CN103963069A - Rope-driven continuous robot - Google Patents
Rope-driven continuous robot Download PDFInfo
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- CN103963069A CN103963069A CN201410163465.9A CN201410163465A CN103963069A CN 103963069 A CN103963069 A CN 103963069A CN 201410163465 A CN201410163465 A CN 201410163465A CN 103963069 A CN103963069 A CN 103963069A
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Abstract
The invention provides a rope-driven continuous robot which comprises a first-stage discrete joint, a first-stage continuous joint, a second-stage discrete joint and a second-stage continuous joint which are installed on a base and sequentially connected in series. The first-stage discrete joint and the second-stage discrete joint respectively have a rotational degree of freedom, and the first-stage continuous joint and the second-stage continuous joint respectively have two bending degrees of freedom. According to the rope-driven continuous robot, the joint movement mode formed by motor driving and rope driving is adopted and serves as a supplement of a transmission driving mode of an industrial robot, the manufacturing cost of the robot can be effectively lowered, and the adaptability of the traditional industrial robot to a multi-barrier operating environment is effectively enhanced.
Description
Technical field
The present invention relates to a kind of revolute robot's class, more particularly, it relates to a kind of rope and drives sequential machine people.
Background technology
Along with industrial robot transporting such as machine-building, traffic, the application of field of petrochemical industry is increasingly extensive, there are various barriers in its working environment, has limited robot motion's ability.In addition, the drive disk assembly of industrial robot is cycloidal planetary gear speed reducer and harmonic wave speed reducing machine, although transmission accuracy is high, cost is high.Application number is 02145863.4, although name is called the report that has multi-joint industrial robot in the open files such as multi-joint industrial robot, but all adopt motor to drive, by the motion structure mode of high accuracy speed reducer drive, manufacturing cost is high, the serious popularization and application that hinders industrial robot, has the revolute robot of Novel transmission and forms of motion for the solution of this problem in the urgent need to development.
Summary of the invention
The features and advantages of the present invention are partly statement in the following description, or can be apparent from this description, or can learn by putting into practice the present invention.
For overcoming the problem of prior art, the invention provides a kind of rope and drive sequential machine people, comprising: the discrete joint of the first order, the continuous joint of the first order, discrete joint, the second level and continuous joint, the second level series connection form successively that are arranged on pedestal are connected; The discrete joint in the discrete joint of this first order and the second level has respectively a rotary freedom, and the continuous joint in the continuous joint of this first order and the second level has respectively two bending frees degree.
According to one embodiment of present invention, the discrete joint of this first order is made up of first order discrete steps motor, shaft coupling and revolute pair, and the output shaft of this first order discrete steps motor is connected in series on this shaft coupling, drives revolute pair to rotate by this shaft coupling.
According to one embodiment of present invention, the continuous joint of this first order comprises fixed disc on first, first time fixed disc, is positioned at the first driving rope and the first elastomer between the two and is positioned at the continuous stepper motor of the first order on this pedestal; This first drives one end of rope to be fixed on this first time fixed disc, and the other end is through this fixed disc on first, and is wrapped on the wheel hub of the continuous stepper motor of this first order.
According to one embodiment of present invention, this continuous joint of first order first on fixed disc be provided with equally distributed circular hole, for for this first drive rope pass.
According to one embodiment of present invention, this first driving rope is 3; The continuous stepper motor of this first order is 3.
According to one embodiment of present invention, in the shaft center line in this discrete joint, second level and the continuous joint of this first order, the first elastomeric curve is tangentially perpendicular.
According to one embodiment of present invention, discrete joint, this second level drives rope and revolute pair to form by being arranged on this pedestal two second level discrete steps motors, two second; This second drives rope symmetrical and be wrapped on the wheel hub of this second level discrete steps motor.
According to one embodiment of present invention, continuous joint, this second level comprises fixed disc on second, second time fixed disc, be positioned at the second driving rope and the second elastomer between the two and be positioned at the continuous stepper motor in the second level on this pedestal, one end of this second driving rope is fixed on this second time fixed disc, the other end is through this fixed disc on second, and is wrapped on the wheel hub of this continuous stepper motor in second level.
According to one embodiment of present invention, this continuous joint, second level second on fixed disc be provided with equally distributed circular hole, for for this second drive rope pass.
In the continuous joint of the shaft center line in the discrete joint, the second level of being somebody's turn to do according to one embodiment of present invention, and this second level, the second elastomeric curve is tangentially perpendicular.
The present invention is directed to traditional industrial robot cost high, and can not be used for the problem of multi-obstacle avoidance working environment, a kind of sequential machine robot mechanism by motor driving, rope drive is provided, further promote the work capacity of traditional industry robot and reduce manufacturing cost, increasing the adaptability of industrial robot to multi-obstacle avoidance operating environment.
By reading description, those of ordinary skill in the art will understand feature and the content of these technical schemes better.
Brief description of the drawings
Below by describing particularly the present invention with reference to accompanying drawing and in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in accompanying drawing is only for explanation of the present invention, and do not form the restriction of going up in all senses of the present invention, in the accompanying drawings:
Fig. 1 is the structural representation that the rope of the embodiment of the present invention drives sequential machine people.
Fig. 2 is the structural representation in the discrete joint of the first order of the embodiment of the present invention.
Fig. 3 is the structural representation in the continuous joint of the first order of the embodiment of the present invention.
Fig. 4 is the structural representation in the discrete joint, the second level of the embodiment of the present invention.
Fig. 5 is the structural representation in the continuous joint, the second level of the embodiment of the present invention.
Detailed description of the invention
The features and advantages of the present invention are partly statement in the following description, or can be apparent from this description, or can learn by putting into practice the present invention.
For overcoming the problem of prior art, the invention provides a kind of rope and drive sequential machine people, comprising: the discrete joint 60 of the first order, the continuous joint 70 of the first order, discrete joint 80, the second level and continuous joint, the second level 90 series connection forms successively that are arranged on pedestal 5 are connected; The discrete joint 80 in the discrete joint 60 of this first order and the second level has respectively a rotary freedom, the continuous joint 90 in the continuous joint 70 of this first order and the second level has respectively two bending frees degree, and rope provided by the invention drives sequential machine people to have 6 frees degree.
Referring to Fig. 2, the discrete joint 60 of this first order is made up of first order discrete steps motor 14, shaft coupling 15 and revolute pair, the output shaft of this first order discrete steps motor 14 is connected in series on shaft coupling 15, drives revolute pair to rotate by this shaft coupling 15.That is to say, the discrete joint 60 of the first order is directly driven by shaft coupling 15 by first order discrete steps motor 14.
Referring to Fig. 3, the continuous joint 70 of this first order comprises on first fixed disc 18, first time fixed disc 11, is positioned at first driving rope 17 and the first elastomer 16 and being positioned at the continuous stepper motor 2,6,10 of the first order on this pedestal 5 between the two; One end of this first driving rope 17 is fixed on first time fixed disc 11, the other end passes fixed disc 18 on first, and be wrapped on the wheel hub of the continuous stepper motor 2,6,10 of the first order, in the time that the continuous stepper motor of the first order rotates, can drive wheel hub 8 to pull and drive rope 17, thereby realize the bending motion of elastomer 16.
In the present embodiment, the first driving rope 17 is 3; It is 2,6,10 that the continuous stepper motor of the first order is 3.And the continuous joint 70 of the first order first on fixed disc 18 be provided with equally distributed circular hole, for passing for this first driving rope 17, at the first elastomer 16 during in free state, same first drives circular hole on the disk that rope passes in same plane.
Please refer to Fig. 4, discrete joint 80, this second level drives rope 19 and revolute pair to form by being arranged on pedestal 5 two second level discrete steps motors 3,7, two second; This second drives rope 19 symmetrical and be wrapped on the wheel hub of this second level discrete steps motor 3,7.Under the effect of second level discrete steps motor 3,7, pull revolute pair to rotate, second level discrete steps motor 3,7, by wheel hub fixed thereon, converts the line motion that pulls rope to by rotatablely moving.In the present embodiment, in the shaft center line in this discrete joint, second level and the continuous joint of this first order, the first elastomeric curve is tangentially perpendicular.So the 80Shi You second level, discrete joint, second level discrete steps motor 3,7 pulls to realize by the second driving rope 19 and rotatablely moves.
Please refer to Fig. 5, continuous joint 90, this second level comprises on second fixed disc 21, second time fixed disc 13, be positioned at the second driving rope 22 and the second elastomer 20 between the two and be positioned at the continuous stepper motor 1,4,9 in the second level on this pedestal, one end of this second driving rope 20 is fixed on this second time fixed disc 13, the other end is through this fixed disc 21 on second, and is wrapped on the wheel hub of the continuous stepper motor 1,4,9 in this second level.The continuous stepper motor in the second level pulls the second driving rope 22 by wheel hub 8 while rotation, realizes the bending motion of the second elastomer 20.Continuous joint 90, this second level second on fixed disc 21 be provided with equally distributed circular hole, for driving rope 20 to pass for second, at the second elastomer 20 during in free state, same second drives circular hole on the disk that rope passes in same plane.In the present embodiment, in the continuous joint of the shaft center line in discrete joint, the second level and this second level, the second elastomeric curve is tangentially perpendicular.
In the present invention visible, the continuous joint 90 in the continuous joint 70 of the first order and the second level is made up of stepper motor, elastomer and three driving ropes respectively, elastomer is as skeleton support joint, and three drive rope to form driver element with 3 corresponding stepper motors.The rope in the continuous joint of the first order arrives by the discrete joint of the first order stepper motor being positioned on pedestal.Stepper motor pulls rope, changes rope lengths, thereby elastomer is bent, and realizes joint motions.That is to say, in the time driving ropes equal in length for three, joint does not produce motion, and in the time wherein having the rope of driving to shorten under stepper motor drives, Elastic Cylindrical body is towards the rope direction bending of shortening.Electric Machine Control rope pulls elastomer to realize flexure operation in space, realizes the motion in joint.
Above-mentioned rope drives the concrete motion process of sequential machine people as follows: for space certain a bit, first drive the first order discrete steps electric machine rotation in the discrete joint of the first order, the output shaft in the discrete joint of the first order drives the continuous joint of the first order and discrete joint, the second level to turn over certain angle.Then pull first of the continuous joint of the first order to drive rope with the continuous stepper motor of the first order, make the first elastomer bending, change the pose in joint.Then pull second of discrete joint, the second level to drive rope with the discrete motor in the second level, make discrete joint, the second level turn over certain angle, drive the continuous joint motions in the second level simultaneously.Re-use the continuous stepper motor in the second level and pull second of continuous joint, the second level to drive rope, make the second elastomer bending, make robot arrive in space certain a bit, realize the crawl to this object.
Provided by the invention kind of rope drives sequential machine people, adopt motor to drive the joint motions mode forming with rope drive, as supplementing of the transmission type of drive to industrial robot, can effectively reduce the manufacturing cost of robot, and effectively improve the adaptability of traditional industry robot to multi-obstacle avoidance operating environment.
With reference to the accompanying drawings of the preferred embodiments of the present invention, those skilled in the art do not depart from the scope and spirit of the present invention above, can have multiple flexible program to realize the present invention.For example, illustrate as the part of an embodiment or the feature described can be used for another embodiment to obtain another embodiment.These are only the better feasible embodiment of the present invention, not thereby limit to interest field of the present invention, the equivalence that all utilizations description of the present invention and accompanying drawing content are done changes, within being all contained in interest field of the present invention.
Claims (10)
1. rope drives a sequential machine people, it is characterized in that, comprising: the discrete joint of the first order, the continuous joint of the first order, discrete joint, the second level and continuous joint, the second level series connection form successively that are arranged on pedestal are connected; The discrete joint in the discrete joint of the described first order and the second level has respectively a rotary freedom, and the continuous joint in the continuous joint of the described first order and the second level has respectively two bending frees degree.
2. rope as claimed in claim 1 drives sequential machine people, it is characterized in that, the discrete joint of the described first order is made up of first order discrete steps motor, shaft coupling and revolute pair, the output shaft of described first order discrete steps motor is connected in series on described shaft coupling, drives revolute pair to rotate by described shaft coupling.
3. rope as claimed in claim 1 drives sequential machine people, it is characterized in that, the continuous joint of the described first order comprises fixed disc on first, first time fixed disc, is positioned at the first driving rope and the first elastomer between the two and is positioned at the continuous stepper motor of the first order on described pedestal; Described first drives one end of rope to be fixed on described first time fixed disc, and the other end passes fixed disc on described first, and is wrapped on the wheel hub of the continuous stepper motor of the described first order.
4. rope as claimed in claim 3 drives sequential machine people, it is characterized in that, the continuous joint of the described first order first on fixed disc be provided with equally distributed circular hole, for driving rope to pass for described first.
5. rope as claimed in claim 3 drives sequential machine people, it is characterized in that, described the first driving rope is 3; The continuous stepper motor of the described first order is 3.
6. rope as claimed in claim 3 drives sequential machine people, it is characterized in that, in the shaft center line in discrete joint, the described second level and the continuous joint of the described first order, the first elastomeric curve is tangentially perpendicular.
7. rope as claimed in claim 1 drives sequential machine people, it is characterized in that, discrete joint, the described second level drives rope and revolute pair to form by being arranged on described pedestal two second level discrete steps motors, two second; Described second drives rope symmetrical and be wrapped on the wheel hub of described second level discrete steps motor.
8. rope as claimed in claim 1 drives sequential machine people, it is characterized in that, continuous joint, the described second level comprises fixed disc on second, second time fixed disc, be positioned at the second driving rope and the second elastomer between the two and be positioned at the continuous stepper motor in the second level on described pedestal, described second drives one end of rope to be fixed on described second time fixed disc, the other end passes fixed disc on described second, and is wrapped on the wheel hub of the continuous stepper motor in the described second level.
9. rope as claimed in claim 8 drives sequential machine people, it is characterized in that, continuous joint, the described second level second on fixed disc be provided with equally distributed circular hole, for driving rope to pass for described second.
10. rope as claimed in claim 8 drives sequential machine people, it is characterized in that, in the continuous joint of the shaft center line in described discrete joint, the second level and the described second level, the second elastomeric curve is tangentially perpendicular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410163465.9A CN103963069A (en) | 2014-04-23 | 2014-04-23 | Rope-driven continuous robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410163465.9A CN103963069A (en) | 2014-04-23 | 2014-04-23 | Rope-driven continuous robot |
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| CN103963069A true CN103963069A (en) | 2014-08-06 |
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| CN201410163465.9A Pending CN103963069A (en) | 2014-04-23 | 2014-04-23 | Rope-driven continuous robot |
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Cited By (9)
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| CN105798947A (en) * | 2016-04-15 | 2016-07-27 | 南京航空航天大学 | Reconfigurable rope-driven tandem decoupling mechanical arm joint and working method thereof |
| CN105798900A (en) * | 2016-04-15 | 2016-07-27 | 南京航空航天大学 | Rope drive decoupling mechanism based on gear train and decoupling method thereof |
| CN105798898A (en) * | 2016-04-15 | 2016-07-27 | 南京若希自动化科技有限公司 | Driven decoupling mechanism aimed at rope kinematic coupling and decoupling method thereof |
| CN105798899A (en) * | 2016-04-15 | 2016-07-27 | 南京若希自动化科技有限公司 | Modular rope-driven decoupling mechanical arm joint and working method thereof |
| CN106041913A (en) * | 2016-08-16 | 2016-10-26 | 上海航天控制技术研究所 | Bionic flexible drive robot based on magnetic repulsive force |
| CN106625638A (en) * | 2017-02-28 | 2017-05-10 | 深圳源创智能机器人有限公司 | Rope driving-based quickly-replaced linkage flexible charging robot |
| CN107932491A (en) * | 2017-12-12 | 2018-04-20 | 南京航空航天大学 | The continuous humanoid robot of multifreedom motion |
| CN109866213A (en) * | 2017-12-01 | 2019-06-11 | 深圳光启合众科技有限公司 | Flexible bending structure and robot with it |
| CN114587806A (en) * | 2022-02-16 | 2022-06-07 | 大连理工大学 | Supplementary intelligent wheelchair of endowment with continuous type arm |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798947A (en) * | 2016-04-15 | 2016-07-27 | 南京航空航天大学 | Reconfigurable rope-driven tandem decoupling mechanical arm joint and working method thereof |
| CN105798900A (en) * | 2016-04-15 | 2016-07-27 | 南京航空航天大学 | Rope drive decoupling mechanism based on gear train and decoupling method thereof |
| CN105798898A (en) * | 2016-04-15 | 2016-07-27 | 南京若希自动化科技有限公司 | Driven decoupling mechanism aimed at rope kinematic coupling and decoupling method thereof |
| CN105798899A (en) * | 2016-04-15 | 2016-07-27 | 南京若希自动化科技有限公司 | Modular rope-driven decoupling mechanical arm joint and working method thereof |
| CN105798899B (en) * | 2016-04-15 | 2017-10-20 | 南京若希自动化科技有限公司 | Modularization rope driving decoupling joint of mechanical arm and its method of work |
| CN105798900B (en) * | 2016-04-15 | 2017-10-31 | 南京航空航天大学 | Rope driving decoupling mechanism and its decoupling method based on train |
| CN106041913A (en) * | 2016-08-16 | 2016-10-26 | 上海航天控制技术研究所 | Bionic flexible drive robot based on magnetic repulsive force |
| CN106625638A (en) * | 2017-02-28 | 2017-05-10 | 深圳源创智能机器人有限公司 | Rope driving-based quickly-replaced linkage flexible charging robot |
| CN106625638B (en) * | 2017-02-28 | 2019-04-12 | 深圳源创智能机器人有限公司 | A kind of fast changeable linkage flexible charging robot based on rope driving |
| CN109866213A (en) * | 2017-12-01 | 2019-06-11 | 深圳光启合众科技有限公司 | Flexible bending structure and robot with it |
| CN107932491A (en) * | 2017-12-12 | 2018-04-20 | 南京航空航天大学 | The continuous humanoid robot of multifreedom motion |
| CN114587806A (en) * | 2022-02-16 | 2022-06-07 | 大连理工大学 | Supplementary intelligent wheelchair of endowment with continuous type arm |
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Application publication date: 20140806 |