A multi-joint selection control type reconfigurable execution device based on remote centralized driving

Abstract

The application discloses a multi-joint selection and control type reconfigurable execution device based on a remote centralized driving, which comprises a ring-shaped mounting rack, a first positioning plate, a second positioning plate, a cam and a sliding guide block. The first positioning plate and the second positioning plate are respectively mounted on the upper and lower ends of the mounting rack and form a ring-shaped track, and the sliding guide block is arranged in the ring-shaped track and is connected to a driving motor through a rocker arm. An inner guide rod is arranged in the sliding guide block, one end of the inner guide rod extends out of an outer wall, the other end of the inner guide rod extends out of an inner wall and is sleeved with a reset spring, and a ratchet pawl is arranged at the end of the inner guide rod. A plurality of guide holes are arranged on the mounting rack, and an outer guide rod is arranged in each hole, one end of the outer guide rod is sleeved with a retaining spring, and the other end of the outer guide rod is connected with a wire. The cam is mounted on the second positioning plate and is connected with a servo motor, and the cam is provided with a ratchet tooth matched with the ratchet pawl. The application realizes centralized sequential driving of the multi-joint through mechanical selection and control and electromagnetic coupling transmission, has low inertia and low power consumption, and is suitable for unmanned aerial vehicle mechanical arms, pipeline robots and other lightweight scenes.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a multi-joint selectable reconfigurable actuator based on remote centralized drive. Background Technology

[0002] Traditional modular robots use drive motors for each joint, which makes it difficult to meet the needs of scenarios requiring low weight and low power consumption, such as when deployed on drones. Traditional robots would cause problems such as heavy load, high energy consumption, and large motion inertia. Centralized drive can reduce weight and energy consumption while making control simpler. Or it can be used for pipeline or tunnel inspection and maintenance, or internal repair of storage tank equipment. Centralized drive can reduce the number of motors stacked at the front end, and also takes into account the limited space of the robot structure and heat dissipation issues.

[0003] Compared to the coordination issues arising from the independent control of each module in a modular robot, achieving stable and efficient operation of each module under constraints of low weight and low power consumption often presents a greater technical challenge. Existing modular robot control structures are typically quite complex, which not only increases the difficulty of system integration and control implementation but also makes it difficult to balance load-bearing capacity, energy consumption, and response performance in joint drive units. This leads to problems such as high overall energy consumption, complex control strategies, and significant computational resource requirements.

[0004] The invention application (publication number CN 120902582 A) discloses a super-redundant deformable continuum charging robot system driven by a pneumatic motor. This invention uses a pneumatic semi-bellows drive to achieve flexible bending motion of each segment of the pneumatic continuum in a plane, and transforms the planar bending motion into multi-degree-of-freedom motion in three-dimensional space through a hollow motor drive. Through the coordinated control of the pneumatic drive and the hollow motor, the charging head can flexibly adjust its position and attitude to adapt to charging interfaces at different positions and angles. However, the pneumatic drive used in this control structure suffers from problems such as nonlinearity, hysteresis, and high compliance. Furthermore, the coordinated control of the hollow motor and the pneumatic system is complex, resulting in low overall structural integration, high joint load, and large inertia of moving parts, thus reducing the overall dynamic response and motion flexibility of the robot.

[0005] The invention application (publication number CN121733618A) discloses a wire-driven flexible robotic arm and its control method. This wire-driven flexible robotic arm consists of a chassis, multiple lower limbs, and multiple upper limbs. The chassis servo motors are responsible for the overall winding and unwinding of the drive cable, and each servo motor independently adjusts the tension of its locking plates to achieve partial locking or releasing of the drive cable, thereby enabling independent or coordinated movement of each joint. However, this transmission method, which uses the tension and relaxation of ropes to remotely transmit power to each joint, is prone to response lag and vibration under varying loads or frequent movement conditions due to the relatively low overall stiffness of the rope transmission, thus affecting the motion performance of the actuator. Meanwhile, ropes are prone to elastic elongation, slack, and wear during stress and reciprocating motion, resulting in insufficient power transmission precision and affecting the accuracy and stability of joint motion control. Therefore, existing structures based on rope tensioning and relaxation for remote power transmission still lag behind selective control electric drive structures in terms of system stiffness, control precision, response speed, and multi-joint coordinated control capabilities, making it difficult to fully meet the requirements of high-precision, lightweight, and highly flexible operations. Summary of the Invention

[0006] To overcome the aforementioned shortcomings and deficiencies of the prior art, the present invention aims to provide a multi-joint selectable reconfigurable actuator based on remote centralized drive. This multi-joint selectable reconfigurable actuator based on remote centralized drive can reduce the use of joint motors and achieve a lightweight structure.

[0007] The objective of this invention is achieved through the following technical solution: This multi-joint selectable reconfigurable actuator based on remote centralized drive includes a ring-shaped mounting frame, a first positioning plate, a second positioning plate, a cam, and a sliding guide block;

[0008] The first positioning plate and the second positioning plate are respectively installed at the upper and lower ends of the mounting frame, forming a ring track; the sliding guide block is disposed on the ring track, and the sliding guide block is connected to the drive motor through a rocker arm;

[0009] The sliding guide block is provided with an inner guide rod. One end of the inner guide rod extends out of the outer wall of the sliding guide block, and the other end extends out of the inner wall of the sliding guide block. A return spring is sleeved on the other end of the inner guide rod. One end of the return spring abuts against the inner wall of the sliding guide block, and the other end is connected to the other end of the inner guide rod. At the same time, a pawl is provided at the end of the other end of the inner guide rod.

[0010] The mounting frame is provided with multiple guide holes, which extend from the inner wall of the mounting frame to the outer wall. Each guide hole is provided with an outer guide rod. One end of the outer guide rod extends out of the inner wall of the mounting frame and is fitted with a retaining spring. The other end of the outer guide rod extends out of the outer wall of the mounting frame and is connected to a wire.

[0011] The cam is mounted on the second positioning plate and connected to the servo motor. The cam is also equipped with ratchet teeth that match the pawl. When the drive motor drives the inner guide rod to the set position through the sliding guide block, the servo motor drives the cam to rotate, and the cam pushes the inner guide rod to connect with the corresponding outer guide rod.

[0012] Preferably, it also includes a battery module, which is mounted on the upper end of the sliding guide block.

[0013] Preferably, the first positioning plate includes a first inner positioning plate and a first outer positioning plate, wherein the first inner positioning plate is located within the inner circle of the first outer positioning plate;

[0014] The second positioning plate has a first inner ring and a second inner ring on the side opposite to the first positioning plate. The first inner ring is directly opposite the outer edge of the first inner positioning plate, and the second inner ring is directly opposite the inner edge of the first outer positioning plate. The first inner positioning plate, the first outer positioning plate, the first inner ring, the second inner ring and the second positioning plate together form a ring track for constraining the sliding guide block.

[0015] Preferably, the center of the annular track, the rotation center of the cam, and the rotation center of the rocker arm are all located on the same axis.

[0016] Preferably, the mounting frame is made by drilling holes in a flange, and the drilled guide holes are evenly distributed on the flange.

[0017] Preferably, both ends of the inner guide rod are provided with a first shoulder, the sliding guide block is provided with a mounting hole for installing the inner guide rod, the diameter of the first shoulder is larger than the diameter of the mounting hole, one end of the return spring abuts against the inner wall of the sliding guide block, and the other end is connected to the first shoulder located at the other end of the inner guide rod.

[0018] Preferably, both ends of the outer guide rod are provided with a second shoulder, the diameter of which is larger than the diameter of the guide hole; the shoulder located at one end of the outer guide rod is connected to the inner side of the mounting frame by a retaining spring.

[0019] Preferably, one side of the pawl has an angle relative to the axis of the inner guide rod.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] 1. This invention adopts a centralized drive strategy, which requires only one drive motor and one servo motor to achieve sequential control of multiple joints, greatly reducing the number of motors, reducing joint inertia and overall power consumption, reducing joint load, making the motion inertia lower, the whole machine more flexible, and meeting the application scenarios that require low weight and low power consumption of robots, thus achieving the requirements of lightweight applications.

[0022] 2. This invention employs a ratchet-pawl mechanical locking structure, combined with a cam pressing an inner guide rod, to achieve reliable mechanical positioning and electrical conduction switching. It eliminates the need for complex sensor feedback, resulting in a simple structure and low failure rate. Simultaneously, it effectively reduces the energy consumption and complexity of the control structure while decreasing the number of moving parts, thereby lowering the failure rate and maintenance costs. Furthermore, this structure possesses strong mechanical self-locking capability and good control interface compatibility, thus exhibiting better adaptability under various operating conditions and environments.

[0023] 3. In this invention, the inner guide rod is automatically reset by the reset spring, and the outer guide rod is kept in a separated state by the holding spring. Non-working circuits are reliably isolated, avoiding false triggering and ensuring system safety.

[0024] 4. The battery module of the present invention moves with the sliding guide block, which shortens the power supply path, reduces cable bends and interference, and the structure can make fuller use of the internal space of the actuator, reduce the occupation of the moving space by the fixed power supply unit, and improve the power supply stability and overall integration.

[0025] 5. The number of guide holes on the mounting frame of this invention can be flexibly adjusted, supports modular expansion, can be quickly adapted to robot configurations with different numbers of joints, and is convenient for disassembly and maintenance.

[0026] 6. This invention employs a selective control method, using a drive motor to drive the sliding guide block. This ensures the modularity and versatility of the control structure, allowing for adjustments to the number of modules as needed to adapt to different robot configurations, and facilitating easy disassembly and maintenance. Furthermore, the use of a servo motor to control the cam, combined with the restoring force of the return spring, enables the reciprocating motion of the guide rod. Electromagnetic transmission between the inner and outer guide rods further reduces redundant mechanical transmission and complex wiring, minimizing potential failure points. Attached Figure Description

[0027] Figure 1 This is a front view of the multi-joint selectable reconfigurable actuator based on remote centralized drive according to the present invention. The first positioning plate is omitted in this figure to show the internal structure.

[0028] Figure 2 This is a bottom view of the multi-joint selectable reconfigurable actuator based on remote centralized drive according to the present invention. For clarity, the second positioning plate, part of the outer guide rod, and the retaining spring are omitted in this figure.

[0029] Figure 3 This is a cross-sectional view of the multi-joint selectable reconfigurable actuator based on remote centralized drive of the present invention, installed after mounting on the bracket and the limiting plate.

[0030] Figure 4 yes Figure 3 Exploded view.

[0031] Figure 5 This is an isometric view of the installation of the multi-joint selective control reconfigurable actuator based on remote centralized drive of the present invention on a multi-joint reconfigurable robot on a drone.

[0032] Figure 6 The left view of the multi-joint selectable reconfigurable actuator based on remote centralized drive of the present invention is shown on a multi-joint reconfigurable robot on a drone.

[0033] Figure 7 This is a partial schematic diagram of the multi-joint selective control reconfigurable actuator based on remote centralized drive of the present invention installed on a multi-joint reconfigurable robot on an unmanned aerial vehicle.

[0034] Figure 8 This is a schematic diagram of a scenario where a multi-joint selectable reconfigurable actuator based on remote centralized drive is used in fruit picking.

[0035] Wherein, 1 is the mounting frame, 2 is the first positioning plate, 201 is the first inner positioning plate, 202 is the first outer positioning plate, 3 is the second positioning plate, 301 is the first inner ring, 302 is the second inner ring, 4 is the cam, 5 is the sliding guide block, 6 is the rocker arm, 7 is the annular track, 8 is the drive motor, 9 is the inner guide rod, 10 is the return spring, 11 is the pawl, 12 is the guide hole, 13 is the outer guide rod, 14 is the holding spring, 15 is the wire, 16 is the servo motor, 17 is the ratchet, 18 is the battery module, 19 is the bracket, 20 is the limit plate, 100 is the multi-joint selectable reconfigurable actuator, 200 is the robotic arm, and 300 is the joint. Detailed Implementation

[0036] The present invention is further described below through specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0037] like Figures 1 to 4 As shown, a multi-joint selectable reconfigurable actuator based on remote centralized drive includes an annular mounting frame, a first positioning plate, a second positioning plate, a cam, and a sliding guide block.

[0038] The first positioning plate and the second positioning plate are respectively installed at the upper and lower ends of the mounting frame, forming a ring track; the sliding guide block is disposed on the ring track, and the sliding guide block is connected to the drive motor through a rocker arm;

[0039] The sliding guide block is provided with an inner guide rod. One end of the inner guide rod extends out of the outer wall of the sliding guide block, and the other end extends out of the inner wall of the sliding guide block. A return spring is sleeved on the other end of the inner guide rod. One end of the return spring abuts against the inner wall of the sliding guide block, and the other end is connected to the other end of the inner guide rod. At the same time, a pawl is provided at the end of the other end of the inner guide rod.

[0040] The mounting frame is provided with multiple guide holes, which extend from the inner wall of the mounting frame to the outer wall. Each guide hole is provided with an outer guide rod. One end of the outer guide rod extends out of the inner wall of the mounting frame and is fitted with a retaining spring. The other end of the outer guide rod extends out of the outer wall of the mounting frame and is connected to a wire.

[0041] The cam is mounted on the second positioning plate and connected to the servo motor. The cam is also equipped with ratchet teeth that match the pawl. When the drive motor drives the inner guide rod to the set position through the sliding guide block, the servo motor drives the cam to rotate, and the cam pushes the inner guide rod to connect with the corresponding outer guide rod.

[0042] During operation, the drive motor drives the sliding guide block to slide along the circular track via the rocker arm. During the sliding process, the pawl located on the inner guide rod locks with the ratchet located on the cam to drive the cam to rotate together. When the sliding guide block carries the inner guide rod to the designated position, the drive motor stops. At this time, the sliding guide block and the inner guide rod stop together at the designated position.

[0043] Next, the servo motor drives the cam to rotate independently, and the pawl and ratchet separate. During the rotation of the cam, the cam squeezes the inner guide rod, causing the inner guide rod to move outward (i.e., move in the direction of the corresponding outer guide rod at this position) until one end of the inner guide rod contacts the outer guide rod, thereby realizing the transmission of current through the inner guide rod to the outer guide rod, and then through the wire connected to the outer guide rod to the corresponding robot module.

[0044] When the object requiring current transmission needs to be switched, the drive motor restarts, causing the rocker arm to drive the sliding guide block and inner guide rod to slide along the circular track again. During the sliding process, the inner guide rod returns to the initial position of the sliding guide block under the action of the return spring. When the pawl rotates into the cam ratchet position again, the pawl on the inner guide rod locks with the ratchet on the cam, causing the cam to rotate together. When the inner guide rod reaches the position of the outer guide rod corresponding to the target object, the drive motor stops again, and then the servo motor drives the cam to rotate again, pressing the inner guide rod into contact with the corresponding outer guide rod, thus realizing the current transmission to the target object. Because the ratchet is a single structure and the pawl can pass freely when not locked, this mechanism can work reliably at any installation angle without relying on position feedback, and has strong environmental adaptability and control compatibility.

[0045] Thus, throughout the process, the mounting frame serves as a fixed base, the first and second positioning plates provide guide rails, and the return spring ensures that the inner and outer guide rods remain separated in the non-working state, preventing accidental triggering. The entire mechanism, through a combination of mechanical control and electromagnetic transmission, achieves centralized, sequentially controllable drive of multiple robot joint modules by a single motor, significantly reducing joint load, motion inertia, and system power consumption. This makes it suitable for lightweight, highly flexible applications such as UAV-borne robotic arms and pipeline inspection robots. Figures 5-8 This invention can be combined with a multi-joint reconfigurable robot. The multi-joint selectable reconfigurable actuator of this invention is installed on a drone via a bracket and limiting plate. The robotic arm of the multi-joint reconfigurable robot is positioned below the drone and used to perform tasks such as fruit picking and pipeline inspection. With this invention, the drone only needs to carry one drive motor and one servo motor to sequentially control multiple joints of the robotic arm, achieving lightweight flight operations. Compared with existing wire-driven and pneumatic drive solutions, this invention uses rigid guide rod contact power transmission, eliminating rope elastic deformation, resulting in rapid response and precise positioning; the mechanical locking structure has strong impact resistance, making it suitable for complex outdoor working conditions; and the modular design allows for rapid adjustment of the number of joints, providing good scalability.

[0046] It also includes a battery module, which is mounted on the upper end of the sliding guide block. The battery module, fixed on the upper end of the sliding guide block, slides synchronously along the circular track, ensuring that the power supply unit moves with it, shortening cable length and avoiding motion interference.

[0047] The first positioning plate includes a first inner positioning plate and a first outer positioning plate, with the first inner positioning plate located within the inner ring of the first outer positioning plate. The second positioning plate has a first inner ring and a second inner ring on its opposite side from the first positioning plate. The first inner ring is directly opposite the outer edge of the first inner positioning plate, and the second inner ring is directly opposite the inner edge of the first outer positioning plate. The first inner positioning plate, the first outer positioning plate, the first inner ring, the second inner ring, and the second positioning plate together form a ring-shaped track for constraining the sliding guide block. This structure is simple, compact, and easy to install. With this configuration, the combined action of the ring-shaped track, the return spring, and the retaining spring prevents accidental contact between the inner and outer guide rods, further improving operational reliability.

[0048] The center of the annular track, the rotation center of the cam, and the rotation center of the rocker arm are all located on the same axis. The rotation centers of all moving parts (center of the annular track, center of the cam shaft, and center of the rocker arm shaft) are set coaxially to ensure motion accuracy and stability.

[0049] The mounting frame is made by drilling holes in a flange, with the drilled guide holes evenly distributed across the flange. This structure is simple, easy to manufacture, and has low processing costs.

[0050] Both ends of the inner guide rod are provided with a first shoulder. The sliding guide block has a mounting hole for mounting the inner guide rod. The diameter of the first shoulder is larger than the diameter of the mounting hole. One end of the return spring abuts against the inner wall of the sliding guide block, and the other end is connected to the first shoulder located at the other end of the inner guide rod. The shoulder design ensures the reliability of the spring's operation, allowing the inner guide rod to return to its original position promptly and preventing accidental contact with other outer guide rods during movement along the circular track. Both ends of the outer guide rod are provided with a second shoulder. The diameter of the second shoulder is larger than the diameter of the guide hole. The shoulder located at one end of the outer guide rod is connected to the inner side of the mounting frame via a retaining spring. With this structure, the outer guide rod, under the elastic force of the retaining spring, keeps its end in a set position, ensuring precise contact between the inner and outer guide rods.

[0051] One side of the pawl has an angle relative to the axis of the inner guide rod. This structure ensures unidirectional locking of the pawl and ratchet, and after separation, the cam can smoothly push the inner guide rod to move axially.

[0052] Those skilled in the art will readily understand that the above description is merely an embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-joint selective control reconfigurable actuator based on remote centralized drive, characterized in that: It includes a ring-shaped mounting frame, a first positioning plate, a second positioning plate, a cam, and a sliding guide block; The first positioning plate and the second positioning plate are respectively installed at the upper and lower ends of the mounting frame, forming a ring track; the sliding guide block is disposed on the ring track, and the sliding guide block is connected to the drive motor through a rocker arm; The sliding guide block is provided with an inner guide rod. One end of the inner guide rod extends out of the outer wall of the sliding guide block, and the other end extends out of the inner wall of the sliding guide block. A return spring is sleeved on the other end of the inner guide rod. One end of the return spring abuts against the inner wall of the sliding guide block, and the other end is connected to the other end of the inner guide rod. At the same time, a pawl is provided at the end of the other end of the inner guide rod. The mounting frame is provided with multiple guide holes, which extend from the inner wall of the mounting frame to the outer wall. Each guide hole is provided with an outer guide rod. One end of the outer guide rod extends out of the inner wall of the mounting frame and is fitted with a retaining spring. The other end of the outer guide rod extends out of the outer wall of the mounting frame and is connected to a wire. The cam is mounted on the second positioning plate and connected to the servo motor. The cam is also equipped with ratchet teeth that match the pawl. When the drive motor drives the inner guide rod to the set position through the sliding guide block, the servo motor drives the cam to rotate, and the cam pushes the inner guide rod to connect with the corresponding outer guide rod.

2. The multi-joint selective control reconfigurable actuator based on remote centralized drive according to claim 1, characterized in that: It also includes a battery module, which is mounted on the upper end of the sliding guide block.

3. The multi-joint selectable reconfigurable actuator based on remote centralized drive according to claim 1, characterized in that: The first positioning plate includes a first inner positioning plate and a first outer positioning plate, wherein the first inner positioning plate is located within the inner circle of the first outer positioning plate; The second positioning plate has a first inner ring and a second inner ring on the side opposite to the first positioning plate. The first inner ring is directly opposite the outer edge of the first inner positioning plate, and the second inner ring is directly opposite the inner edge of the first outer positioning plate. The first inner positioning plate, the first outer positioning plate, the first inner ring, the second inner ring and the second positioning plate together form a ring track for constraining the sliding guide block.

4. The multi-joint selective control reconfigurable actuator based on remote centralized drive according to claim 1, characterized in that: The center of the annular track, the rotation center of the cam, and the rotation center of the rocker arm are all located on the same axis.

5. The multi-joint selective control reconfigurable actuator based on remote centralized drive according to claim 1, characterized in that: The mounting frame is made by drilling holes in the flange, and the drilled guide holes are evenly distributed on the flange.

6. The multi-joint selective control reconfigurable actuator based on remote centralized drive according to claim 1, characterized in that: Both ends of the inner guide rod are provided with a first shoulder, and the sliding guide block is provided with a mounting hole for installing the inner guide rod. The diameter of the first shoulder is larger than the diameter of the mounting hole. One end of the return spring abuts against the inner wall of the sliding guide block, and the other end is connected to the first shoulder located at the other end of the inner guide rod.

7. The multi-joint selectable reconfigurable actuator based on remote centralized drive according to claim 1, characterized in that: Both ends of the outer guide rod are provided with a second shoulder, the diameter of which is larger than the diameter of the guide hole; the shoulder located at one end of the outer guide rod is connected to the inner side of the mounting frame by a retaining spring.

8. The multi-joint selective control reconfigurable actuator based on remote centralized drive according to claim 1, characterized in that: One side of the pawl has an angle relative to the axis of the inner guide rod.

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