CN104626101A - Robot three-dimensional space gravity balance compensation device and method - Google Patents

Abstract

The invention relates to a robot three-dimensional space gravity balance compensation device and method. The problem that an existing three-dimensional space compensation device is complex in structure is solved. One end of a first balance rod is connected with a first rotary joint, the other end of the first balance rod is connected with a connector, one end of a second balance rod is hinged to the connector, and the other end of the second balance rod is hinged to a fixing sleeve; one end of a large arm rod penetrates through the fixing sleeve to be fixedly connected with an elbow joint, the other end of the large arm rod is connected with a first shoulder joint, one end of a small arm rod is hinged to the elbow joint, a first sliding wheel and a first spring are fixed to the first balance rod, a second sliding wheel and a second spring are fixed to the small arm rod, a third shoulder joint and a third rotary joint are fixedly connected with a fixing support, one end of a balance rod steel wire rope is fixedly connected with the fixing support, the other end of the balance rod steel wire rope is wound on the first sliding wheel to be then fixedly connected with the first spring, one end of a small arm steel wire rope is fixedly connected with the second balance rod, and the other end of the small arm steel wire rope is wound on the second sliding wheel to be then fixedly connected with the second spring. The robot three-dimensional space gravity balance compensation device and method are used for robot gravity balance.

Description

Robot three-dimensional space gravity compensating chain device and method

Technical field

The present invention relates to a kind of robot gravity-compensated device and method, be specifically related to a kind of robot three-dimensional space gravity compensating chain device and method.

Background technology

Gravity-compensated device is widely used in the fields such as industry medical treatment, such as, in the manipulator of industrial robot, often needs himself gravitational equilibrium to reach more accurate control objectives; In the fields such as medical rehabilitation, gravitational equilibrium more can bring rehabilitation patient with Gospel, and gravity balance device can reduce and even saves electrically driven (operated) link, adds the reliability of mechanism, makes safety in utilization obtain great guarantee.Existing gravity-compensated device is confined to two-dimensional space mostly, and the structure of existing three dimensions compensation arrangement utilizes differential attachment or add the mode such as mass to realize, this compensation way complex structure or heavy and lose practicality.

Summary of the invention

The present invention for solving the baroque problem of existing three dimensions compensation arrangement, and proposes a kind of robot three-dimensional space gravity compensating chain device and method.

Device: robot three-dimensional space gravity compensation balance device of the present invention comprises the first balancing pole, second balancing pole, fixed cover, large armed lever, little armed lever, elbow joint, first shoulder joint, second shoulder joint, 3rd shoulder joint, connector, first cradle head, second cradle head, 3rd cradle head, first pulley, first spring, second pulley, second spring, balancing pole steel wire rope, forearm steel wire rope and fixed mount, one end of first balancing pole is fixedly connected with the first cradle head, first cradle head and the second cradle head hinged, second cradle head and the 3rd cradle head hinged, the other end of the first balancing pole is fixedly connected with connector, one end and the connector of the second balancing pole are hinged, the other end and the fixed cover of the second balancing pole are hinged, one end of large armed lever is fixedly connected with elbow joint through fixed cover, fixed cover rotates around large armed lever, the other end of large armed lever is connected by bearing with the first shoulder joint, first shoulder joint and the second shoulder joint hinged, second shoulder joint and the 3rd shoulder joint hinged, one end and the elbow joint of little armed lever are hinged, the first pulley and the first spring are all fixed on the first balancing pole, and the first pulley is positioned at the side of the first cradle head, the first spring is positioned at the side of connector, the second pulley and the second spring are all fixed on little armed lever, and the second pulley is positioned at the side of elbow joint, the second spring is positioned at the outside of little armed lever, the 3rd shoulder joint is all fixedly connected with fixed mount with the 3rd cradle head, one end of balancing pole steel wire rope is fixedly connected with fixed mount, the other end of balancing pole steel wire rope is walked around the first pulley and is fixedly connected with the first spring, one end of forearm steel wire rope is fixedly connected with the second balancing pole, the other end of forearm steel wire rope is walked around the second pulley and is fixedly connected with the second spring.

Method one: described method is the method realizing the compensation of plane gravitational equilibrium, and its step is as follows:

Step one: the gravitional force W calculating large armed lever ₁:

Formula one: W ₁=m ₁g (l ' ₁c ₁+ h)

Wherein, m ₁for the quality of large armed lever, g is acceleration of gravity, l ' ₁for the mass centre o'clock of large armed lever is to the length of the first shoulder joint and the second shoulder joint pin joint, c ₁for cos θ ₁, θ ₁for the acute angle between the large armed lever in outside of parallelogram and fixed mount, h is the distance between the pin joint of pin joint to the first cradle head of the first shoulder joint;

Step 2: the gravitional force W calculating little armed lever ₂:

Formula two: W ₂=m ₂g (l ₁c ₁+ l ' ₂c ₁₊₂+ h)=m ₂g (l ₁c ₁+ l ' ₂c ₁c ₂-l ' ₂s ₁s ₂+ h)

Wherein, m2 is the quality of little armed lever, l ₁for the length of large armed lever, l ' ₂for mass centre's point of little armed lever is to the length of elbow joint pin joint, c ₁₊₂for cos (θ ₁+ θ ₂), c ₂for cos θ ₂, s ₁for sin θ ₁, s ₂for sin θ ₂, θ ₂for the little armed lever in outside of little armed lever and the acute angle greatly between armed lever;

Step 3: the gravitional force W calculating the first balancing pole ₃:

Formula three: W ₃=m ₃gl ' ₃c ₁

Wherein, m ₃be the quality of the first balancing pole, l ' ₃be the mass centre o'clock length to the first cradle head pin joint of the first balancing pole;

Step 4: the gravitional force W calculating the second balancing pole ₄:

Formula four: W ₄=m ₄g (l ₁c ₁+ l ' ₄)

Wherein, m4 is the quality of the second balancing pole, l ' ₄be the length of mass centre's point to connector pin joint of the second balancing pole;

Step 5: the total potential energy V calculating large armed lever, little armed lever, the first balancing pole and the second balancing pole _g:

Formula five: V _g=W ₁+ W ₂+ W ₃+ W ₄=m ₁gh+m ₂gh+m ₄gl ' ₄+ (m ₁gl ' ₁+ m ₂gl ₁+ m ₃gl ' ₃+ m ₄gl ₁) c ₁+ m ₂gl ' ₂c ₁c ₂-m ₂gl ' ₂s ₁s ₂

Step 6: the elongation x calculating the first spring ₁:

Formula six: $x_1^2=h^2+d_1^2+{2\mathrm{hd}}_1{c}_1$

Wherein, x ₁ ²be the elongation of the first spring square, d ₁for the length of balancing pole steel wire rope, d ₁ ²for balancing pole rope capacity square;

Step 7: the elongation x calculating the second spring ₂:

Formula seven: $x_2^2=h^2+d_2^2+{2\mathrm{hd}}_2{c}_{1+2}$

Wherein, x ₂ ²be the elongation of the second spring square, d ₂for the length of forearm steel wire rope, d ₂ ²for forearm rope capacity square;

Step 8: the elastic potential energy and the V that calculate the first spring and the second spring _s:

Formula eight: $V_s=\frac{1}{2}{k}_1{x}_1^2+\frac{1}{2}{k}_2{x}_2^2=$ $\frac{1}{2}{k}_1(h^2+d_1^2)+\frac{1}{2}{k}_2(h^2+d_2^2)+k_1{\mathrm{hd}}_1{c}_1+k_2{\mathrm{hd}}_2{c}_1{c}_2-k_2{\mathrm{hd}}_2{s}_1{s}_2$

Wherein, k1 is the stiffness factor of the first spring, and k2 is the stiffness factor of the second spring;

Step 9: for making V _s+ V _g=constant, to formula eight rain scavenging coefficient, because gravitional force checkout result is negative value, therefore has:

Formula nine: m ₁gl ' ₁+ m ₂gl ₁+ m ₃gl ' ₃+ m ₄gl ₁=k ₁hd ₁v _sand V _grespective items coefficient disappears mutually

Formula ten: m ₂gl ' ₂=k ₂hd ₂v _sand V _grespective items coefficient disappears mutually

Step 10: when phylogenetic relationship meets above formula nine and formula ten, system reaches plane balancing;

Step 11: according to actual object quality m, the distance h between the pin joint regulating pin joint to the first cradle head of the first shoulder joint, can realize balanced compensated.

Method two: described method is implementation space gravitational equilibrium compensation method, and its step is as follows:

Step one: the gravitional force W calculating large armed lever ₁:

Formula one ': W ₁=m ₁g (l ' ₁c ₁+ h)

Wherein, wherein, m ₁for the quality of large armed lever, g is acceleration of gravity, l ' ₁for the mass centre o'clock of large armed lever is to the length of the first shoulder joint and the second shoulder joint pin joint, c ₁for cos θ ₁, θ ₁for the acute angle between the large armed lever in outside of parallelogram and fixed mount, h is the distance between the pin joint of pin joint to the first cradle head of the first shoulder joint;

Step 2: the gravitional force W calculating little armed lever ₂:

Formula two ': W ₂=m ₂g (l ₁c ₁+ l ' ₂c ₁c ₂-l ' ₂c ₀s ₁s ₂+ h)

Wherein, m ₂for the quality of little armed lever, l ₁for the length of large armed lever, l ' ₂for mass centre's point of little armed lever is to the length of elbow joint pin joint, c ₀for cos θ ₀, c ₂for cos θ ₁, s ₁for sin θ ₁, s ₂for sin θ ₂, θ ₂for the little armed lever in outside of little armed lever and the acute angle greatly between armed lever; θ ₀for the axial angle of rotation of large armed lever;

Step 3: the gravitional force W calculating the first balancing pole ₃:

Formula three ': W ₃=m ₃gl ' ₃c ₁

Wherein, m ₃be the quality of the first balancing pole, l ' ₃be the mass centre o'clock length to the first cradle head pin joint of the first balancing pole;

Step 4: the gravitional force W calculating the second balancing pole ₄:

Formula four ': W ₄=m ₄g (l ₁c ₁+ l ' ₄)

Wherein, m4 is the quality of the second balancing pole, l ' ₄be the length of mass centre's point to connector pin joint of the second balancing pole;

Step 5: the total potential energy V calculating large armed lever, little armed lever, the first balancing pole and the second balancing pole _g:

Formula five ': V _g=W ₁+ W ₂+ W ₃+ W ₄=m ₁gh+m ₂gh+m ₄gl ' ₄+ (m ₁gl ' ₁+ m ₂gl ₁+ m ₃gl ' ₃+ m ₄gl ₁) c ₁+ m ₂gl ' ₂c ₁c ₂-m ₂gl ' ₂c ₀s ₁s ₂

Step 6: the elongation x calculating the first spring ₁:

Formula six ': $x_1^2=h^2+d_1^2+{2\mathrm{hd}}_1{c}_1$

Wherein, x ₁ ²be the elongation of the first spring square, d ₁for the length of balancing pole steel wire rope, d ₁ ²for balancing pole rope capacity square;

Step 7: the elongation x calculating the second spring ₂:

Formula seven ': $x_2^2=h^2+d_2^2+{2\mathrm{hd}}_2(c_1{c}_2-c_0{s}_1{s}_2)$

Wherein, x ₂ ²be the elongation of the second spring square, d ₂for the length of forearm steel wire rope, d ₂ ²for forearm rope capacity square;

Step 8: the elastic potential energy and the V that calculate the first spring and the second spring _s:

Formula eight ': $V_s=\frac{1}{2}{k}_1{x}_1^2+\frac{1}{2}{k}_2{x}_2^2=$ $\frac{1}{2}{k}_1(h^2+d_1^2)+\frac{1}{2}{k}_2(h^2+d_2^2)+k_1{\mathrm{hd}}_1{c}_1+k_2{\mathrm{hd}}_2{c}_1{c}_2-k_2{\mathrm{hd}}_2{c}_0{s}_1{s}_2$

Wherein, k1 is the stiffness factor of the first spring, and k2 is the stiffness factor of the second spring;

Step 9: for making V _s+ V _g=constant, to formula eight rain scavenging coefficient, because gravitional force checkout result is negative value, therefore has:

Formula nine ': m ₁gl ' ₁+ m ₂gl ₁+ m ₃gl ' ₃+ m ₄gl ₁=k ₁hd ₁v _sand V _grespective items coefficient disappears mutually

Formula ten ': m ₂gl ' ₂=k ₂hd ₂v _sand V _grespective items coefficient disappears mutually

Step 10: when phylogenetic relationship meets above formula nine ' and formula ten ', system reaches spatial balance;

Step 11: according to actual object quality m, the distance h between the pin joint regulating pin joint to the first cradle head of the first shoulder joint, can compensate implementation space.

The present invention compared with prior art has following beneficial effect:

One, device of the present invention is the structure of imitating the arm free degree, because fixed cover and large armed lever can relatively rotate, would not be subject to the impact of large armed lever rotation like this, thus ensure that parallelogram still exists in three dimensions.

Two, the introducing of parallelogram sturcutre of the present invention and zero-bit spring, makes the location resolution formula of each particle identical with the analytic expression item type of spring elongates amount, namely can offset, by calculating the relation that can obtain quality and spring position.Method of the present invention efficiently solves the problem of three-dimensional gravity balance.Structure is simple, is easy to processing in Machine Design and uses.

Three, the present invention is applied to the security that rehabilitation medical aspect can increase mechanism greatly, reduces complexity, improves the Practical Performance of equipment.

Accompanying drawing explanation

Fig. 1 is the structural representation of robot three-dimensional space gravity compensating chain device of the present invention;

Fig. 2 is the equilibrium principle figure utilizing device of the present invention to realize the compensation method of robot plane gravitational equilibrium;

Fig. 3 is the equilibrium principle figure utilizing device of the present invention to realize the balanced compensated method of robot space gravity.

Detailed description of the invention

Detailed description of the invention one: composition graphs 1 illustrates present embodiment, present embodiment comprises the first balancing pole 1, second balancing pole 2, fixed cover 3, large armed lever 4, little armed lever 5, elbow joint 6, first shoulder joint 7, second shoulder joint 8, 3rd shoulder joint 9, connector 10, first cradle head 11, second cradle head 12, 3rd cradle head 13, first pulley 14, first spring 15, second pulley 16, second spring 17, balancing pole steel wire rope 18, forearm steel wire rope 19 and fixed mount 20, one end of first balancing pole 1 is fixedly connected with the first cradle head 11, first cradle head 11 and the second cradle head 12 hinged, first cradle head 11 can be rotated in endways direction, second cradle head 12 and the 3rd cradle head 13 hinged, second cradle head 12 can be rotated in the horizontal direction, the other end of the first balancing pole 1 is fixedly connected with connector 10, one end and the connector 10 of the second balancing pole 2 are hinged, second balancing pole 2 can rotate in the vertical direction of the first balancing pole 1, the other end and the fixed cover 3 of the second balancing pole 2 are hinged, one end of large armed lever 4 is fixedly connected with elbow joint 6 through fixed cover 3, fixed cover 3 can rotate around large armed lever 4, the other end of large armed lever 4 is connected by bearing with the first shoulder joint 7, large armed lever 4 can axially do autobiography motion, first shoulder joint 7 and the second shoulder joint 8 hinged, second shoulder joint 8 and the 3rd shoulder joint 9 hinged, one end and the elbow joint 6 of little armed lever 5 are hinged, first pulley 14 and the first spring 15 are all fixed on the first balancing pole 1, and the first pulley 14 is positioned at the side of the first cradle head 11, first spring 15 is positioned at the side of connector 10, second pulley 16 and the second spring 17 are all fixed on little armed lever 5, and the second pulley 16 is positioned at the side of elbow joint 6, second spring 17 is positioned at the outside of little armed lever 5, 3rd shoulder joint 9 is all fixedly connected with fixed mount 20 with the 3rd cradle head 13, one end of balancing pole steel wire rope 18 is fixedly connected with fixed mount 20, the other end of balancing pole steel wire rope 18 is walked around the first pulley 14 and is fixedly connected with the first spring 15, one end of forearm steel wire rope 19 is fixedly connected with the second balancing pole 2, the other end of forearm steel wire rope 19 is walked around the second pulley 16 and is fixedly connected with the second spring 17.

Detailed description of the invention two: composition graphs 1 illustrates present embodiment, the length of the large armed lever 4 of present embodiment is identical with the length of the first balancing pole 1, and the length of the distance on fixed mount 20 between the 3rd shoulder joint 9 with the 3rd cradle head 13 and the second balancing pole 2 is identical.Other composition and annexation identical with detailed description of the invention one.

Detailed description of the invention three: composition graphs 1 illustrates present embodiment, the first balancing pole 1, second balancing pole 2 of present embodiment, large armed lever 4 and fixed mount 20 form parallelogram.Other composition and annexation identical with detailed description of the invention one or two.

Detailed description of the invention four: composition graphs 2 illustrates present embodiment, present embodiment is the method realizing the compensation of plane gravitational equilibrium, and its step is as follows:

Step one: the gravitional force W calculating large armed lever 4 ₁:

Formula one: W ₁=m ₁g (l ' ₁c ₁+ h)

Wherein, wherein, m ₁for the quality of large armed lever 4, g is acceleration of gravity, l ' ₁for the mass centre o'clock of large armed lever 4 is to the length of the first shoulder joint 7 and the second shoulder joint 8 pin joint, c ₁for cos θ ₁, θ ₁for the acute angle between the large armed lever 4 in outside of parallelogram and fixed mount 20, h is the distance between the pin joint of pin joint to the first cradle head 11 of the first shoulder joint 7;

Step 2: the gravitional force W calculating little armed lever 5 ₂:

Formula two: W ₂=m ₂g (l ₁c ₁+ l ' ₂c ₁₊₂+ h)=m ₂g (l ₁c ₁+ l ' ₂c ₁c ₂-l ' ₂s ₁s ₂+ h)

Wherein, m ₂for the quality of little armed lever 5, l ₁for the length of large armed lever 4, l ' ₂for mass centre's point of little armed lever 5 is to the length of elbow joint 6 pin joint, c ₁₊₂for cos (θ ₁+ θ ₂), c ₂for cos θ ₂, s ₁for sin θ ₁, s ₂for sin θ ₂, θ ₂for the little armed lever 5 in outside of little armed lever 5 and the acute angle greatly between armed lever 4;

Step 3: the gravitional force W calculating the first balancing pole 1 ₃:

Formula three: W ₃=m ₃gl ' ₃c ₁

Wherein, m ₃be the quality of the first balancing pole 1, l ' ₃be the mass centre o'clock length to the first cradle head 11 pin joint of the first balancing pole 1;

Step 4: the gravitional force W calculating the second balancing pole 2 ₄:

Formula four: W ₄=m ₄g (l ₁c ₁+ l ' ₄)

Wherein, m4 is the quality of the second balancing pole 2, l ' ₄be the length of mass centre's point to connector 10 pin joint of the second balancing pole 2;

Step 5: the total potential energy V calculating large armed lever 4, little armed lever 5, first balancing pole 1 and the second balancing pole 2 _g:

Formula five: V _g=W ₁+ W ₂+ W ₃+ W ₄=m ₁gh+m ₂gh+m ₄gl ' ₄+ (m ₁gl ' ₁+ m ₂gl ₁+ m ₃gl ' ₃+ m ₄gl ₁) c ₁+ m ₂gl ' ₂c ₁c ₂-m ₂gl ' ₂s ₁s ₂

Step 6: the elongation x calculating the first spring 15 ₁:

Formula six: $x_1^2=h^2+d_1^2+{2\mathrm{hd}}_1{c}_1$

Wherein, x ₁ ²be the elongation of the first spring 15 square, d ₁for the length of balancing pole steel wire rope 18, d ₁ ²for balancing pole steel wire rope 18 length square;

Step 7: the elongation x calculating the second spring 17 ₂:

Formula seven: $x_2^2=h^2+d_2^2+{2\mathrm{hd}}_2{c}_{1+2}$

Wherein, x ₂ ²be the elongation of the second spring 17 square, d ₂for the length of forearm steel wire rope 19, d ₂ ²for forearm steel wire rope 19 length square;

Step 8: the elastic potential energy and the V that calculate the first spring 15 and the second spring 17 _s:

Formula eight: $V_s=\frac{1}{2}{k}_1{x}_1^2+\frac{1}{2}{k}_2{x}_2^2=$ $\frac{1}{2}{k}_1(h^2+d_1^2)+\frac{1}{2}{k}_2(h^2+d_2^2)+k_1{\mathrm{hd}}_1{c}_1+k_2{\mathrm{hd}}_2{c}_1{c}_2-k_2{\mathrm{hd}}_2{s}_1{s}_2$

Wherein, k1 is the stiffness factor of the first spring 15, and k2 is the stiffness factor of the second spring 17;

Step 9: for making V _s+ V _g=constant, to formula eight rain scavenging coefficient, because gravitional force checkout result is negative value, therefore has:

Formula nine: m ₁gl ' ₁+ m ₂gl ₁+ m ₃gl ' ₃+ m ₄gl ₁=k ₁hd ₁v _sand V _grespective items coefficient disappears mutually

Formula ten: m ₂gl ' ₂=k ₂hd ₂v _sand V _grespective items coefficient disappears mutually

Step 10: when phylogenetic relationship meets above formula nine and ten, system reaches plane balancing;

Step 11: according to actual object quality m, the distance h between the pin joint regulating pin joint to the first cradle head 11 of the first shoulder joint 7, can realize balanced compensated.

Detailed description of the invention five: composition graphs 3 illustrates present embodiment, present embodiment is implementation space gravitational equilibrium compensation method, and its step is as follows:

Step one: the gravitional force W calculating large armed lever 4 ₁:

Formula one ': W ₁=m ₁g (l ' ₁c ₁+ h)

Wherein, m ₁for the quality of large armed lever 4, g is acceleration of gravity, l ' ₁for the mass centre o'clock of large armed lever 4 is to the length of the first shoulder joint 7 and the second shoulder joint 8 pin joint, c ₁for cos θ ₁, θ ₁for the acute angle between the large armed lever 4 in outside of parallelogram and fixed mount 20, h is the distance between the pin joint of pin joint to the first cradle head 11 of the first shoulder joint 7;

Step 2: the gravitional force W calculating little armed lever 5 ₂:

Formula two ': W ₂=m ₂g (l ₁c ₁+ l ' ₂c ₁c ₂-l ' ₂c ₀s ₁s ₂+ h)

Wherein, m ₂for the quality of little armed lever 5, l ₁for the length of large armed lever 4, l ' ₁for mass centre's point of little armed lever 5 is to the length of elbow joint 6 pin joint, c ₀for cos θ ₀, c ₂for cos θ ₂, s ₁for sin θ ₁, s ₂for sin θ ₂, θ ₂for the little armed lever 5 in outside of little armed lever 5 and the acute angle greatly between armed lever 4; θ ₀for the axial angle of rotation of large armed lever 4;

Step 3: the gravitional force W calculating the first balancing pole 1 ₃:

Formula three ': W ₃=m ₃gl ' ₃c ₁

Wherein, m ₃be the quality of the first balancing pole 1, l ' ₃be the mass centre o'clock length to the first cradle head 11 pin joint of the first balancing pole 1;

Step 4: the gravitional force W calculating the second balancing pole 2 ₄:

Formula four ': W ₄=m ₄g (l ₁c ₁+ l ' ₄)

Wherein, m4 is the quality of the second balancing pole 2, l ' ₄be the length of mass centre's point to connector 10 pin joint of the second balancing pole 2;

Step 5: the total potential energy V calculating large armed lever 4, little armed lever 5, first balancing pole 1 and the second balancing pole 2 _g:

Formula five ': V _g=W ₁+ W ₂+ W ₃+ W ₄=m ₁gh+m ₂gh+m ₄gl ' ₄+ (m ₁gl ' ₁+ m ₂gl ₁+ m ₃gl ' ₃+ m ₄gl ₁) c ₁+ m ₂gl ' ₂c ₁c ₂-m ₂gl ' ₂c ₀s ₁s ₂

Step 6: the elongation x calculating the first spring 15 ₁:

Formula six ': $x_1^2=h^2+d_1^2+{2\mathrm{hd}}_1{c}_1$

Wherein, x ₁ ²be the elongation of the first spring 15 square, d ₁for the length of balancing pole steel wire rope 18, d ₁ ²for balancing pole steel wire rope 18 length square;

Step 7: the elongation x calculating the second spring 17 ₂:

Formula seven ': $x_2^2=h^2+d_2^2+{2\mathrm{hd}}_2(c_1{c}_2-c_0{s}_1{s}_2)$

Wherein, x ₂ ²be the elongation of the second spring 17 square, d ₂for the length of forearm steel wire rope 19, d ₂ ²for forearm steel wire rope 19 length square;

Step 8: the elastic potential energy and the V that calculate the first spring 15 and the second spring 17 _s:

Formula eight ': $V_s=\frac{1}{2}{k}_1{x}_1^2+\frac{1}{2}{k}_2{x}_2^2=$ $\frac{1}{2}{k}_1(h^2+d_1^2)+\frac{1}{2}{k}_2(h^2+d_2^2)+k_1{\mathrm{hd}}_1{c}_1+k_2{\mathrm{hd}}_2{c}_1{c}_2-k_2{\mathrm{hd}}_2{c}_0{s}_1{s}_2$

Wherein, k1 is the stiffness factor of the first spring 15, and k2 is the stiffness factor of the second spring 17;

Step 9: for making V _s+ V _g=constant, to formula eight rain scavenging coefficient, because gravitional force checkout result is negative value, therefore has:

Formula nine ': m ₁gl ' ₁+ m ₂gl ₁+ m ₃gl ' ₃+ m ₄gl ₁=k ₁hd ₁v _sand V _grespective items coefficient disappears mutually

Formula ten ': m ₂gl ' ₂=k ₂hd ₂v _sand V _grespective items coefficient disappears mutually

Step 10: when phylogenetic relationship meets above formula nine ' and formula ten ', system reaches spatial balance;

Step 11: according to actual object quality m, the distance h between the pin joint regulating pin joint to the first cradle head 11 of the first shoulder joint 7, can compensate implementation space.

Claims (5)

1. a robot three-dimensional space gravity compensating chain device, it is characterized in that: described device comprises the first balancing pole (1), second balancing pole (2), fixed cover (3), large armed lever (4), little armed lever (5), elbow joint (6), first shoulder joint (7), second shoulder joint (8), 3rd shoulder joint (9), connector (10), first cradle head (11), second cradle head (12), 3rd cradle head (13), first pulley (14), first spring (15), second pulley (16), second spring (17), balancing pole steel wire rope (18), forearm steel wire rope (19) and fixed mount (20), one end of first balancing pole (1) is fixedly connected with the first cradle head (11), first cradle head (11) is hinged with the second cradle head (12), second cradle head (12) is hinged with the 3rd cradle head (13), the other end of the first balancing pole (1) is fixedly connected with connector (10), one end and the connector (10) of the second balancing pole (2) are hinged, the other end and the fixed cover (3) of the second balancing pole (2) are hinged, one end of large armed lever (4) is fixedly connected with elbow joint (6) through fixed cover (3), fixed cover (3) rotates around large armed lever (4), the other end of large armed lever (4) is connected by bearing with the first shoulder joint (7), first shoulder joint (7) is hinged with the second shoulder joint (8), second shoulder joint (8) is hinged with the 3rd shoulder joint (9), one end and the elbow joint (6) of little armed lever (5) are hinged, first pulley (14) and the first spring (15) are all fixed on the first balancing pole (1), and the first pulley (14) is positioned at the side of the first cradle head (11), first spring (15) is positioned at the side of connector (10), second pulley (16) and the second spring (17) are all fixed on little armed lever (5), and the second pulley (16) is positioned at the side of elbow joint (6), second spring (17) is positioned at the outside of little armed lever (5), 3rd shoulder joint (9) is all fixedly connected with fixed mount (20) with the 3rd cradle head (13), one end of balancing pole steel wire rope (18) is fixedly connected with fixed mount (20), the other end of balancing pole steel wire rope (18) is walked around the first pulley (14) and is fixedly connected with the first spring (15), one end of forearm steel wire rope (19) is fixedly connected with the second balancing pole (2), the other end of forearm steel wire rope (19) is walked around the second pulley (16) and is fixedly connected with the second spring (17).

2. robot three-dimensional space gravity compensating chain device according to claim 1, it is characterized in that: the length of described large armed lever (4) is identical with the length of the first balancing pole (1), the distance on fixed mount (20) between the 3rd shoulder joint (9) with the 3rd cradle head (13) is identical with the length of the second balancing pole (2).

3. robot three-dimensional space gravity compensating chain device according to claim 1 or 2, is characterized in that: described first balancing pole (1), the second balancing pole (2), large armed lever (4) and fixed mount (20) form parallelogram.

4. utilize robot three-dimensional space gravity compensating chain device to realize the balanced compensated method of robot three-dimensional space gravity, it is characterized in that: described method is the method realizing the compensation of plane gravitational equilibrium, and its step is as follows:

Step one: the gravitional force W calculating large armed lever (4) ₁:

Formula one: W ₁=m ₁g (I ' ₁c ₁+ h)

Wherein, wherein, m ₁for the quality of large armed lever (4), g is acceleration of gravity, l ' ₁for the mass centre o'clock of large armed lever (4) is to the length of the first shoulder joint (7) with the second shoulder joint (8) pin joint, c ₁for cos θ ₁, θ ₁for the acute angle between the large armed lever in the outside (4) of parallelogram and fixed mount (20), h is the distance between the pin joint of pin joint to the first cradle head (11) of the first shoulder joint (7);

Step 2: the gravitional force W calculating little armed lever (5) ₂:

Formula two: W ₂=m ₂g (l ₁c ₁+ l ' ₂c ₁₊₂+ h)=m ₂g (l ₁c ₁+ l ' ₂c ₁c ₂-l ' ₂s ₁s ₂+ h)

Wherein, m ₂for the quality of little armed lever (5), l ₁for the length of large armed lever (4), l ' ₂for mass centre's point of little armed lever (5) is to the length of elbow joint (6) pin joint, c ₁₊₂for cos (θ ₁+ θ ₂), c ₂for cos θ ₂, s ₁for sin θ ₁, s ₂for sin θ ₂, θ ₂for the acute angle between the little armed lever in the outside (5) of little armed lever (5) and large armed lever (4);

Step 3: the gravitional force W calculating the first balancing pole (1) ₃:

Formula three: W ₃=m ₃gl ' ₃c ₁

Wherein, m ₃be the quality of the first balancing pole (1), l ' ₃be the mass centre o'clock length to the first cradle head (11) pin joint of the first balancing pole (1);

Step 4: the gravitional force W calculating the second balancing pole (2) ₄:

Formula four: W ₄=m ₄g (l ₁c ₁+ l ' ₄)

Wherein, m4 is the quality of the second balancing pole (2), l ' ₄be the length of mass centre's point to connector (10) pin joint of the second balancing pole (2);

Step 5: the total potential energy V calculating large armed lever (4), little armed lever (5), the first balancing pole (1) and the second balancing pole (2) _g:

Formula five: V _g=W ₁+ W ₂+ W ₃+ W ₄=

m ₁gh+m ₂gh+m ₄gl′ ₄+(m ₁gl′ ₁+m ₂gl ₁+m ₃gl′ ₃+m ₄gl ₁)c ₁+m ₂gl′ ₂c ₁c2-m ₂gl′ ₂s ₁s ₂

Step 6: the elongation x calculating the first spring (15) ₁:

Formula six: $x_1^2=h^2+d_1^2+2h{d}_1{c}_1$

Wherein, x ₁ ²be the elongation of the first spring (15) square, d ₁for the length of balancing pole steel wire rope (18), d ₁ ²for balancing pole steel wire rope (18) length square;

Step 7: the elongation x calculating the second spring (17) ₂:

Formula seven: $x_2^2=h^2+d_2^2+2h{d}_2{c}_{1+2}$

Wherein, x ₂ ²be the elongation of the second spring (17) square, d ₂for the length of forearm steel wire rope (19), d ₂ ²for forearm steel wire rope (19) length square;

Step 8: the elastic potential energy and the V that calculate the first spring (15) and the second spring (17) _s:

Formula eight: $\begin{array}{c}{V}_s=\frac{1}{2}{k}_1{x}_1^2+\frac{1}{2}{k}_2{x}_2^2=\\ \frac{1}{2}{k}_1(h^2+d_1^2)+\frac{1}{2}{k}_2(h^2+d_2^2)+k_1{\mathrm{hd}}_1{c}_1+k_2{\mathrm{hd}}_2{c}_1{c}_2-k_2{\mathrm{hd}}_2{s}_1{s}_2\end{array}$

Wherein, k1 is the stiffness factor of the first spring (15), and k2 is the stiffness factor of the second spring (17);

Step 9: for making V _s+ V _g=constant, to formula eight rain scavenging coefficient, because gravitional force checkout result is negative value, therefore has:

Formula nine: m ₁gl ' ₁+ m ₂gl ₁+ m ₃gl ' ₃+ m ₄gl ₁=k ₁hd ₁v _sand V _grespective items coefficient disappears mutually

Formula ten: m ₂gl ' ₂=k ₂hd ₂v _sand V _grespective items coefficient disappears mutually

Step 10: when phylogenetic relationship meets above formula nine and ten, system reaches plane balancing, and namely gravity compensation completes.

Step 11: according to actual object quality m, the distance h between the pin joint regulating pin joint to the first cradle head (11) of the first shoulder joint (7), can realize balanced compensated.

5. utilize robot three-dimensional space gravity compensating chain device to realize the balanced compensated method of robot three-dimensional space gravity, it is characterized in that: described method is implementation space gravitational equilibrium compensation method, and its step is as follows:

Step one: the gravitional force W calculating large armed lever (4) ₁:

Formula one ': W ₁=m ₁g (I ' ₁c ₁+ h)

Wherein, wherein, m ₁for the quality of large armed lever (4), g is acceleration of gravity, l ' ₁for the mass centre o'clock of large armed lever (4) is to the length of the first shoulder joint (7) with the second shoulder joint (8) pin joint, c ₁for cos θ ₁, θ ₁for the acute angle between the large armed lever in the outside (4) of parallelogram and fixed mount (20), h is the distance between the pin joint of pin joint to the first cradle head (11) of the first shoulder joint (7);

Step 2: the gravitional force W calculating little armed lever (5) ₂:

Formula two ': W ₂=m ₂g (l ₁c ₁+ l ' ₂c ₁c ₂-l ' ₂c ₀s ₁s ₂+ h)

Wherein, m ₂for the quality of little armed lever (5), l ₁for the length of large armed lever (4), l ' ₂for mass centre's point of little armed lever (5) is to the length of elbow joint (6) pin joint, c ₀for cos θ ₀, c ₂for cos θ ₂, s ₁for sin θ ₂, s ₂for sin θ ₂, θ ₂for the acute angle between the little armed lever in the outside (5) of little armed lever (5) and large armed lever (4); θ ₀for large armed lever (4) axial angle of rotation;

Step 3: the gravitional force W calculating the first balancing pole (1) ₃:

Formula three ': W ₃=m ₃gl ' ₃c ₁

Wherein, m ₃be the quality of the first balancing pole (1), l ' ₃be the mass centre o'clock length to the first cradle head (11) pin joint of the first balancing pole (1);

Step 4: the gravitional force W calculating the second balancing pole (2) ₄:

Formula four ': W ₄=m ₄g (l ₁c ₁+ l ' ₄)

Wherein, m4 is the quality of the second balancing pole (2), l ' ₄be the length of mass centre's point to connector (10) pin joint of the second balancing pole (2);

Step 5: the total potential energy V calculating large armed lever (4), little armed lever (5), the first balancing pole (1) and the second balancing pole (2) _g:

Formula five ': V _g=W ₁+ W ₂+ W ₃+ W ₄=

m ₁gh+m ₂gh+m ₄gl′ ₄+(m ₁gl′ ₁+m ₂gl ₁+m ₃gl′ ₃+m ₄gl ₁)C ₁+m ₂gl′ ₂c ₁c ₂-m ₂gl′ ₂c ₀s ₁s ₂

Step 6: the elongation x calculating the first spring (15) ₁:

Formula six ': $x_1^2=h^2+d_1^2+{2\mathrm{hd}}_1{c}_1$

Wherein, x ₁ ²be the elongation of the first spring (15) square, d ₁for the length of balancing pole steel wire rope (18), d ₁ ²for balancing pole steel wire rope (18) length square;

Step 7: the elongation x calculating the second spring (17) ₂:

Formula seven ': $x_2^2=h^2+d_2^2+{2\mathrm{hd}}_2(c_1{c}_2-c_0{s}_1{s}_2)$

Wherein, x ₂ ²be the elongation of the second spring (17) square, d ₂for the length of forearm steel wire rope (19), d ₂ ²for forearm steel wire rope (19) length square;

Step 8: the elastic potential energy and the V that calculate the first spring (15) and the second spring (17) _s:

Formula eight ': $\begin{array}{c}{V}_s=\frac{1}{2}{k}_1{x}_1^2+\frac{1}{2}{k}_2{x}_2^2=\\ \frac{1}{2}{k}_1(h^2+d_1^2)+\frac{1}{2}{k}_2(h^2+d_2^2)+k_1{\mathrm{hd}}_1{c}_1+k_2{\mathrm{hd}}_2{c}_1{c}_2-k_2{\mathrm{hd}}_2{c}_0{s}_1{s}_2\end{array}$

Wherein, k1 is the stiffness factor of the first spring (15), and k2 is the stiffness factor of the second spring (17);

Step 9: for making V _s+ V _g=constant, to formula eight rain scavenging coefficient, because gravitional force checkout result is negative value, therefore has:

Formula nine ': m ₁gl ' ₁+ m ₂gl ₁+ m ₃gl ' ₃+ m ₄gl ₁=k ₁hd ₁v _sand V _grespective items coefficient disappears mutually

Formula ten ': m ₂gl ' ₂=k ₂hd ₂v _sand V _grespective items coefficient disappears mutually

Step 10: when phylogenetic relationship meets above formula nine ' and formula ten ', system reaches spatial balance;

Step 11: according to actual object quality m, the distance h between the pin joint regulating pin joint to the first cradle head (11) of the first shoulder joint (7), can compensate implementation space.