CN112894782A - Snakelike arm connecting structure and snakelike arm robot controlled by series-parallel connection coupling - Google Patents
Snakelike arm connecting structure and snakelike arm robot controlled by series-parallel connection coupling Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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Abstract
The invention relates to a snakelike arm connecting structure and a snakelike arm robot controlled by series-parallel coupling. The invention solves the technical problems of low flexibility and poor adaptability to complex terrains of mechanical arms.
Description
Technical Field
The invention relates to the technical field of mechanical automation products, in particular to a snakelike arm connecting structure and a snakelike arm robot controlled by series-parallel coupling.
Background
In the automatic production and processing process, a robot arm is often used to complete some work, and the common robot arm includes the following modes: the first one is to adopt an X/Y/Z triaxial operation mechanism, namely the mechanical arm is arranged on a platform which is operated by X/Y/Z triaxial superposition, and the operation of the platform in the X/Y/Z direction drives the mechanical arm to realize the operation in a three-dimensional space; the second is to add a rotating mechanism on the basis of the first one to increase the running in one rotating direction; the third is to adopt a link mechanism, namely the mechanical arm is pivoted by adopting a plurality of connecting rods, and the operation of the mechanical arm in each direction is controlled by controlling the extension and contraction of the connecting rods. In addition, the modes can be combined with each other to form the multipurpose mechanical arm. However, the above-mentioned robot arm has a biggest problem that it is difficult for the robot arm itself to bend at any angle, and although a certain bending function can be achieved by the link mechanism, the mechanism is only suitable for a large robot arm, and for some precision products with small volume, the structure of the link mechanism is complex and difficult to adapt.
Especially, when the tunneling machine performs tunneling operation on a tunnel, large-particle-size stones (boulders, pebbles, mud cakes and the like) in front of the tunneling machine must be crushed or removed, otherwise, normal tunneling rate is affected, and the tunneling machine body is greatly damaged. At this moment, a mechanical arm with simple structure, stable connection, small size and high flexibility is often needed to perform stone breaking and cleaning operations in a narrow and severe environment in a tunnel. At present, although a zipper type snake-shaped arm robot capable of being controlled through a servo motor exists, the zipper type snake-shaped arm robot has the defects of small rotation angle range and low flexibility, and has poor adaptability to complex terrains.
Aiming at the problems of low flexibility and poor adaptability to complex terrains of mechanical arms in the related art, no effective solution is provided at present.
Therefore, the inventor provides a snakelike arm connecting structure and a snakelike arm robot controlled by series-parallel coupling by virtue of experience and practice of related industries for many years, so as to overcome the defects in the prior art.
Disclosure of Invention
The invention aims to provide a snakelike arm connecting structure and a snakelike arm robot controlled by series-parallel coupling.
Another object of the present invention is to provide a serpentine arm connection structure and a serpentine arm robot controlled by series-parallel coupling, which can be used to detect the tunneling condition in a tunnel in front of a tunnel boring machine in real time, find the position of large-particle stones (boulders, pebbles, mud cakes, etc.) in time, cut and clean the stones, visually observe the cleaning effect, avoid the stones from damaging the tunnel boring machine, meet the operation requirements of diversified projects and strong regional differences, effectively improve the tunneling efficiency, and ensure the smooth tunneling of the tunnel.
The purpose of the invention can be realized by adopting the following technical scheme:
the invention provides a snake-shaped arm connecting structure, which comprises a plurality of servo oil cylinders, wherein:
each servo oil cylinder is arranged between two adjacent joint sections in the snake-shaped mechanical arm, the servo oil cylinders are distributed along the circumferential direction of the joint sections, and two ends of each servo oil cylinder are hinged with the corresponding joint sections through spherical hinge structures.
In a preferred embodiment of the present invention, the servo cylinder is provided with a position sensor.
In a preferred embodiment of the present invention, the serpentine arm connection structure further includes two bases, each of the bases is a plate-shaped structure, end surfaces of one side of each of the two bases is respectively connected to an end of the corresponding joint section, and two ends of each of the servo cylinders are respectively hinged to another end surface of the corresponding base.
In a preferred embodiment of the present invention, the serpentine arm connection structure further includes a ball joint universal joint, the ball joint universal joint is disposed between two adjacent joint sections, and two ends of the ball joint universal joint are respectively connected to the corresponding bases.
In a preferred embodiment of the present invention, the ball joint universal joint is located at a middle position of the two bases, each of the servo cylinders is disposed around the ball joint universal joint, and two ends of each of the servo cylinders are respectively hinged to edges of the corresponding base.
In a preferred embodiment of the present invention, the serpentine arm connection structure further includes an oil supply pipeline and an oil return pipeline for controlling the servo oil cylinder to operate, the servo oil cylinder is provided with an oil inlet and an oil return port, the oil supply pipeline is connected to the oil inlet, and the oil return pipeline is connected to the oil return port.
In a preferred embodiment of the present invention, the joint section is a cylindrical structure with two open ends, the base is provided with a plurality of through holes, and the oil supply pipeline and the oil return pipeline both pass through the joint section and the through holes on the base and are connected to the servo cylinder.
In a preferred embodiment of the present invention, the number of the servo cylinders arranged between two adjacent joint sections is three.
The invention provides a snake-shaped arm robot controlled by series-parallel connection coupling, which comprises a snake-shaped arm main body, wherein the snake-shaped arm main body comprises a plurality of joint sections and the snake-shaped arm connecting structure, and every two adjacent joint sections can be movably connected through the snake-shaped arm connecting structure.
In a preferred embodiment of the present invention, the serial-parallel coupling controlled serpentine arm robot further includes a man-house for controlling the motion of the serpentine arm main body, a plurality of pump stations are disposed inside the man-house, oil outlets of the pump stations are respectively connected to corresponding oil supply pipelines, oil return ports of the pump stations are respectively connected to corresponding oil return pipelines, and servo valves are disposed on the oil supply pipelines and the oil return pipelines, respectively.
In a preferred embodiment of the present invention, one end of the serpentine arm main body is connected to the mannequin, the other end of the serpentine arm main body is provided with an execution end head, and the execution end head is provided with a high pressure nozzle and a camera;
the inside of people's storehouse still is provided with the controller, the signal receiving terminal of controller respectively with the signal output part of camera with the signal output part electric connection of position sensor on the snakelike arm main part, the signal output part of controller respectively with the control end of each pump station, the control end of each servo valve and the control end electric connection of high pressure nozzle.
In a preferred embodiment of the present invention, a plurality of balancing nozzles are disposed on the execution end head, and the balancing nozzles are uniformly distributed around the high pressure nozzle.
In a preferred embodiment of the present invention, a support is disposed on the execution end head, the high pressure nozzle and each of the balance nozzles are disposed on the support, and the high pressure nozzle and the camera are staggered in an axial direction of the serpentine arm main body.
In a preferred embodiment of the present invention, a plate-shaped air curtain is disposed on the execution end head between the camera and the high pressure nozzle.
In a preferred embodiment of the present invention, a water supply line is disposed inside the serpentine arm body, one end of the water supply line is located inside the manned cabin and is connected to a high-pressure water source, and the other end of the water supply line passes through the through holes of the joint sections and the bases and is connected to the high-pressure nozzles.
In a preferred embodiment of the present invention, the serial-parallel coupling controlled serpentine arm robot further includes an illumination lamp disposed on the execution end, and a control end of the illumination lamp is electrically connected to the signal output end of the controller.
In a preferred embodiment of the present invention, the serial-parallel coupling controlled serpentine arm robot further includes a shield that protects the serpentine arm main body, the shield is a flexible pipe body with openings at two ends, and the shield is hermetically sealed and disposed on the outer side of the serpentine arm main body.
In a preferred embodiment of the present invention, a flange is disposed on an outer wall of the people cabin, one end of the shield is hermetically connected to the flange, and the other end of the shield is hermetically connected to the execution end.
From the above, the snakelike arm connecting structure and the snakelike arm robot controlled by series-parallel coupling have the characteristics and advantages that: be provided with a plurality of servo cylinder between two adjacent joint sections at snakelike arm, each servo cylinder distributes along the circumference of joint section, and each servo cylinder's both ends are articulated with the joint section that corresponds through the ball pivot structure respectively, the length of stretching out of piston rod through controlling each servo cylinder, can control turn direction and turn angle between two adjacent joint sections, and then adjust the holistic action form of snakelike arm, improve the flexibility ratio between two adjacent joint sections, make snakelike arm can easily keep away the barrier action, satisfy its requirement of carrying out the operation in narrow and small space, promote its adaptability to different topography environment.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention.
Wherein:
FIG. 1: is a schematic diagram of the serpentine arm connection structure of the present invention.
FIG. 2: the invention is a structural schematic diagram of a spherical hinge universal joint and a servo oil cylinder in a snake-shaped arm connecting structure.
FIG. 3: is a cross-sectional schematic view of the serpentine arm connection structure of the present invention.
FIG. 4: the invention is a structural schematic diagram of a snake-shaped arm robot controlled by series-parallel connection coupling.
FIG. 5: the invention is a schematic structural diagram of an execution end head in a snake-shaped arm robot controlled by series-parallel coupling.
FIG. 6: the invention is a structural schematic diagram of a shield in a snake-shaped arm robot controlled by series-parallel coupling.
FIG. 7: is the electrical structure block diagram of the snake-shaped arm robot controlled by series-parallel connection coupling.
The reference numbers in the invention are:
1. a joint section; 2. A servo cylinder;
201. an oil inlet; 202. An oil return port;
3. a ball-and-socket joint; 4. A base;
401. a through hole; 5. Executing the end head;
6. a high pressure nozzle; 7. An illuminating lamp;
8. a camera; 9. A support;
10. an air curtain; 11. A shield;
12. a controller; 13. A pump station;
14. a servo valve; 15. A position sensor;
16. a people cabin; 17. A flange plate;
18. a balancing nozzle; 100. A serpentine arm body.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
Implementation mode one
As shown in fig. 1 to 3, the present invention provides a serpentine arm connection structure including a plurality of servo cylinders 2, wherein: each servo cylinder 2 is arranged between two adjacent joint sections 1 in the snake-shaped mechanical arm, each servo cylinder 2 is distributed along the circumferential direction of the joint section 1, one end of each servo cylinder 2 is hinged with one joint section 1 in the two adjacent joint sections 1 through a spherical hinge structure, the other end of each servo cylinder 2 is hinged with the other joint section 1 through a spherical hinge structure, the extending length of a piston rod of each servo cylinder 2 is controlled, the bending direction and the bending angle between the two adjacent joint sections 1 can be controlled, the overall action form of the snake-shaped mechanical arm is adjusted, the activity between the two adjacent joint sections 1 is improved, the snake-shaped mechanical arm can easily avoid obstacles, the requirement of the snake-shaped mechanical arm for operation in a narrow space is met, and the adaptability of the snake-shaped mechanical arm to different terrain environments is improved.
Further, as shown in fig. 1 to 3, the number of the servo cylinders 2 arranged between two adjacent joint sections 1 is three. The three servo oil cylinders 2 are respectively positioned at three vertex angles of the triangle, so that stable connection between two adjacent joint sections 1 can be ensured, and good flexibility can be ensured when the bending action is performed between the two adjacent joint sections 1.
In an optional embodiment of the invention, a position sensor 15 is installed between the cylinder body and the piston rod of the servo cylinder 2, the position relationship between the cylinder body and the piston rod can be monitored in real time through the position sensor 15, and the position information is fed back to a worker in real time, and the worker can know the turning direction and the turning angle between two adjacent joint sections 1 according to the collected action position information of each servo cylinder 2 between two adjacent joint sections 1, so that the integral action form of the serpentine manipulator can be known, the precise closed-loop feedback control of each servo cylinder 2 can be realized, and the purpose of precise positioning can be achieved.
In an alternative embodiment of the present invention, as shown in fig. 1 to 3, the serpentine arm connection structure further includes two bases 4, each base 4 is a circular plate-shaped structure, one end surface of each base 4 is fixedly connected to an end of a corresponding joint section 1, two ends of each servo cylinder 2 are hinged to the other end surface of the corresponding base 4, and the bases 4 ensure that the servo cylinders 2 are stably connected to the ends of the joint sections 1, so that each servo cylinder 2 can maintain a stable connection state with the joint sections 1 during operation, and can bear a large radial force.
Further, the connection mode between the base 4 and the joint segment 1 may be, but is not limited to, welding, and it is sufficient to ensure a stable connection relationship between the base 4 and the joint segment 1.
In an alternative embodiment of the present invention, as shown in fig. 1 to 3, the serpentine arm connection structure further includes a ball joint universal joint 3, the ball joint universal joint 3 is disposed between two adjacent joint sections 1, and two ends of the ball joint universal joint 3 are respectively connected to corresponding bases 4 connected to the two adjacent joint sections 1. Can realize the rotation of arbitrary angle between two adjacent joint sections 1 through ball pivot universal joint 3, can bear great axial force and radial force again, when connecting two joint sections 1, play the effect of pressure-bearing atress, in order to reduce the radial force of acting on each servo cylinder 2, prevent that the hookup location atress between servo cylinder 2 and the joint section 1 is too big in two adjacent joint sections 1 turn-round in-process, the life of extension each part, guarantee that snakelike arm can be long-term, normal work.
Further, as shown in fig. 1 to 3, the ball joint universal joint 3 is located at the middle position of the two bases 4, each servo cylinder 2 is arranged around the ball joint universal joint 3, and two ends of each servo cylinder 2 are respectively hinged with the edges of the corresponding base 4.
In an alternative embodiment of the present invention, the serpentine arm connection structure further includes an oil supply line (not shown) and an oil return line (not shown) for controlling the operation of the servo cylinder 2, the servo cylinder 2 is provided with an oil inlet 201 and an oil return port 202, the oil supply line is connected to the oil inlet 201, and the oil return line is connected to the oil return port 202. In the working process, oil can be conveyed into the servo oil cylinder 2 through the oil supply pipeline and the oil inlet 201 in sequence, so that a piston rod of the servo oil cylinder 2 is pushed to extend outwards; the oil in the servo oil cylinder 2 can be output outwards through the oil return pipeline and the oil return port 202 in sequence, so that a piston rod of the servo oil cylinder 2 is contracted inwards, the action state of the servo oil cylinder 2 is further controlled, and the bending action between two adjacent joint sections 1 is completed.
In an alternative embodiment of the present invention, as shown in fig. 2 and fig. 3, the joint section 1 is a cylindrical structure with two open ends, and the base 4 is provided with a plurality of through holes 401, and the oil supply pipeline and the oil return pipeline both pass through the joint section 1 and the through holes 401 on the base 4 and are respectively connected to the oil inlet 201 and the oil return port 202 on the servo cylinder 2.
Further, the number of the through holes 401 opened on each base 4 may be, but is not limited to, three.
The snake-shaped arm connecting structure has the characteristics and advantages that:
one, among this snakelike arm connection structure, it is articulated and between two adjacent joint sections 1 through the spherical hinge structure respectively with a plurality of servo cylinder 2, through the extension length of the piston rod of controlling each servo cylinder 2, can adjust the distance between each servo cylinder 2 and two adjacent joint sections 1 hookup location, and then control the direction of turning and the angle of turning between two adjacent joint sections 1, in order to reach the mesh of adjusting the holistic action form of snakelike arm, make snakelike arm can easily keep away the barrier action, satisfy its requirement of carrying out the operation in narrow and small space, the flexibility ratio of snakelike arm action has been improved, promote its adaptability to different topography environment, guarantee that snakelike arm has wider application scope.
Two, among this snakelike arm connection structure, be provided with position sensor 15 on each servo cylinder 2 respectively, but through position sensor 15 real-time supervision servo cylinder 2's action state, and give the staff with position information real-time feedback, the staff is according to the action position information of each servo cylinder 2 who is located between two adjacent joint sections 1 of gathering, can learn the turn direction and the angle of turning between two adjacent joint sections 1, and then can learn the holistic action form of snakelike arm, and realize closed-loop control according to actual conditions to the action of snakelike arm, in order to reach the purpose to snakelike arm accurate positioning.
Thirdly, in the snake-shaped arm connecting structure, a spherical hinge universal joint 3 is further arranged between two adjacent joint sections 1, in the process of bending two adjacent joint sections 1, the rotation of any angle between the two adjacent joint sections 1 can be realized through the spherical hinge universal joint 3, and larger axial force and radial force can be borne, when the two joint sections 1 are connected, the function of bearing pressure is achieved, so that the radial force acting on each servo oil cylinder 2 is reduced, the phenomenon that the stress of the connecting position between each servo oil cylinder 2 and the joint section 1 is too large in the process of bending two adjacent joint sections 1 is prevented, the service life of each part is prolonged, and the snake-shaped arm can work normally for a long time.
Second embodiment
As shown in fig. 1 to 7, the present invention provides a serial-parallel coupling controlled serpentine arm robot, which is mounted on a heading machine. The snake-shaped arm robot controlled by series-parallel connection comprises a snake-shaped arm main body 100, wherein the snake-shaped arm main body 100 comprises a plurality of joint sections 1 and the snake-shaped arm connecting structure, and every two adjacent joint sections 1 can be movably connected through the snake-shaped arm connecting structure.
In an alternative embodiment of the present invention, as shown in fig. 4, the serial-parallel coupling controlled serpentine arm robot further comprises a cabin 16, and the working personnel controls the action configuration of the serpentine arm body 100 in the cabin 16. A plurality of pump stations 13 are arranged in the manned cabin 16, oil outlets of the pump stations 13 are respectively connected with corresponding oil supply pipelines, oil return ports of the pump stations 13 are respectively connected with corresponding oil return pipelines, servo valves 14 are respectively arranged on the oil supply pipelines and the oil return pipelines, on-off states of the oil supply pipelines and the oil return pipelines can be respectively controlled through the servo valves 14, oil is pumped into the corresponding servo oil cylinders 2 through the pump stations 13, and therefore actions of the servo oil cylinders 2 are controlled, and the purpose of controlling action forms of the serpentine arm main body 100 is achieved.
In an alternative embodiment of the invention, as shown in fig. 4, 5 and 7, one end (i.e. the control end) of the snake arm body 100 is connected with the man compartment 16, the other end (i.e. the execution end) of the snake arm body 100 is connected with the execution tip 5, the man compartment 16 is arranged in the shield body of the heading machine, and the snake arm body 100 and the execution tip 5 both extend out of the heading machine and are positioned in front of the cutterhead of the heading machine. The execution end 5 is provided with a high-pressure nozzle 6 and a camera 8; the human cabin 16 is further internally provided with a controller 12, an image signal receiving end of the controller 12 is electrically connected with an image signal output end of the camera 8, a monitoring signal receiving end of the controller 12 is electrically connected with a monitoring signal output end of the position sensor 15 on the snake-shaped arm main body 100, and a control signal output end of the controller 12 is electrically connected with a control end of each pump station 13, a control end of each servo valve 14 and a control end of the high-pressure nozzle 6 respectively. When an operation task (such as a tunneling machine performs tunneling operation on a tunnel), each position sensor 15 sends the monitored action information of each servo oil cylinder 2 to the controller 12, a worker can monitor the snake-shaped arm main body 100 in the man compartment 16 in real time and control the next action of each servo oil cylinder 2 according to the collected information, so that the closed-loop control of the snake-shaped arm main body 100 is realized; when the snakelike arm robot can extend into a narrow space in front of the heading machine, image information is collected through the camera 8 and sent to the controller 12, so that workers in the mannequin 16 can find boulders, pebbles, mud cakes and other large-particle-size stones which possibly damage the heading machine in time; after the position of the stone is determined, the controller 12 controls the high-pressure nozzle 6 to spray high-pressure water to the stone, so that the stone is cut by using the impact force of the high-pressure water, the cut broken stone is cleaned, the damage of the stone to the tunneling machine in the tunneling process is avoided, the tunneling efficiency is improved, manual operation of workers is not needed in the cleaning process of the stone, the operation safety is greatly improved, the labor intensity of the workers and the operation cost are effectively reduced, and the device is suitable for popularization and use.
Further, as shown in fig. 5, a plurality of balance nozzles 18 are arranged on the execution end 5, each balance nozzle 18 is uniformly distributed around the high-pressure nozzle 6, each balance nozzle 18 sprays towards the direction far away from the high-pressure nozzle 6, the spraying direction of each balance nozzle 18 and the spraying direction of the high-pressure nozzle 6 form an included angle of 120 degrees, water flow is sprayed outwards through each balance nozzle 18, so that the effect of the balance execution end 5 is achieved, the vibration of the execution end 5 caused by the high-pressure water flow spraying is effectively reduced, the high-pressure water flow sprayed by the high-pressure nozzle 6 is more stable, and the cutting efficiency of stones is improved.
Further, the number of balancing nozzles 18 may be, but is not limited to, three.
Further, as shown in fig. 5, a plate-like air curtain 10 is provided between the camera 8 and the high-pressure nozzle 6 on the actuator tip 5. Can shelter from between camera 8 and the high pressure nozzle 6 through gas curtain 10, effectively eliminate the produced water smoke of water spray in-process and influence camera 8, reach the purpose that high definition shows.
Further, inside the serpentine arm body 100 is provided a water supply line (not shown) having one end located in the human chamber 16 and connected to a high pressure water source and the other end passing through the through holes 401 of the respective joint sections 1 and the respective bases 4 and connected to the high pressure nozzles 6, through which high pressure water flow is supplied to the high pressure nozzles 6 and the respective balancing nozzles 18, so that the stone block can be cut and cleaned.
Furthermore, the injection pressure of the high-pressure nozzle 6 to the high-pressure water is 400bar, and the fine cutting and the full treatment of the boulder, the pebble and the mud cake are really realized.
In an alternative embodiment of the present invention, as shown in fig. 5, a support 9 is disposed on the execution end 5, the high pressure nozzle 6 and each balance nozzle 18 are fixedly disposed on the support 9, and the high pressure nozzle 6 and the camera 8 are staggered in the axial direction of the serpentine arm main body 100, so that the high pressure nozzle 6 is prevented from shielding the camera 8, and the camera 8 is ensured to smoothly acquire images. In addition, the camera 8 can also collect image information of equipment on the heading machine (such as a cutter on a cutter head of the heading machine), so that workers can know the abrasion condition of the equipment in real time and the heading operation is guaranteed to be carried out smoothly.
Further, the high-pressure nozzle 6 and each of the balancing nozzles 18 may be fixed to the bracket 9 by welding or bolting.
In an alternative embodiment of the present invention, as shown in fig. 5 and 7, the serial-parallel coupling controlled serpentine arm robot further includes an illumination lamp 7, the illumination lamp 7 is disposed on the execution head 5, and a control end of the illumination lamp 7 is electrically connected to a control signal output end of the controller 12. Provide illumination through light 7, guarantee even camera 8 still can gather image information in the environment of dark.
In an optional embodiment of the present invention, as shown in fig. 6, the serial-parallel coupling controlled serpentine arm robot further includes a protective cover 11, the protective cover 11 is a flexible pipe body with openings at two ends, the protective cover 11 is hermetically sleeved on the outer side of the serpentine arm main body 100, and the protective cover 11 plays a role in preventing smash, impact and the like on the serpentine arm main body 100, so as to ensure that the serpentine arm main body 100 can stably work for a long time.
Further, the shield 11 may be, but not limited to, a PU steel hose, which has the characteristics of small bending radius and good sealing performance.
Specifically, as shown in fig. 4, a flange 17 is arranged on the outer wall of the cabin 16, one end of the shield 11 is hermetically connected with the flange 17, and the other end of the shield 11 is hermetically connected with the execution end 5, so that external impurities are prevented from entering the shield 11, and a safe working environment is created for the serpentine arm main body 100.
The snake-shaped arm robot controlled by series-parallel coupling is characterized in that joint sections 1 in a snake-shaped arm main body 100 are connected in series through a plurality of servo oil cylinders 2, and two adjacent joint sections 1 are connected in parallel through the plurality of servo oil cylinders 2, so that multi-degree-of-freedom motion between the joint sections 1 can be realized, series-parallel coupling control over the snake-shaped arm main body 100 is realized, and the snake-shaped arm main body 100 can perform stretching, retracting and multi-degree-of-freedom spatial bending motion.
The working process of the invention that the snake-shaped arm robot controlled by series-parallel coupling and the heading machine are matched to carry out heading operation is as follows: in the process that the tunneling machine tunnels the tunnel, each servo oil cylinder 2 is controlled to act (mainly divided into parallel execution of a plurality of servo oil cylinders 2 between two adjacent joint sections 1 and series execution of each servo oil cylinder 2 between each joint section 1) by controlling the working state of each pump station 13 and each servo valve 14, so that the two adjacent joint sections 1 are bent to different directions and angles, the snake-shaped arm main body 100 is enabled to integrally present different action forms, and better obstacle avoidance operation and accurate positioning of an execution end 5 are carried out; under the auxiliary irradiation of the illuminating lamp 7, the camera 8 displays the site rock breaking condition and the cleaning condition of the broken stones in real time, and feeds the broken stones back to the HMI interface on the controller 12, so that the follow-up operation is facilitated. After the serpentine arm robot is positioned, the servo valves 14 are used for controlling the corresponding servo oil cylinders 2 to perform orderly telescopic action and determining the telescopic amount of each servo oil cylinder 2 so as to adjust the position and the posture of the serpentine arm main body 100 and determine the final posture, so that the serpentine arm main body 100 reaches a positioning position according to a set path, the high-pressure nozzle 6 is controlled to spray high-pressure water to cut boulders, pebbles or mud cakes, the cutting and the cleaning are completed, the calibration is performed according to the original path, and the serpentine arm robot is recovered to the initial position.
The snake-shaped arm robot controlled by series-parallel coupling has the characteristics and advantages that:
in the snake-shaped arm robot controlled by the series-parallel connection coupling, the joint sections 1 are connected in series through the servo oil cylinders 2, and the adjacent joint sections 1 are connected in parallel through the servo oil cylinders 2, so that the series-parallel connection coupling control of the snake-shaped arm main body 100 is realized, the snake-shaped arm main body 100 can extend out and retract and can perform multi-degree-of-freedom spatial bending motion, and the flexibility of the snake-shaped arm main body 100 is improved.
The snakelike arm robot of this cluster parallel coupling control can with the entry driving machine cooperation operation, can stretch into and carry out image information's collection to narrow and small space in to confirm the position of big particle size stones such as boulder, cobble and mud cake, the high pressure water that erupts through high pressure nozzle 6 cuts the stone and washs, avoids the harm of tunnelling in-process stone to the entry driving machine, improves tunnelling efficiency, guarantees going on smoothly of tunnel tunnelling.
The snake-shaped arm robot controlled by the series-parallel coupling is in the whole process of cleaning the stone, does not need manual operation of workers, has higher automation degree, greatly improves the operation safety, effectively reduces the labor intensity of the workers and the operation cost, and is suitable for popularization and application.
The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent changes and modifications that can be made by one skilled in the art without departing from the spirit and principles of the invention should fall within the protection scope of the invention.
Claims (18)
1. A serpentine arm connection, characterized in that it comprises a plurality of servo cylinders (2), wherein:
each servo oil cylinder (2) is arranged between two adjacent joint sections (1) in the snake-shaped mechanical arm, each servo oil cylinder (2) is distributed along the circumferential direction of the joint section (1), and two ends of each servo oil cylinder (2) are hinged with the corresponding joint section (1) through a spherical hinge structure.
2. A serpentine arm connection according to claim 1, characterized in that the servo cylinder (2) is provided with a position sensor (15).
3. A serpentine arm connection structure as claimed in claim 1, wherein said serpentine arm connection structure further comprises two bases (4), said bases (4) are plate-shaped, one side end surfaces of said two bases (4) are respectively connected to the end portions of the corresponding joint sections (1), and two ends of each said servo cylinder (2) are respectively hinged to the other end surface of the corresponding base (4).
4. A serpentine arm connection according to claim 3, further comprising a ball joint (3), wherein the ball joint (3) is disposed between two adjacent joint sections (1), and two ends of the ball joint (3) are respectively connected to the corresponding bases (4).
5. A serpentine arm connection according to claim 4, wherein the ball joint (3) is located at a middle position between the two bases (4), each of the servo cylinders (2) is disposed around the ball joint (3), and both ends of each of the servo cylinders (2) are hinged to respective edges of the bases (4).
6. A serpentine arm connection structure as claimed in claim 3, wherein the serpentine arm connection structure further comprises an oil supply line and an oil return line for controlling the operation of the servo cylinder (2), the servo cylinder (2) is provided with an oil inlet (201) and an oil return port (202), the oil supply line is connected to the oil inlet (201), and the oil return line is connected to the oil return port (202).
7. A snake-shaped arm connecting structure according to claim 6, wherein said joint section (1) is a cylindrical structure with two open ends, and said base (4) is provided with a plurality of through holes (401), and said oil supply pipeline and said oil return pipeline both pass through said joint section (1) and said through holes (401) on said base (4) and are connected with said servo cylinder (2).
8. A serpentine arm connection according to claim 1, characterized in that the number of said servo cylinders (2) provided between two adjacent joint sections (1) is three.
9. A serial-parallel coupling controlled serpentine arm robot, characterized in that, the serial-parallel coupling controlled serpentine arm robot comprises a serpentine arm body (100), the serpentine arm body (100) comprises a plurality of joint sections (1) and the serpentine arm connection structure of any one of claims 1 to 8, and each two adjacent joint sections (1) are respectively movably connected through the serpentine arm connection structure.
10. The Serpentine arm robot of series-parallel coupling control according to claim 9, wherein the Serpentine arm robot of series-parallel coupling control further comprises a man bin (16) for controlling the action form of the Serpentine arm main body (100), a plurality of pump stations (13) are arranged inside the man bin (16), oil outlets of the pump stations (13) are respectively connected with corresponding oil supply pipelines, oil return ports of the pump stations (13) are respectively connected with corresponding oil return pipelines, and servo valves (14) are respectively arranged on the oil supply pipelines and the oil return pipelines.
11. The serpentine arm robot controlled by series-parallel coupling according to claim 10, wherein one end of the serpentine arm body (100) is connected to the manned cabin (16), the other end of the serpentine arm body (100) is provided with an execution tip (5), and the execution tip (5) is provided with a high pressure nozzle (6) and a camera (8);
the inside of people's storehouse (16) still is provided with controller (12), the signal receiving terminal of controller (12) respectively with the signal output part of camera (8) with the signal output part electric connection of position sensor (15) on snakelike arm main part (100), the signal output part of controller (12) respectively with the control end of each pump station (13), the control end of each servo valve (14) and the control end electric connection of high pressure nozzle (6).
12. The series-parallel coupling controlled serpentine arm robot according to claim 11, wherein a plurality of balancing nozzles (18) are provided on the actuating head (5), and each of the balancing nozzles (18) is uniformly distributed around the high-pressure nozzle (6).
13. The series-parallel coupling control serpentine arm robot according to claim 12, wherein a support (9) is provided on the actuator head (5), the high-pressure nozzle (6) and each of the balancing nozzles (18) are provided on the support (9), and the high-pressure nozzle (6) and the camera (8) are offset in an axial direction of the serpentine arm body (100).
14. The series-parallel coupling control serpentine arm robot according to claim 11, wherein a plate-shaped air curtain (10) is provided on the execution head (5) between the camera (8) and the high-pressure nozzle (6).
15. The serial-parallel coupling controlled serpentine arm robot according to claim 11, wherein the inside of the serpentine arm body (100) is provided with a water supply line, one end of which is located in the man's cabin (16) and connected to a high pressure water source, and the other end of which passes through the joint sections (1) and the through holes (401) of the bases (4) and is connected to the high pressure nozzles (6).
16. The serial-parallel coupling control serpentine arm robot according to claim 11, further comprising an illumination lamp (7), wherein the illumination lamp (7) is disposed on the execution end (5), and a control end of the illumination lamp (7) is electrically connected to a signal output end of the controller (12).
17. The serial-parallel coupling control serpentine arm robot as claimed in claim 11, further comprising a shield (11) for protecting the serpentine arm body (100), wherein the shield (11) is a flexible pipe body with two open ends, and the shield (11) is sealed and installed outside the serpentine arm body (100).
18. The series-parallel coupling control serpentine arm robot as claimed in claim 17, wherein a flange (17) is provided on an outer wall of the man's cabin (16), one end of the shield (11) is hermetically connected to the flange (17), and the other end of the shield (11) is hermetically connected to the actuating tip (5).
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| CN116038754A (en) * | 2023-03-28 | 2023-05-02 | 之江实验室 | Arm wrist joint, arm and humanoid robot |
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Application publication date: 20210604 |