Multi-joint endoscopic robot

Abstract

The utility model discloses a multi-joint endoscopic robot which is composed of a multi-joint mechanical arm, a driving box, an end effector and a movable feeding platform. One end of the multi-joint mechanical arm is connected with the driving box, and the end effector is connected with the other end of the multi-joint mechanical arm; the multi-joint mechanical arm, the driving box and the end effector are assembled into a whole and then arranged on the movable feeding platform. The multi-joint mechanical arm is formed by connecting a plurality of joint units in series, and each joint unit comprises a left connecting hinge, a right connecting hinge and a carbon fiber supporting cylinder. The left connecting hinge and the right connecting hinge are installed at the two ends of the carbon fiber supporting cylinder respectively. Every two adjacent joint units are hinged together through a left connecting hinge and a right connecting hinge. A plurality of circles of lead screw modules are distributed in the driving box in the annular direction, and coupling movement of the adjacent lead screw modules is achieved through gear meshing. Each joint of the robot can be driven by only one motor, the front joint and the rear joint do not have a coupling effect in movement, joint movement control can be independently carried out, the complexity of a driving and control system is greatly reduced, the number of driving motors can be reduced with the same number of joint units, and cost reduction and efficiency improvement are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a multi-joint endoscopic robot. Background Art

[0002] The interiors of large industrial equipment such as space stations, fusion reactors, and aircraft engines are very complex and most of them have extreme environments such as radiation, high temperature, and strong magnetic fields. Long-term operation will cause cracks, fissures, ablation, and deformation of internal components. There is an urgent need for an internal observation device that can perform non-destructive internal exploration through simple disassembly or reserved maintenance windows. Traditional industrial robots are large in size and short in arm length, and cannot penetrate into the narrow space inside industrial equipment for inspection. In addition, the drive systems of such robots are distributed at each joint of the robot, making it very difficult to provide radiation protection for the entire machine and limiting its application. Although the existing rope-driven super-redundant snake-like robot has a large slenderness ratio structural feature that can meet certain observation needs, the drive and control system is very complex, and the drive coupling effect of each joint is very large, resulting in poor end position accuracy, high cost of use, and high failure rate.

[0003] Therefore, existing industrial robots cannot meet the needs of detection in narrow spaces, and the drive motors arranged on the robotic arms cannot provide radiation protection; although the existing rope-driven super-redundant snake-like robots can meet certain observation and radiation protection needs, the drive cables of each joint have a very large coupling effect, which makes the motion control of the entire robotic arm very difficult and the error is large. In addition, the entire drive and control system is also very complex, generally requiring 20-30 motors and supporting control systems, which results in high cost and high maintenance costs. Summary of the invention

[0004] In view of the above-mentioned technical deficiencies, the purpose of the present utility model is to provide a multi-joint endoscopic robot, which realizes the decoupling of joint drive cables.

[0005] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0006] The utility model provides a multi-joint endoscope robot, which is composed of a multi-joint mechanical arm, a drive box, an end effector and a mobile feeding platform; one end of the multi-joint mechanical arm is connected to the drive box, and the end effector is connected to the other end of the multi-joint mechanical arm; the multi-joint mechanical arm, the drive box and the end effector are assembled into a whole and are arranged on the mobile feeding platform;

[0007] The multi-joint robotic arm is composed of several joint units connected in series, each of which includes a left and a right connecting hinge and a carbon fiber support cylinder; the left and right connecting hinges are respectively installed at both ends of the carbon fiber support cylinder; two adjacent joint units are hinged together through the left and right connecting hinges;

[0008] Several circles of screw modules are distributed along the annular direction inside the drive box. The screw modules are integrated on the screw modules and the motor support plate inside the drive box, and the front end of the screw module is integrated on the front screw module support plate inside the front end of the drive box; several motors are installed inside the drive box through the screw modules and the motor support plate;

[0009] There are two ways to layout the motor inside the drive box. The first is to install a drive motor at the tail of each screw module. The second is that two adjacent screw modules share one motor and transmit the power together through gear meshing.

[0010] The screw rod module comprises a screw rod, a slide table and a slider, the slider and the screw rod are screwed together, and the slider is slidably arranged on the slide table;

[0011] A steel wire rope is fixed on the slider, and the other end of the steel wire rope passes through the two rows of holes in the middle of the hinge of the robot arm joint unit and is fixed on the set joint unit; two steel wire ropes are connected to each joint unit;

[0012] The driving wire rope of the previous joint unit enters the next joint unit through the two rows of wire rope through holes in the middle, passes through each joint unit in turn and finally enters the drive box and is connected to the screw slider.

[0013] Furthermore, the steel wire rope passes through the steel wire rope holes on both sides of the right connecting hinge and is fixed in the middle of the semicircular arc in the middle of the left connecting hinge. During the movement, the steel wire rope is always attached to the guide groove outside the semicircle.

[0014] Furthermore, the two rows of holes on the left and right connecting hinges are located on the rotation axis of the hinges.

[0015] Furthermore, the mobile platform is installed with a gear rack transmission mechanism and a heavy-duty ball slide. At the same time, the mobile platform is installed with a cable drag chain for motor signal transmission and power supply cable transportation. The multi-joint robotic arm, drive box and end effector are assembled into a whole and placed on the heavy-duty ball slide.

[0016] The beneficial effects of the utility model are that each joint of the robot of the utility model only needs one motor to drive, and there is no coupling effect in the front and rear joint movements, and the joint movements can be controlled independently, which greatly reduces the complexity of the drive and control system. With the same number of joint units, compared with a non-decoupled rope-driven super-redundant snake-like robot, the drive motor can be reduced by 2 / 3, thereby achieving cost reduction and efficiency improvement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is a schematic diagram of the structure of the robot in Example 1;

[0019] Figure 2 This is a schematic diagram of the structure inside the drive box of Example 1;

[0020] Figure 3 This is a schematic structural diagram of the left connecting hinge of the joint unit of Example 1;

[0021] Figure 4 It is a side view of the left connecting hinge of the joint unit of Example 1;

[0022] Figure 5 It is a top view of the left connecting hinge of the joint unit of Example 1;

[0023] Figure 6 It is a schematic diagram of the three-dimensional structure of the left connecting hinge of the joint unit of Example 1;

[0024] Figure 7 This is a schematic structural diagram of the right connecting hinge of the joint unit of Example 1;

[0025] Figure 8 It is a side view of the right connecting hinge of the joint unit of Example 1;

[0026] Fig. 9 It is a top view of the right connecting hinge of the joint unit of Example 1;

[0027] Fig.10 It is a schematic diagram of the three-dimensional structure of the right connecting hinge of the joint unit of Example 1;

[0028] Fig.11 This is a schematic diagram of the structure of the entire connecting hinge of the joint unit of Example 1;

[0029] Fig.12 This is a schematic structural diagram of the end drive box of Example 1;

[0030] Fig.13 This is a structural schematic diagram of the mobile feeding platform of Example 1;

[0031] Fig.14 This is a schematic diagram of the structure of the terminal camera of Example 1;

[0032] Fig.15This is a schematic diagram of the structure of the motor layout of the drive box in Example 1;

[0033] Fig.16 This is a schematic diagram of the structure of the steel wire rope in Example 1;

[0034] Fig.17 This is a schematic diagram of the structure of the second motor layout of the drive box in Example 2.

[0035] Explanation of the accompanying drawings: 1. Drive box; 2. Multi-joint robotic arm; 3. End effector; 4. Mobile feed platform; 5. Carbon fiber support cylinder; 6. Left connecting hinge; 7. Right connecting hinge; 8. Drive motor; 9. Screw module and motor support plate; 10. Screw; 11. Slide; 12. Slider; 13. Front end screw module support plate; 14. Gear; 15. Wire rope; 16. Hole. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] Example 1

[0038] like Figure 1-Figure 16 As shown, a multi-joint endoscopy robot is composed of a multi-joint mechanical arm 2, a drive box 1, an end effector 3 and a mobile feeding platform 4; one end of the multi-joint mechanical arm 2 is connected to the drive box 1, and the end effector 3 is connected to the other end of the multi-joint mechanical arm 2; the multi-joint mechanical arm 2, the drive box 1 and the end effector 3 are assembled into a whole and are set on the mobile feeding platform 4;

[0039] The multi-joint robot arm 2 is composed of a plurality of joint units connected in series, each joint unit comprising a left and a right connecting hinge 6 and a carbon fiber support cylinder 5; the left and the right connecting hinge 6 are respectively installed at both ends of the carbon fiber support cylinder 5; two adjacent joint units are hinged together through the left and the right connecting hinge 6;

[0040] There are 4 circles of screw modules distributed along the circumferential direction inside the drive box 1, and there are 4 circles of screw modules distributed along the circumferential direction inside the drive box 1 according to the number of 4:4:8:8, with a total of 24; each drive motor 8 is connected to a screw 10 as shown in Figure 15, and the entire robot arm can be connected in series with a maximum of 12 joint units; the motor is installed inside the drive box 1 through the screw module and the motor support plate 9, and a plurality of screw 10 modules are installed in the drive box 1, and the screw 10 modules are integrated on the screw module and the motor support plate 9 inside the drive box 1, and the front end of the screw 10 module is integrated on the front end screw module support plate 13 in the front end of the drive box 1;

[0041] The motor layout inside the drive box 1 is such that a drive motor 8 is installed at the tail of each screw rod 10;

[0042] The screw rod module includes a screw rod 10, a slide table 11 and a slider 12. The slider 12 is screwed to the screw rod 10, and the slider 12 is slidably arranged on the slide table 11.

[0043] A steel wire rope 15 is fixed on the slider 12, and the other end of the steel wire rope 15 passes through the two rows of holes 16 in the middle of the hinge connecting the joint unit of the robot arm and enters and is fixed on the set joint unit; two left and right steel wire ropes 15 are connected to each joint unit; the motor drives the screw rod 10, the screw rod 10 drives 12, the slider 12 moves along the slide 11, and then the slider 12 pulls the steel wire rope 15, and the steel wire rope 15 pulls the joint unit to realize the pitch and yaw movement of each joint of the entire robot arm.

[0044] Ø Each joint unit adopts Fig.16 The two left and right steel wire ropes 15 shown are used for traction to realize the yaw movement of a single joint unit, and the cross-layout of the joint units of the entire robotic arm realizes the spatial movement capability of the entire robotic arm.

[0045] The driving wire rope 15 of the previous joint unit enters the next joint unit through the two rows of wire rope through holes 16 in the middle, passes through each joint unit in turn and finally enters the driving box 1 and is connected to the slider of the screw rod 10.

[0046] The steel wire 15 passes through the steel wire 15 holes 16 on both sides of the right connecting hinge 6 and is fixed in the middle of the semicircular arc in the middle of the left connecting hinge 7. During the movement, the steel wire 15 is always attached to the guide groove outside the semicircle. Due to the existence of the semicircular arc guide groove in Figure 6, the telescopic displacement of the single left and right driving steel wire 15 is completely equal, so it can be adopted Fig.15 The dual motor drive method can also be used Fig.17 A single motor + reversing gear 14 controls the sliders on the two screw rods 10 to move forward and backward respectively, thereby simplifying the drive and control system;

[0047] The two rows of holes 16 on the left and right connecting hinges 6 are located on the rotation axis of the hinge. Fig.16 As shown, when the joint unit swings left and right, the steel wire rope 15 in the middle position does not need to move in coordination, thereby achieving the decoupled movement of the entire robot arm. The movement of each joint unit only needs to drive the two steel wire ropes 15 connected to the joint unit, which greatly reduces the complexity of the drive control of the multi-joint serial robot arm.

[0048] The mobile platform is equipped with a gear 14 rack transmission mechanism and a heavy-duty ball slide for feed transmission and load bearing. At the same time, a cable drag chain for motor signal transmission and power supply cable transportation is installed on the mobile platform. The multi-joint robot arm 2, drive box 1 and end effector 3 are assembled into a whole and placed on the heavy-duty ball slide. The mobile platform is built with 40*40 aluminum profiles.

[0049] Working principle:

[0050] Joint space movement: The user inputs the rotation angle of a single joint unit through an external input device such as a remote control, and then calculates the motor angle. The motor drives the screw rod 10 slider to move, and the screw rod 10 slider drives the wire rope 15 fixed on the slider to extend and retract; the two wire ropes 15 fixed on a single joint unit work together to drive the single joint unit to rotate left and right or up and down in the joint space; finally, multiple joint units are connected in series, and the coordinated movement sends the end effector 3 to the specified working position;

[0051] Operation space movement: The user inputs the movement path of the end effector 3 through an external input device such as a remote control, and then the inverse kinematics algorithm automatically solves the joint angle and the telescopic displacement of the wire rope 15, and then calculates the motor angle, and sends the end effector 3 to the specified working position through the coordinated movement of multiple motors.

[0052] Example 2

[0053] like Fig.17 As shown, the difference between this embodiment and embodiment 1 is that the motor layout inside the drive box 1 is such that two adjacent screw modules share one motor and transmit the power together through the meshing of gears 14 .

[0054] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A multi-joint endoscopic robot, characterized in that: It consists of a multi-joint robot arm, a drive box, an end effector and a mobile feeding platform; one end of the multi-joint robot arm is connected to the drive box, and the end effector is connected to the other end of the multi-joint robot arm; the multi-joint robot arm, the drive box and the end effector are assembled into a whole and then set on the mobile feeding platform; The multi-joint robotic arm is composed of several joint units connected in series, each of which includes a left and a right connecting hinge and a carbon fiber support cylinder; the left and right connecting hinges are respectively installed at both ends of the carbon fiber support cylinder; two adjacent joint units are hinged together through the left and right connecting hinges; Several circles of screw modules are distributed circumferentially inside the drive box. The screw modules are integrated on the screw module and the motor support plate inside the drive box, and the front end of the screw module is integrated on the front screw module support plate inside the front end of the drive box. Several motors are installed inside the drive box through a screw module and a motor support plate; There are two ways to layout the motor inside the drive box. The first is to install a drive motor at the tail of each screw module. The second is to share a motor for two adjacent screw modules and transmit the drive together through gear meshing. The screw rod module comprises a screw rod, a slide table and a slider, the slider and the screw rod are screwed together, and the slider is slidably arranged on the slide table; A steel wire rope is fixed on the slider, and the other end of the steel wire rope passes through the two rows of holes in the middle of the hinge of the robot arm joint unit and is fixed on the set joint unit; two steel wire ropes are connected to each joint unit; The driving wire rope of the previous joint unit enters the next joint unit through the two rows of wire rope through holes in the middle, passes through each joint unit in turn and finally enters the drive box and is connected to the screw slider.

2. A multi-joint endoscopic robot according to claim 1, characterized in that: The steel wire rope passes through the steel wire rope holes on both sides of the right connecting hinge and is fixed in the middle of the semicircular arc in the middle of the left connecting hinge. During the movement, the steel wire rope is always attached to the guide groove outside the semicircle.

3. A multi-joint endoscopic robot according to claim 1, characterized in that: The two rows of holes on the left and right connecting hinges are located on the rotation axes of the hinges.

4. A multi-joint endoscopic robot according to claim 1, characterized in that: The mobile platform is equipped with a gear rack transmission mechanism and a heavy-duty ball slide. At the same time, a cable drag chain for motor signal transmission and power supply cable transportation is installed on the mobile platform. The multi-joint robotic arm, drive box and end effector are assembled into a whole and placed on the heavy-duty ball slide.

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