the drive rope (8) is connected to the guide rope tube (12) through the guide rope tube support (116), and finally to the guide rope plate (13). The guide rope (13) passes through the center of the right end face of the screw slide drive module (1) and enters the deployable rope support. The guide rope plate (13) is located at the center of the right end face of the screw slide drive module (1). The guide rope hole (131) on the left side is fixedly connected to the guide rope tube (12) so that the drive rope (8) can pass through. The profile connector (15) is arranged in a mirror image on the left and right sides of the guide rope plate (13) and is fixed through the profile connector hole (132) to limit the lateral displacement of the guide rope plate (13). The guide tube (14) passes through the guide tube hole (133) and is fixed with the profile connector (15) to limit the longitudinal displacement and front-back displacement of the guide rope plate (13).

4. The multi-stage continuous robot based on rod-wire composite drive according to claim 1, characterized in that: The main support structure consists of a basic frame made of profile brackets, which is enclosed on the outside by a bracket fixing plate (21). A guide rope wheel assembly (9) and a deployable rope bracket (3) are installed on the bracket fixing plate (21). The reel drive motor is a right-angle motor (23), which uses a three-stage friction drive unit (28) to assist in guiding and driving the shape memory alloy, thereby realizing the telescopic function of the robot arm.

5. The multi-stage continuous robot based on rod-wire composite drive according to claim 4, characterized in that: The right-angle motor (23) is fixed to the motor mounting plate (22) by bolts. Its output shaft is fixed to the transmission shaft (27) by a coupling (26) and a bearing seat (25). The reel (24) is fixed to the transmission shaft (27) by a key connection. The rotation of the transmission shaft (27) drives the rotation of the reel (24). The friction drive unit (28) is set to a three-level drive mode, corresponding to the three-level lever drive mode. The first-level friction drive unit (28) is set at the fixed plate (29) through which the shape memory alloy corresponding to the first-level motion disk (5) passes. The second-level friction drive unit (28) is set at the fixed plate (29) through which the shape memory alloy corresponding to the second-level motion disk (6) passes. The third-level friction drive unit (28) is set at the fixed plate (29) through which the shape memory alloy corresponding to the third-level motion disk (7) passes. The three-level friction drive units (28) work independently and do not affect each other.

6. The multi-stage continuous robot based on rod-wire composite drive according to claim 5, characterized in that: The friction drive unit (28) includes a friction wheel fixing frame (281), a support rod (282), a friction wheel drive shaft (283), a coupling (284), a micro motor (285), a motor fixing plate (286), and a friction wheel (287). The support rod (282) is fixed to the friction wheel fixing frame (281) by bolts, and the friction wheel fixing frame (281) and the motor fixing plate (286) are fixed to the fixing plate (29) by bolts. A single friction drive unit (28) consists of three sets of friction wheel drive kits arranged equidistantly around the circumference. The mechanical structure and drive parameters of the three sets of friction wheel drive kits are completely consistent. The shape memory alloy passes through the center formed by the three friction wheels (287). The shape memory alloy is guided and driven by the extrusion and rotation of the three friction wheels (287), thereby realizing the telescopic function of the robot arm.

7. The multi-stage continuous robot based on rod-wire composite drive according to claim 1, characterized in that: The bracket position adjustment mechanism includes a first electric push rod (33) and a second electric push rod (35). The deployable rope bracket (3) includes a push rod fixing plate (31), a U-shaped fixing seat (32), a first electric push rod (33), a bracket (34), a second electric push rod (35), a linear guide rail (36), and a guide rail slider (37). The first electric push rod (33) and the second electric push rod (35) are arranged on both sides of the bracket (34). The angle of the deployable rope bracket can be adjusted by simultaneously extending and retracting the two electric push rods. The electric push rod is connected to the push rod fixing plate (31) and the bracket (34) through the U-shaped fixing seat (32) and the connecting pin (38), respectively. The bracket (34) is also connected to the guide rail slider (37) through the U-shaped fixing seat (32) and the connecting pin (38). The linear guide rail (36) is fixed to the bracket fixing plate (21) by bolts.

8. The multi-stage continuous robot based on rod-wire composite drive according to claim 7, characterized in that: The bracket (34) includes three sets of longitudinally equidistant guide rope wheel assemblies (9), which respectively support the drive ropes (8) of the first-level motion disk (5), the second-level motion disk (6) and the third-level motion disk (7). The bottom of the bracket (34) is fixed to the guide rail slider (37) by a U-shaped fixing seat (32) and a connecting pin (38). As the guide rail slider (37) moves on the linear guide rail (36), it opens up the robot's drive ropes (8) to form a rope-driven parallel structure.

9. The multi-stage continuous robot based on rod-wire composite drive according to claim 1, characterized in that: The shape memory alloy, the first-level motion disk (5), the second-level motion disk (6), and the third-level motion disk (7) together form the robot's manipulator arm. One end of the shape memory alloy is fixed to the reel (24) of the rod drive system (2) by screws. The shape memory alloy is wound and released as the reel (24) rotates. The other end of the shape memory alloy passes through the fixing plates and the motion disks of each level and is fixed to the corresponding robot motion disk through the rod-disc connector (100). One end of the rod-disc connector (100) is fixed to the shape memory alloy by screws, and the other end is connected to the robot motion disk by bolts, thus forming the main structure of the manipulator arm. When the shape memory alloy passes through the fixing plates and the motion disks of each level, linear bearings (10) are provided for support. The linear bearings (10) are welded and fixed to the fixing plates and motion disks of the robot.

10. The multi-stage continuous robot based on rod-wire composite drive according to claim 1, characterized in that: The guide wheel assembly (9) includes a guide wheel (91), a guide wheel drive shaft (92), a sleeve support (93), a spring (94), a spring fixing plate (95), and a guide rod (96). The guide wheel (91) is fixed to the sleeve support (93) via the guide wheel drive shaft (92). The base of the guide rod (96) is welded and fixed to the robot fixing plate and the fixing rod, and the other end extends into the sleeve support (93) via the spring (94) and the spring fixing plate (95). In the robot, one end of the spring (94) is fixed to the bottom of the sleeve support (93), and the other end is fixed to the spring fixing plate (95). The spring fixing plate (95) is connected to the robot's fixing plate and fixing rod by bolts. When the robot is working, the guide rope wheel (91) can press the sleeve support (93) to the spring (94) under the tension of the drive rope (8), so that the drive rope (8) is always kept in a taut state under the elastic force of the spring (94).

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