CN104608146A - Novel mechanical arm based on double-bevel deflection joints - Google Patents
Novel mechanical arm based on double-bevel deflection joints Download PDFInfo
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- CN104608146A CN104608146A CN201510042150.3A CN201510042150A CN104608146A CN 104608146 A CN104608146 A CN 104608146A CN 201510042150 A CN201510042150 A CN 201510042150A CN 104608146 A CN104608146 A CN 104608146A
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Abstract
The invention discloses a novel mechanical arm based on double-bevel deflection joints. The double-bevel deflection joints are adopted to replace a part or all of single degree-of-freedom rotating joints of the mechanical arm. A mechanical paw is assembled at the tail end of the mechanical arm. Each double-bevel deflection joint comprises a near-end mounting base, a near-end motor, a near-end driving gear, a near-end internal gear, a near-end wobbler, a cardan joint, a far-end wobbler, a far-end internal gear, a far-end driving gear, a far-end motor, a far-end mounting base and the like. The two corresponding motors are adopted for each double-bevel deflection joint to drive two coupling bevel differential motions to complete a two-degree-of-freedom motion in a cone, the motion of each joint is achieved through the two corresponding motors, and power density of the joints is increased; meanwhile, the motions of the joints can be adjusted when the motors are in a high-speed continuous state, so quick motions of the joints can be achieved.
Description
Technical field
The present invention relates to a kind of mechanical arm, particularly relate to a kind of New Type of Robot Arm based on double inclined plane deflection joint.
Background technology
Mechanical arm is as the Typical Representative of industrial robot, through the development of decades, be widely used in various fields such as automobile making, agricultural, medical aid, military affairs and space explorations, manufacturer comprises external KUKA, ABB, YASKAWA, NACHI, FANUC and domestic new pine etc.; In recent years, by carrying vision sensor, ABB, YASKAWA, the companies such as NACHI, EPSON and Universal Robots are proposed tow-armed robot, have completed the task that workpiece assembling, service etc. are complicated.
In prior art, the research of multi-degree-of-freemechanical mechanical arm mostly concentrates on the performance and application scope that should be used for improving mechanical arm how passed through the optimal design controlled and new technology, to the basic structure of mechanical arm pay close attention to less, many employings be that single degree of freedom rotary joint or linear joint are in series, when the work completing particular track, only some motor carries out useful work output, and the actual effective power of mechanical arm is much smaller than the power summation in each joint; In manipulator motion process, single degree of freedom rotary joint often constantly carries out rotation direction switching, and motor start and stop and commutation frequently, cannot remain on the perfect condition of rated speed motion and make full use of the high speed characteristics of motor.
Summary of the invention
The power density that the object of this invention is to provide a kind of joint is high, movement velocity fast, the New Type of Robot Arm based on double inclined plane deflection joint of flexible adjustment.
The object of the invention is to be achieved through the following technical solutions:
New Type of Robot Arm based on double inclined plane deflection joint of the present invention, comprise at least one double inclined plane deflection joint, the end of this mechanical arm is equipped with mechanical paw;
Described double inclined plane deflection joint comprises near-end mount pad, proximal electrode, active proximal gear, near-end internal gear, near-end wobbler, universal joint, far-end wobbler, far-end internal gear, active distal gear, far-end motor, far-end mount pad;
Described proximal electrode is installed on near-end mount pad, engage with near-end internal gear on the output shaft that described active proximal gear is installed on proximal electrode, described near-end internal gear is connected with described near-end wobbler, described near-end wobbler is installed on described near-end mount pad by near-end bearing, and is connected by tapered bearing with described far-end wobbler;
Described far-end wobbler is installed on described far-end mount pad by far-end bearing, described far-end wobbler by with its fixing far-end internal gear and described active distal gears meshing, described active distal gear is installed on the output shaft of described far-end motor, described far-end motor is installed on described far-end mount pad, and described universal joint two ends are installed on described near-end mount pad and far-end mount pad respectively.
As seen from the above technical solution provided by the invention, the New Type of Robot Arm based on double inclined plane deflection joint that the embodiment of the present invention provides, owing to adopting single degree of freedom rotary joint part or all of in double inclined plane deflection joint replacement mechanical arm, this double inclined plane deflection joint adopt Dual-motors Driving two coupling inclined-plane differential come two-freedom motion in a cone, the motion in joint is provided jointly by two motors, improves the power density in joint; The motion in joint simultaneously can regulate under motor is in high-speed and continuous state, thus can realize the quick acting in joint.
Accompanying drawing explanation
Schematic diagram is arranged, double inclined plane deflection joint and single degree of freedom rotary joint series arrangement according to certain rules in the joint that Fig. 1 a, 1b, 1c, 1d, 1e are respectively the different embodiment of New Type of Robot Arm based on double inclined plane deflection joint of the present invention;
The application prospect block diagram of this manipulator of New Type of Robot Arm based on double inclined plane deflection joint that Fig. 1 f provides for the embodiment of the present invention;
Fig. 2 a, Fig. 2 b are respectively assembly structure schematic diagram and the disassembled form schematic diagram in the double inclined plane deflection joint in the embodiment of the present invention;
Fig. 3 is the structural representation of a kind of sixdegree-of-freedom simulation of the embodiment of the present invention.Wherein, arrow is depicted as position and the direction of motion in joint;
Fig. 4 is the structural representation of a kind of tow-armed robot of the embodiment of the present invention.Wherein, there is by two the single armed module of 5DOF, be aided with four single degree of freedom rotary joints on pedestal and jointly form;
Fig. 5 a is azimuth and the deflection angle schematic diagram of the kinematic transform process deflecting joint in the embodiment of the present invention;
Fig. 5 b and Fig. 5 c is the rotation transformation process schematic of the kinematic transform process deflecting joint in the embodiment of the present invention;
Fig. 6 corresponds to single armed to solve transformation matrix procedural block diagram in the embodiment of the present invention, concerning so same both arms.Solve after obtaining normal solution and inverse solution, just can to its take exercises planning and control;
Fig. 7 be in the embodiment of the present invention mechanical arm control structure by solving the positive kinematics that obtains above and inverse kinetics solution designs whole control procedure block diagram.To robotic arm path planning, step by step it is optimized, carries out control errors by feedback.
In figure:
1, single degree of freedom rotary joint, 2, double inclined plane deflection joint, 3, proximal electrode, 4, active proximal gear, 5, near-end mount pad, 6, near-end internal gear hold-down screw, 7, near-end internal gear, 8, near-end wobbler, 9, universal joint, 10, tapered bearing, 11, far-end wobbler, 12, active distal gear, 13, far-end internal gear hold-down screw, 14, far-end motor, 15, far-end motor hold-down screw, 16, far-end mount pad, 17, far-end internal gear, 18, far-end bearing, 19, far-end universal joint mount pin, 20 are, near-end universal joint mount pin, 21, near-end bearing, 22, proximal electrode hold-down screw, 23, mechanical arm base, 24, mechanical paw.
Detailed description of the invention
To be described in further detail the embodiment of the present invention below.
Of the present invention based on double inclined plane deflection joint New Type of Robot Arm, its preferably detailed description of the invention be:
Comprise at least one double inclined plane deflection joint, the end of this mechanical arm is equipped with mechanical paw;
Described double inclined plane deflection joint comprises near-end mount pad, proximal electrode, active proximal gear, near-end internal gear, near-end wobbler, universal joint, far-end wobbler, far-end internal gear, active distal gear, far-end motor, far-end mount pad;
Described proximal electrode is installed on near-end mount pad, engage with near-end internal gear on the output shaft that described active proximal gear is installed on proximal electrode, described near-end internal gear is connected with described near-end wobbler, described near-end wobbler is installed on described near-end mount pad by near-end bearing, and is connected by tapered bearing with described far-end wobbler;
Described far-end wobbler is installed on described far-end mount pad by far-end bearing, described far-end wobbler by with its fixing far-end internal gear and described active distal gears meshing, described active distal gear is installed on the output shaft of described far-end motor, described far-end motor is installed on described far-end mount pad, and described universal joint two ends are installed on described near-end mount pad and far-end mount pad respectively.
This mechanical arm deflects joint by least one double inclined plane and at least one single degree of freedom rotary joint is composed in series, or is all composed in series by multiple double inclined plane deflection joint.
The front end of this mechanical arm is installed on mechanical arm base, or is installed on the shoulder of robot.
New Type of Robot Arm based on double inclined plane deflection joint of the present invention, to bear a heavy burden-, joint module power density low, movement velocity low defect low from anharmonic ratio for the existing mechanical arm ubiquity based on single degree of freedom rotary joint, adopt single degree of freedom rotary joint part or all of in double inclined plane deflection joint replacement mechanical arm, this double inclined plane deflection joint adopt Dual-motors Driving two coupling inclined-plane differential come two-freedom motion in a cone, the motion in joint is provided jointly by two motors, improves the power density in joint; The motion in joint simultaneously can regulate under motor is in high-speed and continuous state, thus can realize the quick acting in joint.
This double inclined plane deflection joint can realize double freedom motion fast in a cone space, by double inclined plane being deflected the organic assembling of joint and single degree of freedom rotary joint, can realize the novel multi-degree-of-freemechanical mechanical arm of rapid movement.
The principle of the invention is:
The present invention mainly comprises double inclined plane deflection joint and the mechanical arm that is composed in series of single degree of freedom rotary joint, by the regulation and control of two motor speeds in double inclined plane deflection joint, realizes the quick double freedom yaw motion in double inclined plane deflection joint; The motion in the joint of double inclined plane deflection is simultaneously driven jointly by two motors, realizes bi-motor coupling power and exports, improve the power density in joint.
The dynamic duty process in the double inclined plane deflection joint in the present invention is as follows:
As shown in Figures 1 to 7, proximal electrode (3) rotates active proximal gear (5), by gears meshing, rotation is passed to near-end wobbler (8); Far-end motor (14) rotating distal end driving gear (12), rotates far-end wobbler (11) by gears meshing; Universal joint (9) two ends are individually fixed on near-end mount pad (5) and far-end mount pad (16), prevent far-end mount pad (16) from rotating around its central shaft; When proximal electrode (3) is identical with far-end motor (14) rotating speed, near-end wobbler (8) and far-end wobbler (11) geo-stationary, jointly rotate around near-end mount pad, if the two centre of gyration line is coaxial, then far-end mount pad (16) is static, if the two centre of gyration line disalignment, then far-end mount pad (16) centre of gyration line rotates along taper seat around near-end mount pad (5) centre of gyration line; When proximal electrode (3) is contrary with far-end motor (14) rotating speed size equidirectional, near-end wobbler (8) and far-end wobbler (11) find in rotary moving by tapered bearing along center, inclined-plane, far-end mount pad (16) axis swings back and forth along section; By the adjustment of rotational speed to proximal electrode (3) and far-end motor (14), any swing and the rotary motion of far-end mount pad (16) can be realized, thus in a cone working space, realize the motion of any two-freedom.
Kinematic solution of the present invention, control and path planning: kinematic solution of the present invention is formed jointly primarily of deflection joint and single degree of freedom rotary joint, as long as calculate the transformation matrix in deflection joint here, then these two kinds of joint transformation matrixs on whole piece arm are connected and obtain the transformation matrix of end mechanical gripper relative to pedestal at convenience.Deflection joint in adopt universal joint (9) to connect between near-end mount pad (5) and far-end mount pad (16), and universal joint only deflect move move without spin.Be fixed on the moving coordinate system Ox of far-end mount pad (16)
3y
3z
3relative to the reference frame Ox of near-end mount pad (5)
0y
0z
0only there is omnidirectional's yaw motion of z-axis, the rolling movement around z-axis does not occur.The azimuth angle theta of its yaw motion and deflection angle
as shown in accompanying drawing 5 (a).Azimuth angle theta and the angle of far-end mount pad axially between near-end mount pad, deflection angle and far-end mount pad are axially at near-end mount pad x
0y
0projection and x on face
0between angle.Be fixed on the moving coordinate system Ox of near-end wobbler (8)
1y
1z
1with the moving coordinate system Ox of far-end wobbler (11)
2y
2z
2rotate along contact surface.According to principle of stacking, rotate while two wobblers and be equivalent to two swash plates and rotate superimposed successively, as shown in accompanying drawing 5 (b) He 5 (c).Initial position is
first another φ
1=0, φ
2≠ 0, far-end wobbler is gone the long way round and is held mount pad to rotate φ
2obtain new coordinate system Ox
2ay
2az
2a, then rotate φ
bobtain new coordinate system Ox
2by
2bz
2b, and z
2dwith z
0,1overlap, whole conversion is equivalent to around k axle (wobbler contact surface rotary middle spindle k=[0 s ψ c ψ]
t) rotate φ
2+ φ
b, can φ be obtained by initial position
2+ φ
b=π.By φ
breplace with φ
2, obtain Ox
2by
2bz
2brelative to Ox
2ay
2az
2atransformation matrix be.
Because the axis of wobbler and mount pad overlaps, and remain unchanged in motion process, therefore can obtain far-end mount pad z
3expression on near-end mount pad.
Then φ is made
2=0, φ
1≠ 0, near-end wobbler rotates φ around near-end mount pad
1, whole joint motions are equivalent to near-end wobbler and first fix, and far-end wobbler continues to turn-φ around inclined-plane k axle
1, afterwards, far-end wobbler is fixing relative to near-end wobbler rotates φ around near-end mount pad jointly
1.Whole joint is through φ
1and φ
2after conversion, obtain far-end mount pad z
3expression on near-end mount pad.Finally can obtain other one group of equation group according to the definition of azimuth and deflection angle.Thus double inclined plane deflection joint positive kinematics solution can be released.
In conjunction with the above positive kinematics solution released, double inclined plane deflection joint inverse kinetics solution can be obtained.For single armed or both arms, be all connect and the structure formed mutually in multiple joint, therefore, the transformation matrix of total can be multiplied successively by the transformation matrix in all single joints and obtain, thus solves positive kinematics solution and inverse kinetics solution, as accompanying drawing 6.
For the control design case of mechanical arm, theory diagram as shown in Figure 7.By carrying out trajectory planning to mechanical arm, in conjunction with normal solution and the inverse solution relation in whole piece joint, decoupling zero being carried out to joint, thus driver part is controlled, by reponse system, control errors being carried out to input and output.Can identify target location by increasing vision system, improving control mode.
The present invention's advantage is compared with prior art:
(1) the present invention adopts double inclined plane to deflect the part or all of joint of joint as mechanical arm, bi-motor is synchronized realizes static or taper seat rotation, bi-motor differential realizes outer pendular motion, and can realize outer pendular motion fast at an arbitrary position, and Double-motor speed-adjusting realizes the motion of any double freedom; This articulation structure is compact, utilizes motor can be operated in the quick acting that high velocity can realize mechanical arm simultaneously always; In addition, bi-motor power stage improves the power density in joint.
(2) double inclined plane deflection joint moduleization of the present invention design, by installing with single degree of freedom rotary joint series arrangement or being used alone, the unification compared with wide working range and higher motion speed can be realized, and whole electric control system is all integrated in inside modules, outside without any easily makeing mistakes or easily producing the power line etc. of interference, whole joint can well seal, and this requires higher place application by being conducive in operating environment.This double inclined plane such as set frame mechanical arm is all used to deflect joint, like this, axial rotation is not had for joint, but still can well keep certain working space, and set frame mechanical arm just can carry out outside seal with bellows, can not destroy bellows in manipulator motion process, also do not affect service behaviour simultaneously, the overall structure of mechanical arm is comparatively complete, without any interruption.The manipulator dressed up by this double inclined plane joint set will have very large application prospect, except can be used in industrial production activities, also can be used for the no pollution such as medicine, nuclear safety and food or this required to extra high field, also may be used under water simultaneously, such as the main dependence mankind carry out activities such as sampling under water now, and under some comparatively rugged environment, the mankind are just difficult to arrive, and this manipulator just can solve this kind of problem, and do not worry the sealing problem of mechanical arm.As shown in Figure 1.
(3) double inclined plane articular couple of the present invention two frees degree, are applied on mechanical arm or other multiple degrees of freedom machines, can reduce overall structure size to a great extent, ensure working range simultaneously.
Specific embodiment:
As shown in Figure 1, mechanical arm of the present invention is installed in series sequentially by single degree of freedom rotary joint (1) and double inclined plane deflection joint (2) and forms; Single degree of freedom rotary joint adopts a motor direct-drive joint to rotate, and can realize large-scale working space; Double inclined plane deflection joint adopts two motors to drive double inclined plane coupled motions, can realize the quick double freedom motion in joint.
Fig. 2 represents the embodiment in double inclined plane deflection joint, and it is made up of two drive parts be arranged symmetrically with, and carries out connection axial constraint by universal joint; Proximal electrode (3) is fixed on near-end mount pad (5), active proximal gear (4) is fixed on the output shaft of proximal electrode (3), with near-end internal gear (7) formative gear meshing relation, and then rotating near-end wobbler (8), near-end wobbler (8) forms rotation relation by near-end bearing (21) and near-end mount pad (5); Far-end motor (14) is fixed on far-end mount pad (16), active distal gear (12) is fixed on the output shaft of far-end motor (14), with far-end internal gear (12) formative gear meshing relation, and then rotating far-end wobbler (11), far-end wobbler (11) forms rotation relation by far-end bearing (18) and far-end mount pad (16); Near-end wobbler (8) and far-end wobbler (11) form rotation relation by tapered bearing (10), universal joint (9) is fixed with near-end mount pad (5) and far-end mount pad (16) respectively, and it is hinged is centrally located at inclined-plane pivot.
Fig. 3 represents a kind of design of six degree of freedom single armed, a rotating shaft and the axisymmetric single-DOF-joint of mechanical arm is adopted near base position, middle series connection two double inclined plane deflection joints, near performing the end employing rotating shaft rotary joint coaxial with mechanical arm, end adopts mechanical paw to capture object.
Fig. 4 represents a kind of design of 14 free degree tow-armed robots, each arm is connected in robot base respectively by two single-DOF-joints, and series connection two double inclined plane deflection joints in the middle of each single armed, near the rotary joint that executor tail end adopts rotating shaft coaxial with mechanical arm, same end connects manipulator and captures object.
In a word, the present invention adopts double inclined plane to deflect the partial joint of joint as mechanical arm, be composed in series mechanical arm with single degree of freedom rotary joint, utilize the rotation speed change of bi-motor to realize joint rapid movement, utilize single degree of freedom rotary joint to realize working space on a large scale simultaneously.
Non-elaborated part of the present invention belongs to techniques well known.
Above content is in conjunction with concrete preferred embodiment further description made for the present invention; can not assert that the specific embodiment of the present invention is only limitted to this; for general technical staff of the technical field of the invention; without departing from the inventive concept of the premise; some simple deduction or replace can also be made, all should be considered as belonging to the present invention by submitted to claims determination scope of patent protection.
Claims (3)
1. based on the New Type of Robot Arm in double inclined plane deflection joint, it is characterized in that, comprise at least one double inclined plane deflection joint (2), the end of this mechanical arm is equipped with mechanical paw (24);
Described double inclined plane deflection joint comprises near-end mount pad (5), proximal electrode (3), active proximal gear (4), near-end internal gear (7), near-end wobbler (8), universal joint (9), far-end wobbler (11), far-end internal gear (17), active distal gear (12), far-end motor (14), far-end mount pad (16);
Described proximal electrode (3) is installed on near-end mount pad (5), engage with near-end internal gear (7) on the output shaft that described active proximal gear (4) is installed on proximal electrode (3), described near-end internal gear (7) is connected with described near-end wobbler (8), described near-end wobbler (8) is installed on described near-end mount pad (5) by near-end bearing (21), and is connected by tapered bearing (10) with described far-end wobbler (11);
Described far-end wobbler (11) is installed on described far-end mount pad (16) by far-end bearing (18), described far-end wobbler (11) is by engaging with described active distal gear (12) with its fixing far-end internal gear (17), described active distal gear (12) is installed on the output shaft of described far-end motor (14), described far-end motor (14) is installed on described far-end mount pad (16), described universal joint (9) two ends are installed on described near-end mount pad (5) and far-end mount pad (16) respectively.
2. the New Type of Robot Arm based on double inclined plane deflection joint according to claim 1, it is characterized in that, this mechanical arm deflects joint by least one double inclined plane and at least one single degree of freedom rotary joint is composed in series, or is all composed in series by multiple double inclined plane deflection joint.
3. the New Type of Robot Arm based on double inclined plane deflection joint according to claim 1 and 2, it is characterized in that, the front end of this mechanical arm is installed on mechanical arm base (23), or is installed on the shoulder of robot.
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| CN201510042150.3A CN104608146A (en) | 2015-01-27 | 2015-01-27 | Novel mechanical arm based on double-bevel deflection joints |
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|---|---|---|---|
| CN201510042150.3A CN104608146A (en) | 2015-01-27 | 2015-01-27 | Novel mechanical arm based on double-bevel deflection joints |
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| CN104875868A (en) * | 2015-05-15 | 2015-09-02 | 中国科学技术大学 | Robotic fish based on dual-bevel deflection joint |
| CN107020620A (en) * | 2017-05-11 | 2017-08-08 | 上海交通大学 | A kind of flexible sorting machine people system |
| CN107848119A (en) * | 2015-07-22 | 2018-03-27 | 剑桥医疗机器人技术有限公司 | Drive arrangement for robot arm |
| CN108043737A (en) * | 2017-12-13 | 2018-05-18 | 温州大学 | A kind of sorting equipment and its method for sorting of block assembly spool valve seat |
| CN107378942B (en) * | 2017-06-09 | 2023-08-29 | 中国科学技术大学 | Soft mechanical arm and using method thereof |
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| CN107378942B (en) * | 2017-06-09 | 2023-08-29 | 中国科学技术大学 | Soft mechanical arm and using method thereof |
| CN108043737A (en) * | 2017-12-13 | 2018-05-18 | 温州大学 | A kind of sorting equipment and its method for sorting of block assembly spool valve seat |
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