Novel rope-driven continuum mechanical arm

Abstract

The utility model discloses a novel rope drive continuum mechanical arm which comprises a machine box, one side of the machine box is fixedly connected with a first mechanical arm, the side, away from the machine box, of the first mechanical arm is provided with a second mechanical arm, and the end, away from the first mechanical arm, of the second mechanical arm is provided with a third mechanical arm. The end, away from the second mechanical arm, of the third mechanical arm is fixedly connected with a mounting base, and a first stepping motor set, a second stepping motor set and a third stepping motor set are fixedly mounted in the machine box. Compared with the prior art, the mechanical arm has a flexible mechanical arm structure and a rotatable function and is suitable for exploration or operation in a narrow or unstructured space, and compared with a traditional continuum mechanical arm, the tail end of the mechanical arm is provided with a rope-driven rotating structure, so that the operation capacity and the application potential of the mechanical arm are enhanced to a large extent.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arms, in particular to a novel rope-driven continuum mechanical arm. Background Art

[0002] High-precision equipment such as engines and pressure vessels has a high degree of internal integration and contains numerous irregular, narrow spaces. These areas have strict safety requirements and require regular inspections to ensure their safety. However, maintenance is difficult and dangerous, necessitating the use of robots to replace manual labor. Traditional engine inspection equipment can mostly only inspect the engine surface or external components, and cannot directly inspect the interior of the equipment. For example, infrared imaging, combined with algorithms, reveals the internal structure and possible defects or damage based on the returned thermal images. However, this method struggles to accurately capture complex structures. Furthermore, internal engine maintenance generally requires disassembly to remove the target components and then repair them. This disassembly and reassembly process is not only time-consuming and labor-intensive, but also highly susceptible to accidental damage. While this method can accomplish engine inspection tasks, it is not cost-effective.

[0003] Therefore, various research institutions have begun developing continuum and flexible manipulators. Currently, pneumatic muscle and rope-driven solutions are relatively mature. These manipulators have many degrees of freedom and good flexibility, showing great potential in areas such as maintenance in confined spaces. Utility Model Content

[0004] The purpose of the utility model is to provide a new type of rope-driven continuum manipulator to address the problems existing in the above-mentioned prior art.

[0005] The technical solution for achieving the purpose of the utility model is: a new type of rope-driven continuum robotic arm, the robotic arm includes a chassis, a first robotic arm is fixedly connected to one side of the chassis, a second robotic arm is provided on the side of the first robotic arm away from the chassis, a third robotic arm is provided on the end of the second robotic arm away from the first robotic arm, and an end of the third robotic arm away from the second robotic arm is fixedly connected to a mounting base, and a first stepper motor group, a second stepper motor group and a third stepper motor group are fixedly installed inside the chassis, which drive the first robotic arm, the second robotic arm and the third robotic arm respectively through cables.

[0006] Furthermore, the number of stepper motors in the first stepper motor group, the second stepper motor group and the third stepper motor group is three, and the output end of each stepper motor is fixedly connected to a winding wheel.

[0007] Furthermore, the first robotic arm includes nine coaxially and evenly distributed first flanges, and three first cables. Nine first cable holes are evenly opened on each of the first flanges, and the three first cables pass through the corresponding first cable holes on the nine first flanges; a first center axis is fixedly inserted between the nine first flanges.

[0008] Furthermore, one end of the three first cables is fixedly connected to the winding wheels on the three stepper motors in the first stepper motor group, and the other ends of the three first cables pass through three of the first cable holes on the eight first flanges in sequence, and are fixedly connected to the three first cable holes on the first flange located at the end.

[0009] Furthermore, the second robotic arm includes nine evenly distributed second flanges and three second cables. Nine second cable holes are evenly opened on each second flange, and a second central axis is fixedly inserted between the nine second flanges.

[0010] Furthermore, one end of the three second cables passes through the first cable holes on the nine first flanges and is fixedly connected to the winding wheels on the three stepper motors in the second stepper motor group. The other ends of the three second cables pass through three of the second cable holes on the eight second flanges in turn and are fixedly connected to the three second cable holes on the second flange located at the end.

[0011] Furthermore, the third robotic arm includes nine evenly distributed third flanges and three third cables, each of the third flanges is evenly provided with nine third cable holes, a third center axis is fixedly inserted between the nine third flanges, and a fixed shell is fixedly connected between the side walls of the nine third flanges.

[0012] Furthermore, one end of the three third cables passes through the second cable holes on the nine second flanges and the first cable holes on the nine first flanges in sequence and then is fixedly connected to the winding wheels on the three stepper motors in the third stepper motor group. The other ends of the three third cables pass through three of the third cable holes on the eight third flanges in sequence and are fixedly connected to the three third cable holes on the third flange at the end.

[0013] Compared with the existing technology, the present invention has the following significant advantages: by setting a chassis, a first robotic arm, a second robotic arm, a third robotic arm, a mounting base, a first stepper motor group, a second stepper motor group, a third stepper motor group and a winding wheel, the robotic arm has good flexibility, can move in unstructured and narrow spaces, can perform multi-angle rotation in clockwise or counterclockwise directions without changing the spatial position of the robotic arm, is suitable for detection and operation in narrow spaces, and has unique advantages and great application potential.

[0014] The present invention is described in further detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the overall structure of a new rope-driven continuum robotic arm in one embodiment.

[0016] Figure 2 Schematic diagram of the distribution of the first stepper motor group, the second stepper motor group and the third stepper motor group of a new rope-driven continuum robot arm in one embodiment.

[0017] Figure 3 Schematic diagram of the first manipulator structure of a new rope-driven continuum manipulator in one embodiment.

[0018] Figure 4 Schematic diagram of the second robotic arm structure of a new rope-driven continuum robotic arm in one embodiment.

[0019] Figure 5 Schematic diagram of the structure of the third robotic arm of the novel rope-driven continuum robotic arm in one embodiment.

[0020] Figure 6 Schematic diagram of the structure of the first flange, the second flange and the third flange of a new rope-driven continuum robot arm in one embodiment.

[0021] In the figure: 1. Chassis; 2. First robotic arm; 3. Second robotic arm; 4. Third robotic arm; 5. Mounting base; 6. First stepper motor unit; 7. Second stepper motor unit; 8. Third stepper motor unit; 9. Reel; 21. First flange; 22. First cable; 23. First cable hole; 24. First center axis; 31. Second flange; 32. Second cable; 33. Second cable hole; 34. Second center axis; 41. Third flange; 42. Third cable; 43. Third cable hole; 44. Third center axis; 45. Fixed shell. DETAILED DESCRIPTION

[0022] In order to make the technical means, creative features and purpose effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0023] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc. should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0025] See also Figure 1-6 The present invention provides a technical solution: a novel rope-driven continuum manipulator, comprising a chassis 1, wherein a first stepper motor group 6, a second stepper motor group 7 and a third stepper motor group 8 are fixedly installed inside the chassis 1. The number of stepper motors in each of the first stepper motor group 6, the second stepper motor group 7 and the third stepper motor group 8 is three. For specific distribution, please refer to Figure 2 As shown, it is explained here that the 9 stepper motors are evenly distributed, and the output end of each stepper motor is fixedly connected to the winding wheel 9.

[0026] A first mechanical arm 2 is fixedly connected to one side of the chassis 1. The first mechanical arm 2 includes nine evenly distributed first flanges 21 and three first cables 22. Figure 1 As shown, the first flange 21 close to the chassis 1 is fixedly connected to the chassis 1, and nine first cable holes 23 are evenly opened on each first flange 21. For the convenience of subsequent description, as shown in FIG. Figure 6As shown, the nine first cable holes 23 can be marked as A, E, H, C, F, I, B, D and G in clockwise order. A first central shaft 24 is fixedly inserted between the nine first flanges 21. The first central shaft 24 is made of nickel-titanium alloy and the strain can be automatically restored when unloaded; one end of the three first cables 22 passes through the side wall of the chassis 1 and is fixedly connected to the winding wheels 9 on the three stepping motors in the first stepper motor group 6 respectively. The other ends of the three first cables 22 pass through the three first cable holes 23 numbered D, E, and F on the eight first flanges 21 respectively, and are fixedly connected to the three first cable holes 23 numbered D, E, and F on the first flange 21 at the end. At this time, the three first cables 22 are all parallel to the first central shaft 24.

[0027] A second robotic arm 3 is provided on the side of the first robotic arm 2 away from the chassis 1. The second robotic arm 3 includes nine evenly distributed second flanges 31 and three second cables 32. The second flange 31 close to the first flange 21 is fixedly connected to the first flange 21. Nine second cable holes 33 are evenly opened on each second flange 31. The second flange 31 and the first flange 21 are of the same shape and size, and the nine second cable holes 33 thereon correspond to the nine first cable holes 23 on the first flange 21 respectively. A second central axis 34 is fixedly inserted between the nine second flanges 31. The second central axis 34 It is made of nickel-titanium alloy. One end of the three second cables 32 passes through the first cable holes 23 numbered G, H, and I on the nine first flanges 21, then passes through the side wall of the chassis 1 and is fixedly connected to the reel 9 on the three stepping motors in the second stepping motor group 7. The other ends of the three second cables 32 pass through the second cable holes 33 numbered G, H, and I on the eight second flanges 31 in sequence, and their ends are fixedly connected to the second cable holes 33 numbered G, H, and I on the second flange 31 away from the first flange 21. At this time, the three second cables 32 are all parallel to the second center axis 34.

[0028] A third robotic arm 4 is provided at the end of the second robotic arm 3 away from the first robotic arm 2. The third robotic arm 4 includes nine evenly distributed third flanges 41 and three third cables 42. The third flange 41 adjacent to the second flange 31 is rotatably connected to the second flange 31. Each third flange 41 is evenly defined with nine third cable holes 43. The third flange 41 and the second flange 31 are identical in size and shape, and the nine third cable holes 43 thereon correspond one-to-one with the nine second cable holes 33 on the second flange 31. A third central shaft 44 is fixedly inserted between each of the nine third flanges 41. The third central shaft 44 is made of nickel-titanium alloy. A fixing shell 45 is fixedly connected between the side walls of the nine third flanges 41. A mounting base 5 is fixedly connected to the end of the fixing shell 45 away from the second robotic arm 3. Common tools used for engine maintenance, such as drill bits, cutting bits, grinding wheels, etc., can be mounted on the mounting base 5. The specific mounting method is mostly a detachable threaded connection, which is a prior art and will not be described here.

[0029] One end of the three third cables 42 passes through the second cable holes 33 numbered A, B, and C on the nine second flanges 31, the first cable holes 23 numbered A, B, and C on the nine first flanges 21, and the side wall of the chassis 1 and is fixedly connected to the reel 9 on the three stepping motors in the third stepping motor group 8. The other end of one of the three third cables 42 passes through (from left to right) the third cable hole 43 numbered A on the first third flange 41, the third cable hole 43 numbered E on the second third flange 41, the third cable hole 43 numbered H on the third third flange 41, the third cable hole 43 numbered C on the fourth third flange 41, and the third cable hole 43 numbered H on the third third flange 41. After passing through the third cable hole 43, the third cable hole 43 numbered F on the fifth third flange 41, the third cable hole 43 numbered I on the sixth third flange 41, the third cable hole 43 numbered B on the seventh third flange 41, and the third cable hole 43 numbered D on the eighth third flange 41, the end portion is finally fixedly connected to the third cable hole 43 numbered G on the ninth third flange 41 (away from the second robot arm 3); the other end of the second third cable 42 passes through (from left to right) the third cable hole 43 numbered B on the first third flange 41, the third cable hole 43 numbered D on the second third flange 41, the third cable hole 43 numbered After passing through the third cable hole 43 numbered G on the third flange 41, the third cable hole 43 numbered A on the fourth third flange 41, the third cable hole 43 numbered E on the fifth third flange 41, the third cable hole 43 numbered H on the sixth third flange 41, the third cable hole 43 numbered C on the seventh third flange 41, and the third cable hole 43 numbered F on the eighth third flange 41, the end portion is finally fixedly connected to the third cable hole 43 numbered I on the ninth third flange 41 (away from the second robot arm 3); the other end of the third third cable 42 passes through (from left to right) the third cable hole 43 numbered I on the first third flange 41. After passing through the third cable hole 43 numbered C on the third flange 41, the third cable hole 43 numbered F on the second third flange 41, the third cable hole 43 numbered I on the third third flange 41, the third cable hole 43 numbered B on the fourth third flange 41, the third cable hole 43 numbered D on the fifth third flange 41, the third cable hole 43 numbered G on the sixth third flange 41, the third cable hole 43 numbered A on the seventh third flange 41, and the third cable hole 43 numbered E on the eighth third flange 41, the ends are finally fixedly connected to the third cable hole 43 numbered H on the ninth third flange 41 (far away from the second robot arm 3). In this way, the three third cables 42 pass through the eight third flanges 41 and are fixed to the ninth third flange 41. The topological structure is a cylindrical helical structure.

[0030] It should be noted that the present invention is a new type of rope-driven continuum robotic arm, which controls the operation of the three stepper motors in the first stepper motor group 6 to drive the winding wheel 9 to reel in the three first cables 22 thereon. When the first cables 22 are reeled in, the first central axis 24 is driven to bend, thereby placing the first robotic arm 2 in a bent state; similarly, the three stepper motors in the second stepper motor group 7 are controlled to operate to drive the winding wheel 9 to reel in the three second cables 32 thereon. When the second cables 32 are reeled in, the second central axis 34 is driven to bend, thereby placing the second robotic arm 3 in a bent state; it is explained here that when the stepper motor rotates forward (the motor input signal is a positive angle), the first cable 22 or the second cable 32 will be tightened and contracted, and when the stepper motor rotates reversely (the motor input signal is a negative angle), the first cable 22 or the second cable 32 will relax and expand under the cooperation of the unloading automatic recovery characteristics of the first central axis 24 or the second central axis 34; the third robotic arm 4 is The contraction and expansion of the three third cables 42 control their own rotational movement relative to the second robotic arm 3. The contraction and expansion of the three third cables 42 are controlled by the three stepper motors on the third stepper motor group 8. When rotational movement is required, the three stepper motors on the third stepper motor group 8 rotate forward (the motor input signal is a positive angle) to drive the winding wheel 9 thereon to reel in the three third cables 42. The three third cables 42 with a cylindrical helical structure will slowly become parallel to each other as the reeling progresses. At this time, the entire third robotic arm 4 will be driven to rotate clockwise. At this time, the third central axis 44 is in a state of self-rotational twisting loading, and the three stepper motors on the third stepper motor group 8 rotate in the opposite direction (the motor input signal is a negative angle), which will drive the third cables 42 to return from a parallel state to the original cylindrical helical state under the cooperation of the automatic recovery characteristic of the unloading of the third central axis 44, thereby realizing the rotation of the third robotic arm 4 to its original angle. Compared with the existing new rope-driven continuum manipulator, the utility model is suitable for exploration or operation in narrow or unstructured spaces by designing a flexible manipulator structure and a rotatable function. Compared with the traditional continuum manipulator, the end of the manipulator has a rope-driven rotating structure, which greatly enhances the manipulator's operating capability and application potential.

[0031] In summary, the present invention adopts a rope-driven solution as a basis and makes innovations in its flexibility. Common structures of rope-driven continuum manipulators are universal joint type and flexible center rod type. Universal joint type robots are connected by multiple universal joints, and their flexibility depends on the rotation angle of each unit and the number of universal joints. This structure usually has high flexibility, rigidity and load capacity, but it is heavy and requires more drive ropes. The flexible center rod type robot is supported by a central rod, and a partition plate is installed on the rod for the drive rope to pull. It is usually lighter and more flexible, but has lower rigidity, is prone to vibration, and is more difficult to control accordingly. By modifying the end of the manipulator arm, the present invention has more rotation capabilities than the general continuum manipulator arm, and the detection capability is further enhanced, and it has certain maintenance capabilities.

[0032] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in this invention is defined by the appended claims and their equivalents.

Claims

1. A novel rope-driven continuum manipulator, comprising a chassis (1), characterized in that: A first robotic arm (2) is fixedly connected to one side of the chassis (1); a second robotic arm (3) is provided on a side of the first robotic arm (2) away from the chassis (1); a third robotic arm (4) is provided on an end of the second robotic arm (3) away from the first robotic arm (2); an end of the third robotic arm (4) away from the second robotic arm (3) is fixedly connected to a mounting base (5); a first stepper motor group (6), a second stepper motor group (7) and a third stepper motor group (8) are fixedly installed inside the chassis (1), and the first robotic arm (2), the second robotic arm (3) and the third robotic arm (4) are driven respectively through cables.

2. The novel rope-driven continuum manipulator according to claim 1 is characterized in that: The number of stepper motors in the first stepper motor group (6), the second stepper motor group (7) and the third stepper motor group (8) is three, and the output end of each stepper motor is fixedly connected to a winding wheel (9).

3. The novel rope-driven continuum manipulator according to claim 2 is characterized in that: The first robotic arm (2) comprises nine coaxially evenly distributed first flanges (21) and three first cables (22), each of the first flanges (21) being evenly provided with nine first cable holes (23), and the three first cables (22) passing through the corresponding first cable holes (23) on the nine first flanges (21); a first central axis (24) is fixedly inserted between the nine first flanges (21).

4. The novel rope-driven continuum manipulator according to claim 3 is characterized in that: One end of the three first cables (22) is fixedly connected to the reeling wheels (9) on the three stepping motors in the first stepping motor group (6), and the other end of the three first cables (22) passes through three first cable holes (23) on the eight first flanges (21) in sequence, and is fixedly connected to the three first cable holes (23) on the first flange (21) at the end.

5. The novel rope-driven continuum manipulator according to claim 1 is characterized in that: The second robotic arm (3) comprises nine evenly distributed second flanges (31) and three second cables (32), each of the second flanges (31) is evenly provided with nine second cable holes (33), and a second central axis (34) is fixedly inserted between the nine second flanges (31).

6. The novel rope-driven continuum manipulator according to claim 5 is characterized in that: One end of the three second cables (32) passes through the first cable holes (23) on the nine first flanges (21) and is fixedly connected to the reeling wheels (9) on the three stepping motors in the second stepping motor group (7); the other end of the three second cables (32) passes through three of the second cable holes (33) on the eight second flanges (31) in sequence and is fixedly connected to the three second cable holes (33) on the second flange (31) at the end.

7. The novel rope-driven continuum manipulator according to claim 1 is characterized in that: The third robotic arm (4) includes nine evenly distributed third flanges (41) and three third cables (42), each of the third flanges (41) is evenly provided with nine third cable holes (43), a third central axis (44) is fixedly inserted between the nine third flanges (41), and a fixed shell (45) is fixedly connected between the side walls of the nine third flanges (41).

8. The novel rope-driven continuum manipulator according to claim 7 is characterized in that: One end of the three third cables (42) passes through the second cable holes (33) on the nine second flanges (31) and the first cable holes (23) on the nine first flanges (21) in sequence, and is then fixedly connected to the reeling wheels (9) on the three stepping motors in the third stepping motor group (8); the other end of the three third cables (42) passes through three of the third cable holes (43) on the eight third flanges (41) in sequence, and is fixedly connected to the three third cable holes (43) on the third flange (41) at the end.

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