Transformable robot framework based on nickel-titanium alloy

Abstract

The invention relates to the technical field of robots, in particular to a deformable robot framework based on nickel-titanium alloy, which comprises a framework body, a driving area is arranged on the left surface of the framework body, the framework body is rotationally connected through the driving area in a linear array shape, a fixing mechanism is arranged on the right surface of the framework body, and the fixing mechanism comprises a mounting plate. A groove is formed in the right surface of the mounting plate, a clamping rod penetrates through the groove of the mounting plate and is slidably connected with the groove, the clamping rod is fixedly connected with one end of a first spring, a sliding groove is formed in the inner surface of the mounting plate, a clamping cutter is slidably connected into the sliding groove of the mounting plate, and the clamping cutter is fixedly connected with one end of a second spring. By means of the clamping rod, the first clamping groove, the second clamping groove and the clamping knife, the framework 1 can improve the replacement efficiency when the head (such as a clamping jaw, a starting clamp, a detection module and a camera) for work is replaced.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a deformable robot skeleton based on a nickel-titanium alloy. Background Technology

[0002] Since the 1980s, the rise of minimally invasive surgery has brought about a revolution in surgical procedures. Especially in laparoscopic minimally invasive surgery, the development of surgical robots has been rapid. In research on improving the flexibility and reducing the size of the end effector of surgical robots, many researchers have proposed using continuous snake-like surgical robots to enhance the flexibility of the end effector.

[0003] A search revealed a variable stiffness snake-like surgical robot based on a nickel-titanium alloy skeleton, application number CN111000599B. The robot includes an elastic tube made of nickel-titanium alloy. A temperature control tube is installed inside the elastic tube, and its temperature is adjustable. Heat exchange occurs between the temperature control tube and the elastic tube to change the temperature of the elastic tube, resulting in different rigidities at different temperatures. An end effector is mounted at one end of the elastic tube. Multiple wire-clamping discs are fixedly arranged on the side of the elastic tube near the end effector, and these discs are ring-shaped around the outer surface of the elastic tube. Multiple through holes are evenly distributed along the circumference of each wire-clamping disc, allowing drive wires to pass through. One end of each drive wire is fixedly connected to one of the multiple wire-clamping discs, and the other end is fixedly connected to a drive device. The drive device can extend, retract, or relax the drive wires along the axial direction of the elastic tube, causing deformation of the elastic tube.

[0004] However, existing snake robots can be used not only in surgery, but also in many search and rescue and inspection operations. However, most snake robots lack protective mechanisms, which makes the joints prone to damage when conducting search and rescue and inspection in narrow places. At the same time, snake robots can now work over a wide area, and changing the head working area is also quite cumbersome. In view of this, we propose a deformable robot skeleton based on nickel-titanium alloy. Summary of the Invention

[0005] The purpose of this invention is to provide a deformable robot skeleton based on nickel-titanium alloy, which solves the problem of lacking protection for the joints of snake-like robots.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A deformable robot skeleton based on nickel-titanium alloy includes a skeleton. A driving area is provided on the left surface of the skeleton. The skeleton is rotatably connected in a linear array through the driving area. A fixing mechanism is provided on the right surface of the skeleton. The fixing mechanism includes a mounting plate. A groove is formed on the right surface of the mounting plate. A locking rod passes through the groove of the mounting plate and is slidably connected. The locking rod is fixedly connected to one end of a spring. A sliding groove is formed on the inner surface of the mounting plate. A locking blade is slidably connected in the sliding groove of the mounting plate. The locking blade is fixedly connected to one end of a spring, and the mounting plate is fixedly connected to the other end of the spring.

[0007] Preferably, the outer arc surface of the clamping rod has a first clamping groove and the outer arc surface of the clamping rod has a second clamping groove. The cross-sectional shape of the first clamping groove is a right triangle, and the cross-sectional shape of the second clamping groove is an isosceles triangle.

[0008] Preferably, the chuck is slidably connected to the first chuck slot and the second chuck slot, and the cross-sectional shape of the chuck is a right trapezoid.

[0009] Preferably, the right surface of the mounting plate is permeated with a semi-protective cover and is slidably connected to the semi-protective cover. Two sets of semi-protective covers are provided and are symmetrically arranged with the center line of the frame as the axis of symmetry. The inner surfaces of the two sets of semi-protective covers are in contact with the locking rod.

[0010] Preferably, the two sets of semi-protective covers are fixedly connected to the mounting plate by bolts.

[0011] Preferably, the outer arc surfaces of the multiple sets of skeletons are provided with protective mechanisms, the protective mechanisms including nickel-titanium alloy strips, the nickel-titanium alloy strips are arranged in a circumferential array and penetrate through the skeleton and are slidably connected to the skeleton, and a fixing plate is fixedly connected to the left surface of the nickel-titanium alloy strips.

[0012] Preferably, a movable rod extends through the right surface of the fixed plate and is slidably connected to the movable rod, and the movable rod extends through the drive area and is slidably connected to the drive area.

[0013] Preferably, a sliding rod extends through the left surface of the fixed plate and is slidably connected to the sliding rod. The sliding rod is hinged to one end of the bracket, and the movable rod is hinged to the other end of the bracket.

[0014] Preferably, the slide rod is fixedly connected to one end of the spring three, and the fixing plate is fixedly connected to the other end of the spring three.

[0015] Preferably, a protective plate is slidably inserted into the left surface of the fixing plate.

[0016] By employing the above technical solution, the present invention provides a deformable robot skeleton based on nickel-titanium alloy. It possesses at least the following beneficial effects: (1) By setting the locking rod, locking slot one, locking slot two and locking knife, the skeleton 1 can improve the replacement efficiency when changing the working head (e.g., gripper, starter clamp, detection module, camera).

[0017] (2) The present invention, through the setting of fixed plate, sliding rod and movable rod, enables the snake robot to protect its joints with nickel-titanium alloy strips, preventing joint fracture during the operation of the snake robot, and effectively improving the service life of the snake robot. Attached Figure Description

[0018] The accompanying drawings, which are provided to further illustrate the invention, constitute a part of this application: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the right-side semi-protective cover of the present invention; Figure 3 This is a cross-sectional view of the mounting plate of the present invention; Figure 4 This is a cross-sectional view of the protection mechanism of the present invention.

[0019] In the diagram: 1. Frame; 2. Drive area; 3. Fixing mechanism; 31. Mounting plate; 32. Clamping rod; 33. Spring 1; 34. Clamping knife; 35. Spring 2; 36. Slot 1; 37. Semi-protective cover; 38. Bolt; 39. Slot 2; 4. Protective mechanism; 41. Nickel-titanium alloy strip; 42. Fixing plate; 43. Movable rod; 44. Slide rod; 45. Bracket; 46. Spring 3; 47. Protective plate. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-4 As shown, the present invention provides a technical solution: In this embodiment, the drive zone 2 can be a YCT series speed-regulating motor produced by Shanghai Fengxin Transmission Machinery Co., Ltd., and the matching circuit and power supply are also provided by the manufacturer. In addition, the circuits, electronic components and modules involved in this invention are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated. The content protected by this invention does not involve the improvement of software and methods. Example

[0022] A deformable robot skeleton based on nickel-titanium alloy, such as Figures 1-4As shown, the system includes a frame 1. A driving area 2 is provided on the left surface of the frame 1. The frame 1s are arranged in a linear array and rotatably connected via the driving area 2. Its core structure consists of multiple frame 1 units (frames 1) rotatably connected in a linear array via the driving area 2, enabling the overall frame 1 to deform. A fixing mechanism 3 is provided on the right surface of the frame 1. The fixing mechanism 3 includes a mounting plate 31, which serves as the basic component of the fixing mechanism 3. A groove on its right surface provides space for the installation and sliding of the locking rod 32. The locking rod 32 is slidably connected to the mounting plate 31 and is provided with a restoring force by a spring 33. When connecting external components, the locking rod 32 can slide against the elastic force of spring 33 under external force. After being inserted into the connection hole of the external component, it returns to its original position under the action of spring 33, thus initially achieving fixation. A groove is provided on the right surface of the mounting plate 31, and the locking rod 32 passes through the groove of the mounting plate 31 and is slidably connected. One end of the locking rod 32 is fixedly connected to spring 33. A sliding groove is provided on the inner surface of the mounting plate 31, and a locking blade 34 is slidably connected in the sliding groove of the mounting plate 31. One end of the locking blade 34 is fixedly connected to spring 35, and the other end of the mounting plate 31 is fixedly connected to spring 35. A locking groove 36 and a locking groove 39 are provided on the outer arc surface of the locking rod 32. The cross-sectional shape of the locking groove 36 is a right triangle, and the cross-sectional shape of the locking groove 39 is an isosceles triangle. The cross-sectional shape of the locking groove 36 is a right triangle. The cross-section of the second slot 39 is an isosceles triangle, while the cross-section of the cutter 34 is a right trapezoid. Under the action of the second spring 35, the cutter 34 can slide and engage with the first slot 36 or the second slot 39 respectively, thereby fixing the rod 32 at different positions. The cutter 34 is slidably connected with the first slot 36 and the second slot 39. The cross-section of the cutter 34 is a right trapezoid. The right surface of the mounting plate 31 is penetrated by a semi-protective cover 37 and is slidably connected to the semi-protective cover 37. Two sets of semi-protective covers 37 are provided and are symmetrically arranged with the center line of the frame 1 as the axis of symmetry. The inner surfaces of the two sets of semi-protective covers 37 are in contact with the rod 32. On the one hand, they are symmetrically arranged with the center line of the frame 1 as the axis of symmetry, and their inner surfaces are in contact with the rod 32, which can guide the sliding of the rod 32, ensure the stability of the movement of the rod 32, and prevent it from deviating or shaking during the sliding process. On the other hand, after the semi-protective cover 37 is fixedly connected to the mounting plate 31 by bolts 38, it can wrap the internal structure such as the clamp rod 32 and the clamp knife 34, which can play a role in dustproof and collision protection, avoid the internal structure from being disturbed or damaged by the external environment, and extend the service life of the fixing mechanism 3.Meanwhile, the sliding connection design between the semi-protective cover 37 and the mounting plate 31 makes it easy to slide open when installing or maintaining the internal structure, which is convenient to operate. The two sets of semi-protective covers 37 are fixedly connected to the mounting plate 31 by bolts 38. The right surface of the mounting plate 31 is also connected to two sets of semi-protective covers 37 through and slidingly connected. The two sets of semi-protective covers 37 are symmetrically arranged with the center line of the frame 1 as the axis of symmetry. Their inner surfaces are in contact with the clamping rod 32 to limit and protect the clamping rod 32 laterally, and are fixedly connected to the mounting plate 31 by bolts 38.

[0023] In this embodiment, the included lever 32, slot 1 36, slot 2 39, and tool allow the skeleton 1 to improve replacement efficiency when changing working heads (e.g., grippers, starter clamps, detection modules, cameras). Firstly, the skeleton 1 is made of nickel-titanium alloy, utilizing its excellent shape memory effect and superelasticity to provide good deformation and recovery performance, ensuring the robot's overall deformation movement. The skeleton 1 is linearly arrayed and rotatably connected via the drive zone 2. This structural design allows the robot skeleton 1 to rotate flexibly at multiple angles under the action of the drive zone 2, giving the robot diverse deformation forms and movement modes, greatly improving its environmental adaptability and task execution flexibility. Two symmetrically arranged semi-protective covers 37 are fixed to the mounting plate 31 by bolts 38. Their inner surfaces contact the lever 32, guiding the sliding of the lever 32 and preventing it from shifting or shaking during sliding. They also provide dustproof and physical protection for components such as the lever 32 and springs inside the semi-protective covers. Example

[0024] like Figures 1-4As shown, the outer arc surface of multiple sets of skeletons 1 is provided with a protective mechanism 4. The protective mechanism 4 includes nickel-titanium alloy strips 41, which are arranged in a circumferential array and pass through the skeleton 1 and are slidably connected to it. Nickel-titanium alloy has shape memory effect or superelasticity. When the external temperature changes or the skeleton 1 is subjected to specific stress / temperature stimulation during deformation, the nickel-titanium alloy strip 41 will undergo a predetermined length change (elongation or shortening). The nickel-titanium alloy strip 41 runs through the skeleton 1 in a circumferential array and is slidably connected to the skeleton 1. A fixed plate 42 is fixedly connected to the left surface of the nickel-titanium alloy strip 41. A movable rod 43 runs through the right surface of the fixed plate 42 and is slidably connected to the movable rod 43. The movable rod 43 runs through the drive area 2 and is slidably connected to the drive area 2. A sliding rod 44 runs through the left surface of the fixed plate 42 and is slidably connected to the sliding rod 44. The sliding rod 44 is hinged to one end of the bracket 45. The movable rod 43 is hinged to the other end of the bracket 45. The sliding rod 44 is fixedly connected to one end of the spring 3 46. The fixed plate 42 is fixedly connected to the other end of the spring 3 46. A guard plate 47 is slidably inserted into the left surface of the fixed plate 42. This mechanism includes nickel-titanium alloy strip 41, which runs through the skeleton 1 in a circumferential array and is slidably connected to the skeleton 1. A fixed plate 42 is fixedly connected to the left surface of the nickel-titanium alloy strip 41. A movable rod 43 is slidably connected through and through the right surface of the fixed plate 42. The movable rod 43 also passes through and is slidably connected to the drive area 2, so that the rotation of the drive area 2 can drive the movable rod 43 to slide relative to the fixed plate 42. A sliding rod 44 is slidably connected through and through the left surface of the fixed plate 42. One end of the sliding rod 44 is hinged to one end of the bracket 45, and the other end of the bracket 45 is hinged to the movable rod 43. The sliding rod 44 is also fixed to one end of a spring 3 46, and the other end of the spring 3 46 is fixed to the fixed plate 42. When the movable rod 43 slides, the bracket 45 drives the sliding rod 44 to overcome the elastic force of the spring 3 46 and slide on the fixed plate 42. A protective plate 47 is also slidably inserted into the left surface of the fixed plate 42. The protective plate 47 can slide relative to the fixed plate 42 under the push of the sliding rod 44 or other external forces to adjust or expand the protection range.

[0025] In this embodiment, it possesses excellent deformation adaptability and recovery capability, and can be flexibly adjusted according to the movement of the frame 1 or external pressure. The fixing plate 42 fixed to the left surface of the nickel-titanium alloy strip 41 provides a stable mounting base for each component. The movable rod 43 passing through its right surface is slidably connected to the drive area 2. When the drive area 2 moves, it can drive the movable rod 43 to move left and right, and then transmit power through the bracket 45 hinged to the movable rod 43. The other end of the bracket 45 is hinged to the slide rod 44, which passes through the fixing plate 42 and is slidably connected to it. The movement of the movable rod 43 will push the bracket 45 to swing, causing the slide rod 44 to slide on the fixing plate 42. At the same time, the spring 46 connecting the slide rod 44 and the fixing plate 42 will undergo elastic deformation due to the sliding of the slide rod 44, storing or releasing elastic potential energy, playing a buffering and reset role, and preventing the components from being damaged due to rigid contact. The protective plate 47, which is slidably inserted into the left surface of the fixed plate 42, can adjust its position and posture according to the external working conditions under the synergistic action of components such as the nickel-titanium alloy strip 41 and the slide rod 44. It can fully cover the outer arc surface of the frame 1, effectively resist adverse factors such as external impact and friction, protect the frame 1 and its internal structure from damage, and improve the safety and service life of the overall device.

[0026] In use, when the deformable robot skeleton based on nickel-titanium alloy needs to be fixed to an external structure or specific component, the locking lever 32 is pushed to slide to the left (overcoming the elastic force of spring 33). The locking groove 36 (with a right-angled triangle cross-section) on the outer arc surface of the locking lever 32 interacts with the locking blade 34 (with a right-angled trapezoid cross-section) in the sliding groove of the mounting plate 31. Due to the right-angled triangular structure of the locking groove 36 and the right-angled trapezoidal structure of the locking blade 34, when the locking lever 32 moves to the left, the inclined surface of the locking groove 36 will press against the locking blade 34, causing the locking blade 34 to slide into the sliding groove against the elastic force of spring 35. Once the locking lever 32 moves to the target position, the locking blade 34, under the restoring force of the second spring 35, engages with one right-angled side of the first slot 36, thus locking the locking lever 32 in that position and achieving the fixing function. When it is necessary to release the fixation, continue pressing the locking lever 32 to the left. At this time, the second slot 39 (with an isosceles triangle cross-section) on the locking lever 32 will move to the position of the locking blade 34. The two inclined surfaces of the isosceles triangle will contact the inclined surfaces of the locking blade 34 respectively. As the locking lever 32 continues to move, the inclined surfaces of the second slot 39 will push the locking blade 34 back into the groove. When the locking blade 34 passes the vertex of the second slot 39, under the restoring force of the first spring 33, the locking lever 32 slides to the right to reset. At this time, the locking blade 34 presses against the outer arc surface of the locking lever 32 under the action of the second spring 35 until the locking lever 32 is fully reset and the first spring 33 returns to its initial state. When the fixed plate 42 moves to the left under the action of the nickel-titanium alloy strip 41 or the movable rod 43, it drives the sliding rod 44 to slide to the right on the fixed plate 42 via the bracket 45. At this time, the sliding rod 44 compresses the spring 46. The elasticity of the spring 46 provides a buffer force to absorb possible impacts or overloads. At the same time, the movement of the sliding rod 44 further acts on its associated structure (possibly through a connecting rod or direct push), causing the protective plate 47 inserted into the left surface of the fixed plate 42 to unfold or extend, thereby providing physical protection for the frame 1 and its internal structure. Conversely, when the nickel-titanium alloy strip 41 returns to its original state or the external stimulus disappears, the fixed plate 42 moves to the right, the spring 46 resets, and the sliding rod 44 slides to the left, causing the movable rod 43 to reset via the bracket 45. At the same time, the protective plate 47 retracts or folds, reducing unnecessary volume occupation. The sliding insertion design of the protective plate 47 allows it to extend and retract smoothly on the fixed plate 42.

[0027] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A deformable robot skeleton based on nickel-titanium alloy, comprising a skeleton (1), characterized in that: The left surface of the frame (1) is provided with a driving area (2). The frame (1) is rotatably connected in a linear array through the driving area (2). The right surface of the frame (1) is provided with a fixing mechanism (3). The fixing mechanism (3) includes a mounting plate (31). The right surface of the mounting plate (31) is provided with a groove. A locking rod (32) passes through the groove of the mounting plate (31) and is slidably connected. The locking rod (32) is fixedly connected to one end of spring one (33). The inner surface of the mounting plate (31) is provided with a sliding groove. A locking knife (34) is slidably connected in the sliding groove of the mounting plate (31). The locking knife (34) is fixedly connected to one end of spring two (35). The mounting plate (31) is fixedly connected to the other end of spring two (35).

2. The deformable robot skeleton based on nickel-titanium alloy according to claim 1, characterized in that: The outer arc surface of the clamp (32) is provided with a first clamping groove (36) and a second clamping groove (39). The cross-sectional shape of the first clamping groove (36) is a right triangle and the cross-sectional shape of the second clamping groove (39) is an isosceles triangle.

3. The deformable robot skeleton based on nickel-titanium alloy according to claim 2, characterized in that: The slidable cutter (34) is slidably connected to the first slot (36), and the slidable cutter (34) is slidably connected to the second slot (39). The cross-sectional shape of the slidable cutter (34) is a right trapezoid.

4. The deformable robot skeleton based on nickel-titanium alloy according to claim 3, characterized in that: The right surface of the mounting plate (31) is permeated by a semi-protective cover (37) and is slidably connected to the semi-protective cover (37). The semi-protective cover (37) is provided in two sets and is symmetrically arranged with the center line of the frame (1) as the axis of symmetry. The inner surfaces of the two sets of semi-protective covers (37) are in contact with the clamp rod (32).

5. The deformable robot skeleton based on nickel-titanium alloy according to claim 4, characterized in that: The two sets of semi-protective covers (37) are fixedly connected to the mounting plate (31) by bolts (38).

6. The deformable robot skeleton based on nickel-titanium alloy according to claim 5, characterized in that: The outer arc surface of the multiple sets of skeletons (1) is provided with a protective mechanism (4). The protective mechanism (4) includes a nickel-titanium alloy strip (41). The nickel-titanium alloy strip (41) is arranged in a circumferential array and passes through the skeleton (1) and is slidably connected to the skeleton (1). A fixing plate (42) is fixedly connected to the left surface of the nickel-titanium alloy strip (41).

7. The deformable robot skeleton based on nickel-titanium alloy according to claim 6, characterized in that: The right surface of the fixed plate (42) has a movable rod (43) that is slidably connected to the movable rod (43), and the movable rod (43) passes through the drive area (2) and is slidably connected to the drive area (2).

8. The deformable robot skeleton based on nickel-titanium alloy according to claim 7, characterized in that: The left surface of the fixed plate (42) is slidably connected to the slide rod (44), the slide rod (44) is hinged to one end of the bracket (45), and the movable rod (43) is hinged to the other end of the bracket (45).

9. A deformable robot skeleton based on nickel-titanium alloy according to claim 8, characterized in that: The slide bar (44) is fixedly connected to one end of the spring (46), and the fixing plate (42) is fixedly connected to the other end of the spring (46).

10. A deformable robot skeleton based on nickel-titanium alloy according to claim 9, characterized in that: A protective plate (47) is slidably inserted into the left surface of the fixing plate (42).

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