Dual-drive flexible module

Abstract

The invention provides a dual-drive flexible module. The dual-drive flexible module comprises a flexible module, a control module and a rotating platform, the flexible module is mainly composed of a supporting cavity, a flexible shaft driving device, a module top cover and a module base. The rotating platform is installed on the top of the flexible module and can rotate relative to the flexible module. The control module is installed at the bottom of the flexible module and used for controlling the flexible module and the rotating platform. The equipment takes the dual-drive flexible module as a core driving device, and is simple in structure, capable of bending and rotating in all directions, low in cost and convenient to use.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and particularly relates to a dual-drive flexible module. Background Art

[0002] Most robots in current practical applications are of rigid mechanical structures, constructed from rigid components. However, traditional rigid robots are not easily maneuverable under complex terrain conditions and lack flexibility. In case of unexpected situations such as improper control, they may collide with the surrounding environment or people, causing harm to the robot or people. For example, in applications such as medical treatment and rescue, due to the characteristics of their rigid structures, rigid robots are difficult to design, have complex structures, numerous components, large occupied space, high failure rates, and the limitations and risks in use are further amplified. To address the above problems, in recent years, inspired by relevant organisms in nature, robots with compliant structures have more flexible and diverse movement methods. For example, Chinese Patent with Publication No. CN112276920 discloses a continuum snake robot. This invention realizes movement by relying on flexible continuous deformation. The flexible material itself is soft, can relieve impacts, and can interact safely with the environment. However, this device only has the function of bending, does not have the omnidirectional rotation ability, and does not design a detection device to be carried. Summary of the Invention

[0003] The present invention proposes a dual-drive flexible module with omnidirectional rotation and detection capabilities.

[0004] Technical Solution: A dual-drive flexible module mainly consists of a flexible module (1), a control module (2), and a rotating platform (3).

[0005] The flexible module (1) mainly consists of a support cavity (11), a flexible shaft drive device (12), a module top cover (13), and a module base (14).

[0006] The described support cavity (11) is mainly composed of a frame support flexible shaft (111), a central support flexible shaft (112), and a central elastic rod (113), and its two ends are respectively fixedly connected to the module top cover (13) and the module base (14); the flexible shaft driving device (12) and the central support flexible shaft (112) are installed inside the frame support flexible shaft (111), and the central elastic rod (113) is installed inside the central support flexible shaft (112); the flexible shaft driving device (12) is composed of a flexible flexible shaft (121), a transmission module (122), and a motor (123); the described transmission module (122) is placed inside the flexible flexible shaft (121), the transmission module (122) is fixedly connected to the output shaft of the motor (123), and the transmission module (122) forms a spiral connection with the flexible flexible shaft (121); one end of the flexible shaft driving device (12) is fixedly connected to the module base (14) through the motor (123) housing, and the other end is fixedly connected to the module top cover (13) through the flexible flexible shaft (121).

[0007] The described control module (2) is mainly composed of a support frame (21), a Hall sensor (22), a controller (23), and a control module housing (24); the support frame (21) is composed of a motor fixing sleeve (211) and a detection piece (212), the motor fixing sleeve (211) is riveted to the bottom of the module base (14), and the motor (123) housing is fixed to the support frame (21); the Hall sensor (22) is fixed to the support frame (21), the detection piece (212) is fixed to the output shaft of the motor (123), and the controller (23) is placed at the bottom of the module base (14); the control module housing (24) and the module base (14) encapsulate the other parts of the control module (2) inside.

[0008] The described rotating platform (3) is mainly composed of a detection platform (31), a central motor (32), and a detection module (33); the central motor (32) is placed inside the detection platform (31), the central motor (32) housing is fixed to the detection platform (31), its rotating shaft is fixed to the detection module (33), and the detection module (33) can rotate relative to the detection platform (31) under the drive of the central motor (32).

[0009] When the lengths of the extending parts of the flexible flexible shafts (121) in the multiple flexible shaft driving devices (12) in the flexible module (1) are the same, the axis of the flexible module (1) remains vertical. When the motor (123) drives the transmission module (122) to rotate, the flexible flexible shaft (121) performs telescopic movement. According to the different telescopic lengths of the multiple flexible flexible shafts (121), the flexible module (1) can achieve bending actions in different directions. The controller (23) controls the rotation of the central motor (32), thereby driving the detection module (33) to rotate relative to the flexible module (1) to achieve omnidirectional detection of the external environment.

[0010] Preferably, the frame support flexible shaft (111) and the central support flexible shaft (112) are springs.

[0011] Preferably, the Hall sensor (23) is mounted on the support frame (22) for measuring the bending angle of the flexible module (1).

[0012] The present invention uses two groups of flexible shafts (121) to control the flexible module to achieve combined movements such as bending and torsion. The structure is simple, easy to implement, small in size, and has a certain load-bearing capacity. Description of the Drawings

[0013] Figure 1 Shown is a schematic diagram of the overall structure of the dual-drive flexible shaft.

[0014] Figure 2 Shown is a schematic diagram of the flexible module structure.

[0015] Figure 3 Shown is a schematic diagram of the control module structure.

[0016] Figure 4 Shown is a schematic diagram of the rotating platform structure. Detailed Embodiments

[0017] To make the technical solutions and structural features of the present invention clearer, the technical solutions in the embodiments of the invention will be described completely and clearly below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present invention.

[0018] Figure 1 Shown is a schematic diagram of the dual-drive flexible module structure of the present invention. The robot includes three parts: a flexible module (1), a control module (2), and a rotating platform (3). The control module (2) is installed at the bottom of the flexible module (1), and the rotating platform (3) is installed at the top of the flexible module (1).

[0019] Figure 2 Shown is a schematic diagram of the flexible module (1). The flexible module (1) mainly includes a support cavity (11), a flexible shaft drive device (12), a module top cover (13), and a module base (14).

[0020] The described support cavity (11) is mainly composed of a frame support flexible shaft (111), a central support flexible shaft (112), and a central elastic rod (113). The support flexible shaft (111) and the central support flexible shaft (112) adopt a helical spring, and the central elastic rod (113) is a solid elastic rod. The flexible shaft driving device (12) and the central support flexible shaft (112) are installed inside the frame support flexible shaft (111), and the central elastic rod (113) is installed inside the central support flexible shaft (112). The two ends of the frame support flexible shaft (111), the central support flexible shaft (112), and the central elastic rod (113) are fixedly connected to the module top cover (13) and the module base (14) respectively. The described transmission module (122) is placed inside the flexible shaft (121). The transmission module (122) is fixedly connected to the output shaft of the motor (123), and the transmission module (122) and the flexible shaft (121) form a helical connection. One end of the flexible shaft driving device (12) is fixedly connected to the module base (14) through the motor (123) housing, and the other end is fixedly connected to the module top cover (13) through the flexible shaft (121).

[0021] There are two flexible shaft driving devices (12), which are mainly composed of a flexible shaft (121), a transmission module (122), and a motor (123). The transmission module (122) is placed inside the flexible shaft (121). One end of the transmission module (122) is fixedly connected to the output shaft of the motor (123) through a hole provided thereon. The other end of the transmission module (122) forms a helical connection with the flexible shaft (121). One end of the flexible shaft (121) is fixedly connected to the module base (14), and the other end is fixedly connected to the module top cover (13). The frame support flexible shaft (111) and the central support flexible shaft (112) are also fixedly connected to the module base (14) and the module top cover (13). The module base (14) is provided with two mounting holes in the circumferential direction for mounting the transmission module (122) so that it can extend into the control module (2).

[0022] Figure 3It is a structural schematic diagram of the control module (2), which is mainly composed of a support frame (21), a Hall sensor (22), a controller (23) and a control module housing (24). The support frame (21) consists of a motor fixing sleeve (211) and a detection piece (212). The motor fixing sleeve (211) is riveted to the bottom of the module base (14), and the housing of the motor (123) is fixed to the motor fixing sleeve (211); the motor fixing sleeve (211) and the controller (23) are wrapped inside the control module housing (24), and the whole control module (2) is fixed to the bottom of the module base (14). The motor fixing sleeve (211) is provided with an installation groove for fixing the Hall sensor (22), and the detection piece (212) is fixed to the output shaft of the motor (123). The detection piece (212) is made of magnetic material. When the motor rotates, the detection piece (212) and the Hall sensor (22) cooperate to detect the number of rotation cycles of the motor (123) within a corresponding time, thereby indirectly measuring the telescopic length of the flexible shaft (121).

[0023] The movement process of a single flexible shaft driving device (12); the controller (23) controls the rotation of the motor (123), and the rotation drives the transmission module (122) to rotate and drives the flexible shaft (121) to perform telescopic movement.

[0024] Figure 4 It is a schematic diagram of the rotating platform (3), which is mainly composed of a detection platform (31), a central motor (32) and a detection module (33). The central motor (32) is placed inside the detection platform (31), its housing is fixed to the detection platform (31), and the output shaft is fixed to the detection module (33). The whole rotating platform (3) is fixed to the module top cover (13) through the detection platform (31). A camera is installed on the detection module (33). When the controller (23) controls the rotation of the central motor (32), it drives the detection module (33) to rotate omnidirectionally to realize the observation and measurement of the surrounding environment.

[0025] The working process of the dual-drive flexible module of the present invention: Under the control of the controller (23), when the lengths of the parts of the flexible shafts (121) extending from the upper ends of the transmission modules (122) in the two flexible shaft driving devices (12) in the flexible module (1) are equal, the flexible module (1) is in a straight state; when the telescopic lengths of the flexible shafts (121) are not equal, the flexible module (1) performs a bending function. When the central motor (32) drives the detection module (33) to rotate, its combined movement with the flexible module (1) can achieve a bending and twisting function. When the flexible shaft driving device (12) moves, the number of rotation cycles of the transmission module (122) can be measured through the Hall sensor (22). At the same time, according to the feedback data obtained by the detection module (33), the number of rotation cycles of the motor (123) is adjusted, and then the telescopic length of the flexible shaft (121) is adjusted, and finally the flexible module (1) reaches the specified target posture.

[0026] The above are only the embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, expansions, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A dual-drive flexible module, which is mainly characterized by It includes three parts: a flexible module (1), a control module (2), and a rotating platform (3). The flexible module (1) mainly consists of a support cavity (11), a flexible shaft drive device (12), a module top cover (13), and a module base (14). The support cavity (11) mainly consists of a frame support flexible shaft (111), a central support flexible shaft (112), and a central elastic rod (113). Its two ends are respectively fixedly connected to the module top cover (13) and the module base (14). The flexible shaft drive device (12) and the central support flexible shaft (112) are installed inside the frame support flexible shaft (111), and the central elastic rod (113) is installed inside the central support flexible shaft (112). The rotating platform (3) mainly consists of a detection platform (31), a central motor (32), and a detection module (33). The central motor (32) is placed inside the detection platform (31). The outer shell of the central motor (32) is fixed to the detection platform (31), and its rotating shaft is fixed to the detection module (33). The detection module (33) can rotate relative to the detection platform (31) under the drive of the central motor (32). The working process of the double-drive flexible module: The controller (23) controls the rotation of the motor (123), thereby realizing the directional bending of the flexible module (1). The controller (23) controls the rotation of the central motor (32), thereby driving the detection module (33) to rotate relative to the flexible module (1) to realize the omnidirectional detection of the external environment.

2. The dual-drive flexible module according to claim 1, wherein The frame support flexible shaft (111) and the central support flexible shaft (112) are springs.

3. The dual-drive flexible module according to claim 1, wherein The Hall sensor (22) is installed inside the support frame (21). By measuring the number of rotation cycles of the output shaft of the motor (123), it indirectly obtains the pose information of the transmission module (122) driving the flexible shaft (121), thereby obtaining the bending angle of the flexible module (1).

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