CN101214663A - Flexible controllable mechanism for mechanical arm - Google Patents
Flexible controllable mechanism for mechanical arm Download PDFInfo
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- CN101214663A CN101214663A CNA2008100324791A CN200810032479A CN101214663A CN 101214663 A CN101214663 A CN 101214663A CN A2008100324791 A CNA2008100324791 A CN A2008100324791A CN 200810032479 A CN200810032479 A CN 200810032479A CN 101214663 A CN101214663 A CN 101214663A
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- shaped groove
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Abstract
Belonging to the field of mechanical technology, a flexible controllable mechanism is used on a mechanical arm. In the present invention, a steel rope with one end fixed on the junction plate of a lower arm starts to be wound from one end of the driven shaft of the lower arm, then orderly rounds a flexible control module, the middle of the driven shaft of the lower arm, the driving shaft of the lower arm and the driven shaft of the lower arm and finally is fixed on the other junction plate of the lower arm, the driving and driven shafts of the lower arm are provided with V-shaped groove structures in which the steel rope is wound, both ends of the driving shaft of the lower arm are installed on the root of an upper arm by bearings, the axial line is vertical to the length direction of the upper arm, and the V-shaped groove of the driving shaft of the lower arm is positioned inside the upper arm. The driven shaft of the lower arm is firmly connected with the root of the lower arm, both ends are installed on the top of the upper arm by bearings, and the V-shaped groove of the driven shaft of the lower arm is positioned inside the upper and lower arms. The flexible control module is firmly installed inside the upper arm by a fixing plate. The present invention can not only initiatively change the flexibility of the system but also ensure the terminal executing precision of the system.
Description
Technical field
What the present invention relates to is a kind of device of field of mechanical technique, specifically, is a kind of flexible controllable mechanism that is used for mechanical arm.
Background technology
Though existing mechanical arm pattern is a lot, the distribution of the free degree is various, has two types on the whole, and one type is Rigid Robot Manipulator, and one type is flexible mechanical arm.Last type mechanical arm is simple in structure, be rigidly connected between each joint, must by external sensor can realize in the running keeping away barrier and to driving the protection of components and parts.The latter loads onto devices such as spring, torque limiter in mechanical arm, make mechanical arm have certain passive compliance performance.
Find through literature search prior art, (higher-level robot is learned in Japan " Advanced Robotics " to add the auxilliary grade of Teng Hui, PP.191, Vol.15, No.2,2001) " Development ofQuardruped Walking Robot publishes thesis on, TITAN-IX-Mechanical Design Concept andApplication for the Humanitarian Demining Robot " invention a kind of being called " M-Drive " has a passive compliance performance mechanism in (exploitation of four feet walking robot, the mechanism design theory and the application of TITAN-IX-removal of mines robot).This mechanism uses elements such as steel wire cable, belt wheel and spring, and the machinery foot (arm) of equipping this mechanism can adapt to complex environment to a certain extent, and protection simultaneously drives components and parts and is not damaged.But only when mechanical arm ran into obstacle or breaks down, this passive flexibility just can tell on, and plays the effect of buffering, and this flexibility can't be adjusted by ACTIVE CONTROL.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of flexible controllable mechanism that is used for mechanical arm is provided, make it solve the deficiency that above two types of mechanical arms exist, flexibility that can the active adjustment mechanical arm makes it adapt to different environment and condition.This relatively simple for structure, cost is low, and wide accommodation can operation under various environment and condition, and versatility is more intense.
The present invention is achieved through the following technical solutions, the present invention includes: forearm driving shaft, clutch shaft bearing, big arm joint cover, big arm, steel wire, Flexible Control module, forearm driven shaft, bearing cap, second bearing, forearm joint cover, forearm.The cross section of big arm and forearm all is a hollow tube-shape, for use in the installation of other parts.The forearm driving shaft is provided with the V-shaped groove structure and is used for lay winding wire ropes, and forearm driving shaft two ends are installed in big arm roots by clutch shaft bearing, and axis keeps vertical and makes the V-shaped groove of forearm driving shaft be in big arm inside with the length direction of big arm.The forearm driven shaft also is provided with the V-shaped groove structure and is used for lay winding wire ropes, the diameter of V-shaped groove, rotation direction and helical pitch V-shaped groove diameter, rotation direction and the helical pitch with the forearm driving shaft respectively are identical; the forearm driven shaft is fixedlyed connected with little arm roots; two ends are installed in big arm top by second bearing, the axis keeping parallelism of the axis of forearm driven shaft and forearm driving shaft.The V-shaped groove of forearm driven shaft is in the inside of big arm and forearm.The winding of steel wire rope is in proper order: steel wire rope one end is fixed on the forearm joint cover, begin to twine from forearm driven shaft one end, walk around the Flexible Control module again, then walk around in the middle of the forearm driven shaft, walk around the forearm driving shaft then, walk around the forearm driven shaft at last and be fixed on another piece forearm joint cover.
Described Flexible Control module comprises: drive motors, transmission device, power sensor, U type joint cover, roller, fixed head.The Flexible Control module whole is fixedly mounted between inner forearm driving shaft of big arm and the forearm driven shaft by fixed head, is used for the ACTIVE CONTROL tension force of steel wire.Drive motors is connected with the power sensor by transmission device, and the power sensor is connected with roller by U type joint cover, and steel wire is wrapped on the roller, and the rotation by motor spurs roller like this, and then changes tension force of steel wire, thereby changes the flexibility of system.
Described transmission device can adopt multiple structure of the prior art, and for example rack-and-pinion device, or ball-screw etc. are used for changing rotatablely moving of motor into straight reciprocating motion.
Advantage of the present invention is that tension force of steel wire can record by the power sensor, the signal that the power sensor records can be used as feedback and offers drive motors, drive motors can spur roller, and then change tension force of steel wire, thereby the formation closed-loop control so not only can be by changing the execution precision that flexibility that tension force of steel wire changes system can also guarantee system's end.Flexible mechanical arm has the incomparable advantage of many Rigid Robot Manipulator: in light weight, response speed is fast, load factor is high, low in energy consumption, can reduce the device damage that causes because of collision in mechanical arm and the environment contact process effectively.Compared with prior art, this invention can change tension force of steel wire by the control motor and come the flexibility of ACTIVE CONTROL system, thus the needs that conform.Compare with the passive flexibility of being mentioned in the documents and to have stronger adaptability and versatility, for example: can before running into obstacle, initiatively keep away barrier by ACTIVE CONTROL, rather than after running into obstacle, go again to cushion, so just overcome the flexible uncontrollable shortcoming of documents, the flexibility of being mentioned in the documents is that the flexibility by spring adapts to different environment, and can active adjustment changing the flexibility of system in the present invention, the scope of application is wider.
Description of drawings
Fig. 1 is a structural representation of the present invention
Fig. 2 is a Flexible Control modular structure schematic diagram of the present invention
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is to be to implement under the prerequisite with the technical solution of the present invention; provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: forearm driving shaft 1, clutch shaft bearing 2, big arm joint cover 3, big arm 4, steel wire rope 5, Flexible Control module 6, forearm driven shaft 7, bearing cap 8, second bearing 9, forearm joint cover 10, forearm 11.Each parts interconnected relationship is: the cross section of big arm 4 and forearm 11 all be a hollow tube-shape; forearm driving shaft 1 is provided with the V-shaped groove structure and is used for lay winding wire ropes; forearm driving shaft 1 two ends are installed in big arm 4 roots by clutch shaft bearing 2, and axis is vertical with the length direction maintenance of arm 4 greatly and make the V-shaped groove of forearm driving shaft 1 be in big arm 4 inside.Forearm driven shaft 7 also is provided with the V-shaped groove structure and is used for lay winding wire ropes 5, the diameter of V-shaped groove, rotation direction and helical pitch V-shaped groove diameter, rotation direction and the helical pitch with forearm driving shaft 1 respectively are identical; forearm driven shaft 7 is fixedlyed connected with forearm 11 roots; two ends are installed in big arm 4 tops, the axis keeping parallelism of the axis of forearm driven shaft 7 and forearm driving shaft 1 by second bearing 9.The V-shaped groove of forearm driven shaft 7 is in the inside of big arm 4 and forearm 11.The winding of steel wire rope 5 is in proper order: steel wire rope one end is fixed on the forearm joint cover 10, begin to twine from forearm driven shaft 7 one ends, walk around Flexible Control module 6 again, then walk around in the middle of the forearm driven shaft 7, walk around forearm driving shaft 1 then, walk around forearm driven shaft 7 at last and be fixed on another piece forearm joint cover 10.The end of steel wire rope 5 is fixed on the forearm 11 at last.
Fig. 2 is Flexible Control module 6 structural representations.
Described Flexible Control module 6 comprises: drive motors 12, transmission device 13, power sensor 14, U type joint cover 15, roller 16, fixed head 17.Each parts interconnected relationship is: Flexible Control module 6 integral body are fixedly mounted between big arm 4 inner forearm driving shafts 1 and the forearm driven shaft 7 by fixed head 17, are used for the tensile force of ACTIVE CONTROL steel wire rope 5.Drive motors 12 is connected with power sensor 14 by transmission device 13, power sensor 14 is connected with roller 16 by U type joint cover 15, and steel wire rope 5 is wrapped on the roller 16, rotation by motor 12 spurs roller 16 like this, and then the tensile force of change steel wire rope 5, thereby the flexibility of change system.The signal that power sensor 14 records can be used as feedback and offers drive motors 12, forms closed-loop control, and the flexibility that so not only can initiatively change system can also guarantee the execution precision of system's end.
During present embodiment work, motor-driven forearm driving shaft 1 rotates, and by the transmission of steel wire rope 5 forearm driven shaft 7 and forearm 11 is rotated together with respect to big arm 4, realizes the motion of mechanical arm thus.In the manipulator motion process, as find suspicious barrier and have little time to avoid, can change tension force of steel wire, thereby change the flexibility of system by the adjusting of Flexible Control module 6.Specifically, exactly when mechanical arm touches barrier, detect the tension force of steel wire signal and feed back to drive motors 12 by power sensor 14, drive motors 12 changes rotating speed, the also corresponding change of point-to-point speed of transmission device 13 outputs, thereby the tensioning situation of change steel wire rope 5.Adhesion sensor 14 is given drive motors 12 with signal feedback again, forms a closed-loop control, satisfies environmental requirement until the tensioning situation of steel wire rope 5.
Claims (7)
1. flexible controllable mechanism that is used for mechanical arm, comprise: the forearm driving shaft, clutch shaft bearing, big arm joint cover, big arm, steel wire; forearm driven shaft; bearing cap; second bearing; forearm joint cover; forearm; it is characterized in that; also comprise the Flexible Control module; steel wire rope one end is fixed on the forearm joint cover; begin to twine from forearm driven shaft one end; walk around the Flexible Control module again; then walk around in the middle of the forearm driven shaft; walk around the forearm driving shaft then; walk around the forearm driven shaft at last and be fixed on another piece forearm joint cover; forearm driving shaft; the forearm driven shaft is equipped with the V-shaped groove structure and is used for lay winding wire ropes; forearm driving shaft two ends are arranged on big arm roots by clutch shaft bearing; axis is vertical with the length direction maintenance of big arm and make the V-shaped groove of forearm driving shaft be in big arm inside, and the forearm driven shaft is fixedlyed connected with little arm roots, and two ends are arranged on big arm top by second bearing; the V-shaped groove of forearm driven shaft is in the inside of big arm and forearm
2. the flexible controllable mechanism that is used for mechanical arm according to claim 1, it is characterized in that, described Flexible Control module comprises: drive motors, transmission device, power sensor, U type joint cover, roller, fixed head, the Flexible Control module whole is fixedly mounted between inner forearm driving shaft of big arm and the forearm driven shaft by fixed head, be used for the ACTIVE CONTROL tension force of steel wire, drive motors is connected with the power sensor by transmission device, the power sensor is connected with roller by U type joint cover, and steel wire is wrapped on the roller.
3. the flexible controllable mechanism that is used for mechanical arm according to claim 2, it is characterized in that, described power sensor detects tension force of steel wire, the signal that the power sensor records offers drive motors as feedback, drive motors pulling roller, and then the change tension force of steel wire, thereby form closed-loop control.
4. the flexible controllable mechanism that is used for mechanical arm according to claim 2 is characterized in that, described transmission device is rack-and-pinion device or ball-screw, changes rotatablely moving of motor into straight reciprocating motion.
5. the flexible controllable mechanism that is used for mechanical arm according to claim 1 is characterized in that, described forearm driven shaft, and the diameter of its V-shaped groove V-shaped groove, rotation direction and helical pitch V-shaped groove diameter, rotation direction and the helical pitch with the forearm driving shaft respectively are identical.
6. be used for the flexible controllable mechanism of mechanical arm according to claim 1 or 5, it is characterized in that, the axis keeping parallelism of the axis of described forearm driven shaft and forearm driving shaft.
7. the flexible controllable mechanism that is used for mechanical arm according to claim 1 is characterized in that, the cross section of described big arm and forearm all is a hollow tube-shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100324791A CN101214663A (en) | 2008-01-10 | 2008-01-10 | Flexible controllable mechanism for mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100324791A CN101214663A (en) | 2008-01-10 | 2008-01-10 | Flexible controllable mechanism for mechanical arm |
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| CN101214663A true CN101214663A (en) | 2008-07-09 |
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| CNA2008100324791A Pending CN101214663A (en) | 2008-01-10 | 2008-01-10 | Flexible controllable mechanism for mechanical arm |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101363521B (en) * | 2008-09-12 | 2010-09-29 | 华中科技大学 | Wire rope tensioning device |
| CN102294502A (en) * | 2011-05-31 | 2011-12-28 | 上海交通大学 | Sucker type integrated robot |
| CN102587667A (en) * | 2012-03-06 | 2012-07-18 | 三一重工股份有限公司 | Arm support structure, arm support device and concrete pump truck |
| CN102814821A (en) * | 2012-09-14 | 2012-12-12 | 中国科学院合肥物质科学研究院 | Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes |
| CN102941579A (en) * | 2012-10-23 | 2013-02-27 | 中国科学院合肥物质科学研究院 | Steel wire rope transmission mechanism of rotary mechanical arm |
| CN103615495A (en) * | 2013-11-07 | 2014-03-05 | 安凯 | Mechanical arm vibration abatement device and method |
| CN104440904A (en) * | 2014-12-29 | 2015-03-25 | 淮海工学院 | Steel wire rope transmission mechanical hand |
| CN106393171A (en) * | 2016-12-21 | 2017-02-15 | 北京灵铱科技有限公司 | Space flexible manipulator |
| CN110145582A (en) * | 2019-05-30 | 2019-08-20 | 南开大学 | A kind of dual direction drive mechanism for silk driving flexible body |
| CN115853982A (en) * | 2022-12-07 | 2023-03-28 | 河北远方测控技术有限公司 | Power transmission mechanism of air cooling island wind screen device |
-
2008
- 2008-01-10 CN CNA2008100324791A patent/CN101214663A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101363521B (en) * | 2008-09-12 | 2010-09-29 | 华中科技大学 | Wire rope tensioning device |
| CN102294502A (en) * | 2011-05-31 | 2011-12-28 | 上海交通大学 | Sucker type integrated robot |
| CN102587667A (en) * | 2012-03-06 | 2012-07-18 | 三一重工股份有限公司 | Arm support structure, arm support device and concrete pump truck |
| CN102587667B (en) * | 2012-03-06 | 2015-02-18 | 三一重工股份有限公司 | Arm support structure, arm support device and concrete pump truck |
| CN102814821B (en) * | 2012-09-14 | 2014-12-10 | 中国科学院合肥物质科学研究院 | Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes |
| CN102814821A (en) * | 2012-09-14 | 2012-12-12 | 中国科学院合肥物质科学研究院 | Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes |
| CN102941579A (en) * | 2012-10-23 | 2013-02-27 | 中国科学院合肥物质科学研究院 | Steel wire rope transmission mechanism of rotary mechanical arm |
| CN102941579B (en) * | 2012-10-23 | 2014-12-24 | 中国科学院合肥物质科学研究院 | Steel wire rope transmission mechanism of rotary mechanical arm |
| CN103615495A (en) * | 2013-11-07 | 2014-03-05 | 安凯 | Mechanical arm vibration abatement device and method |
| CN103615495B (en) * | 2013-11-07 | 2015-08-05 | 安凯 | A kind of mechanical arm equipment for inhibiting of vibration and suppressing method thereof |
| CN104440904A (en) * | 2014-12-29 | 2015-03-25 | 淮海工学院 | Steel wire rope transmission mechanical hand |
| CN106393171A (en) * | 2016-12-21 | 2017-02-15 | 北京灵铱科技有限公司 | Space flexible manipulator |
| CN110145582A (en) * | 2019-05-30 | 2019-08-20 | 南开大学 | A kind of dual direction drive mechanism for silk driving flexible body |
| CN110145582B (en) * | 2019-05-30 | 2021-07-23 | 南开大学 | Bidirectional driving mechanism for wire-driven flexible body |
| CN115853982A (en) * | 2022-12-07 | 2023-03-28 | 河北远方测控技术有限公司 | Power transmission mechanism of air cooling island wind screen device |
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Open date: 20080709 |