CN104626101B - Robot three-dimensional space gravity compensating chain device and method - Google Patents

Abstract

Robot three-dimensional space gravity compensating chain device and method, to solve the existing baroque problem of three dimensions compensation device。One end of first gimbal lever is connected with the first cradle head, the other end of first gimbal lever is connected with union joint, one end of second gimbal lever is hinged with union joint, the other end is hinged with fixed cover, one end of big armed lever is connected through fixed cover and elbow joint are fixing, the other end and the first shoulder joint connect, one end of little armed lever is hinged with elbow joint, first pulley and the first spring are each attached in first gimbal lever, second pulley and the second spring are each attached on little armed lever, 3rd shoulder joint and the 3rd cradle head are all fixing with fixed mount to be connected, one end of gimbal lever's steel wire rope is fixing with fixed mount to be connected, the other end walks around the first pulley and the fixing connection of the first spring, one end of forearm steel wire rope is fixing with second gimbal lever to be connected, the other end walks around the second pulley and the fixing connection of the second spring。The present invention is used for robot gravitational equilibrium。

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, for instance in the mechanical hand of industrial robot, generally require himself gravitational equilibrium to reach more precise control target；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 so that safety in utilization obtains great guarantee。Existing gravity-compensated device is confined to two-dimensional space mostly, and the structure of existing three dimensions compensation device is to utilize the mode such as differential attachment or interpolation mass to realize, and this compensation way structure is complicated or heavy and loses practicality。

Summary of the invention

The present invention solves the existing baroque problem of three dimensions compensation device, and propose a kind of robot three-dimensional space gravity compensating chain device and method。

Device: the robot three-dimensional space gravity compensation balance device of the present invention includes first gimbal lever, second gimbal lever, fixed cover, big armed lever, little armed lever, elbow joint, first shoulder joint, second shoulder joint, 3rd shoulder joint, union joint, first cradle head, second cradle head, 3rd cradle head, first pulley, first spring, second pulley, second spring, gimbal lever's steel wire rope, forearm steel wire rope and fixed mount, one end of first gimbal lever is fixing with the first cradle head to be connected, first cradle head is hinged with the second cradle head, second cradle head is hinged with the 3rd cradle head, the other end of first gimbal lever is fixing with union joint to be connected, one end of second gimbal lever is hinged with union joint, the other end of second gimbal lever is hinged with fixed cover, one end of big armed lever is connected through fixed cover and elbow joint are fixing, fixed cover rotates around big armed lever, the other end and first shoulder joint of big armed lever are connected by bearing, first shoulder joint is hinged with the second shoulder joint, second shoulder joint and the 3rd shoulder joint are hinged, one end of little armed lever is hinged with elbow joint, the first pulley and the first spring are each attached in first gimbal lever, and the first pulley is positioned at the side of the first cradle head, the first spring is positioned at the side of union joint, the second pulley and the second spring are each attached on little armed lever, and the second pulley is positioned at the side of elbow joint, and the second spring is positioned at the outside of little armed lever, the 3rd shoulder joint and the 3rd cradle head are all fixing with fixed mount to be connected, one end of gimbal lever's steel wire rope is fixing with fixed mount to be connected, the other end of gimbal lever's steel wire rope walks around the first pulley and connection fixed by the first spring, one end of forearm steel wire rope is fixed with second gimbal lever and is connected, the other end of forearm steel wire rope walks around the second pulley and connection fixed by the second spring。

Method one: described method is to realize the method that plane gravitational equilibrium compensates, and its step is as follows:

Step one: calculate the gravitional force W of big armed lever₁:

Formula one: W₁=m₁g(l′₁c₁+h)

Wherein, m₁For the quality of big armed lever, g is acceleration of gravity, l₁' for the mass centre o'clock of big armed lever to the length of the first shoulder joint Yu the second shoulder joint pin joint, c₁For cos θ₁, θ₁For the acute angle between the big armed lever in outside and the fixed mount of parallelogram, h is that the pin joint of the first shoulder joint is to the distance between the pin joint of the first cradle head；

Step 2: calculate the gravitional force W of little armed lever₂:

Formula two: W₂=m₂g(l₁c₁+l′₂c₁₊₂+ h)=m₂g(l₁c₁+l′₂c₁c₂-l′₂s₁s₂+h)

Wherein, m₂For the quality of little armed lever, l₁For the length of big armed lever, l '₂For mass centre's point of little armed lever to the length of elbow joint pin joint, c₁₊₂For cos (θ₁+θ₂), c₂For cos θ₂, s₁For sin θ₁, s₂For sin θ₂, θ₂For the acute angle between the little armed lever in outside and the big armed lever of little armed lever；

Step 3: calculate the gravitional force W of first gimbal lever₃:

Formula three: W₃=m₃gl′₃c₁

Wherein, m₃It is the quality of first gimbal lever, l '₃It is the mass centre o'clock length to the first cradle head pin joint of first gimbal lever；

Step 4: calculate the gravitional force W of second gimbal lever₄:

Formula four: W₄=m₄g(l₁c₁+l′₄)

Wherein, m₄It is the quality of second gimbal lever, l '₄It is mass centre's point length to union joint pin joint of second gimbal lever；

Step 5: calculate total potential energy V of big armed lever, little armed lever, first gimbal lever and second gimbal lever_g:

Formula five: V_g=W₁+W₂+W₃+W₄=

m₁gh+m₂gh+m₄gl′₄+(m₁gl′₁+m₂gl₁+m₃gl′₃+m₄gl₁)c₁+m₂gl′₂c₁c₂-m₂gl′₂s₁s₂

Step 6: calculate the elongation x of the first spring₁:

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

Wherein, x₁ ²Be the first spring elongation square, d₁For the length of gimbal lever's steel wire rope, d₁ ²For gimbal lever's rope capacity square；

Step 7: calculate the elongation x of the second spring₂:

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

Wherein, x₂ ²Be the second spring elongation square, d₂For the length of forearm steel wire rope, d₂ ²For forearm rope capacity square；

Step 8: calculate elastic potential energy and the V of the first spring and the second spring_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, k₁It is the stiffness factor of the first spring, k₂It it is the stiffness factor of the second spring；

Step 9: for making V_s+V_g=constant, to formula eight rain scavenging coefficient, owing to gravitional force checkout result is negative value, therefore has:

Formula nine: m₁gl′₁+m₂gl₁+m₃gl′₃+m₄gl₁=k₁hd₁V_sAnd V_gRespective items coefficient cancellation

Formula ten: m₂gl′₂=k₂hd₂V_sAnd V_gRespective items coefficient cancellation

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

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

Method two: described method is to realize the balanced compensated method of space gravity, and its step is as follows:

Step one: calculate the gravitional force W of big armed lever₁:

Formula one ': W₁=m₁g(l′₁c₁+h)

Wherein, wherein, m₁For the quality of big armed lever, g is acceleration of gravity, l₁' for the mass centre o'clock of big armed lever to the length of the first shoulder joint Yu the second shoulder joint pin joint, c₁For cos θ₁, θ₁For the acute angle between the big armed lever in outside and the fixed mount of parallelogram, h is that the pin joint of the first shoulder joint is to the distance between the pin joint of the first cradle head；

Step 2: calculate the gravitional force W of little armed lever₂:

Formula two ': W₂=m₂g(l₁c₁+l′₂c₁c₂-l′₂c₀s₁s₂+h)

Wherein, m₂For the quality of little armed lever, l₁For the length of big armed lever, l '₂For mass centre's point of little armed lever to the length of elbow joint pin joint, c₀For cos θ₀, c₂For cos θ₂, s₁For sin θ₁, s₂For sin θ₂, θ₂For the acute angle between the little armed lever in outside and the big armed lever of little armed lever；θ₀For the axial angle of rotation of big armed lever；

Step 3: calculate the gravitional force W of first gimbal lever₃:

Formula three ': W₃=m₃gl′₃c₁

Wherein, m₃It is the quality of first gimbal lever, l '₃It is the mass centre o'clock length to the first cradle head pin joint of first gimbal lever；

Step 4: calculate the gravitional force W of second gimbal lever₄:

Formula four ': W₄=m₄g(l₁c₁+l′₄)

Wherein, m₄It is the quality of second gimbal lever, l '₄It is mass centre's point length to union joint pin joint of second gimbal lever；

Step 5: calculate total potential energy V of big armed lever, little armed lever, first gimbal lever and second gimbal lever_g:

Formula five ': V_g=W₁+W₂+W₃+W₄=

m₁gh+m₂gh+m₄gl′₄+(m₁gl′₁+m₂gl₁+m₃gl′₃+m₄gl₁)c₁+m₂gl′₂c₁c₂-m₂gl′₂c₀s₁s₂

Step 6: calculate the elongation x of the first spring₁:

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

Wherein, x₁ ²Be the first spring elongation square, d₁For the length of gimbal lever's steel wire rope, d₁ ²For gimbal lever's rope capacity square；

Step 7: calculate the elongation x of the second spring₂:

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, x₂ ²Be the second spring. elongation square, d₂For the length of forearm steel wire rope, d₂ ²For forearm rope capacity square；

Step 8: calculate elastic potential energy and the V of the first spring and the second spring_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, k₁It is the stiffness factor of the first spring, k₂It it is the stiffness factor of the second spring；

Step 9: for making V_s+V_g=constant, to formula eight ' rain scavenging coefficient, owing to gravitional force checkout result is negative value, therefore has:

Formula nine ': m₁gl′₁+m₂gl₁+m₃gl′₃+m₄gl₁=k₁hd₁V_sAnd V_gRespective items coefficient cancellation

Formula ten ': m₂gl′₂=k₂hd₂V_sAnd V_gRespective items coefficient cancellation

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

Step 11: according to actual object quality m, regulates the pin joint of the first shoulder joint to the distance h between the pin joint of the first cradle head, can realize space compensation。

The present invention compared with prior art has the advantages that

One, assembly of the invention is the structure imitating arm degree of freedom, owing to fixed cover and big armed lever can relatively rotate, thus will not be subject to the impact of big armed lever rotation, thus ensure that parallelogram yet suffers from three dimensions。

Two, the introducing of the parallelogram sturcutre of the present invention and zero-bit spring so that the location resolution formula of each particle is identical with the analytic expression item type of spring elongation, namely can offset, by calculating the relation that can obtain quality with spring position。The problem that the method for the present invention efficiently solves three-dimensional gravity balance。Simple in construction, it is easy to processing uses in Machine Design。

Three, the present invention is applied to rehabilitation medical aspect and can be greatly increased the safety of mechanism, reduces complexity, improves the Practical Performance of equipment。

Accompanying drawing explanation

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

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

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

Detailed description of the invention

Detailed description of the invention one: present embodiment is described in conjunction with Fig. 1, present embodiment includes first gimbal lever 1, second gimbal lever 2, fixed cover 3, big armed lever 4, little armed lever 5, elbow joint 6, first shoulder joint 7, second shoulder joint 8, 3rd shoulder joint 9, union joint 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, gimbal lever's steel wire rope 18, forearm steel wire rope 19 and fixed mount 20, one end of first gimbal lever 1 is fixing with the first cradle head 11 to be connected, first cradle head 11 and the second cradle head 12 are hinged, first cradle head 11 can rotate in endways direction, second cradle head 12 and the 3rd cradle head 13 are hinged, second cradle head 12 can rotate in the horizontal direction, the other end of first gimbal lever 1 is fixing with union joint 10 to be connected, one end of second gimbal lever 2 is hinged with union joint 10, second gimbal lever 2 can rotate in the vertical direction of first gimbal lever 1, the other end of second gimbal lever 2 is hinged with fixed cover 3, one end of big armed lever 4 is connected through fixed cover 3 is fixing with elbow joint 6, fixed cover 3 can rotate around big armed lever 4, the other end and first shoulder joint 7 of big armed lever 4 are connected by bearing, big armed lever 4 can axially do autobiography motion, first shoulder joint 7 and the second shoulder joint 8 are hinged, second shoulder joint 8 and the 3rd shoulder joint 9 are hinged, one end of little armed lever 5 is hinged with elbow joint 6, first pulley 14 and the first spring 15 are each attached in first gimbal lever 1, and first pulley 14 be positioned at the side of the first cradle head 11, first spring 15 is positioned at the side of union joint 10, second pulley 16 and the second spring 17 are each attached on little armed lever 5, and second pulley 16 be 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 and the 3rd cradle head 13 are all fixing with fixed mount 20 to be connected, one end of gimbal lever's steel wire rope 18 is fixing with fixed mount 20 to be connected, the other end of gimbal lever's steel wire rope 18 walks around that the first pulley 14 is fixing with the first spring 15 to be connected, one end of forearm steel wire rope 19 is fixing with second gimbal lever 2 to be connected, the other end of forearm steel wire rope 19 walks around that the second pulley 16 is fixing with the second spring 17 to be connected。

Detailed description of the invention two: present embodiment is described in conjunction with Fig. 1, the length of the big armed lever 4 of present embodiment is identical with the length of first gimbal lever 1, and on fixed mount 20, the distance between the 3rd shoulder joint 9 and the 3rd cradle head 13 is identical with the length of second gimbal lever 2。Other composition and annexation and detailed description of the invention one identical。

Detailed description of the invention three: present embodiment is described in conjunction with Fig. 1, first 1, second gimbal lever 2 of the gimbal lever of present embodiment, big armed lever 4 and fixed mount 20 constitute parallelogram。Other composition and annexation and detailed description of the invention one or two identical。

Detailed description of the invention four: illustrating that present embodiment, present embodiment are to realize the method that plane gravitational equilibrium compensates in conjunction with Fig. 2, its step is as follows:

Step one: calculate the gravitional force W of big armed lever 4₁:

Formula one: W₁=m₁g(l′₁c₁+h)

Wherein, wherein, m₁For the quality of big armed lever 4, g is acceleration of gravity, l₁' for the mass centre o'clock of big armed lever 4 to the length of the first shoulder joint 7 and the second shoulder joint 8 pin joint, c₁For cos θ₁, θ₁For the acute angle between the big armed lever 4 in outside and the fixed mount 20 of parallelogram, h is that the pin joint of the first shoulder joint 7 is to the distance between the pin joint of the first cradle head 11；

Step 2: calculate the gravitional force W of little armed lever 5₂:

Formula two: W₂=m₂g(l₁c₁+l′₂c₁₊₂H)=m₂g(l₁c₁+l′₂c₁c₂-l′₂s₁s₂+h)

Wherein, m₂For the quality of little armed lever 5, l₁For the length of big armed lever 4, l '₂For mass centre's point of little armed lever 5 to the length of elbow joint 6 pin joint, c₁₊₂For cos (θ₁+θ₂), c₂For cos θ₂, s₁For sin θ₁, s₂For sin θ₂, θ₂For the acute angle between the little armed lever 5 in outside and the big armed lever 4 of little armed lever 5；

Step 3: calculate the gravitional force W of first gimbal lever 1₃:

Formula three: W₃=m₃gl′₃c₁

Wherein, m₃It is the quality of first gimbal lever 1, l '₃It is the mass centre o'clock length to the first cradle head 11 pin joint of first gimbal lever 1；

Step 4: calculate the gravitional force W of second gimbal lever 2₄:

Formula four: W₄=m₄g(l₁c₁+l′₄)

Wherein, m₄It is the quality of second gimbal lever 2, l '₄It is mass centre's point length to union joint 10 pin joint of second gimbal lever 2；

Step 5: calculate total potential energy V of big armed lever 4, little armed lever 5, first gimbal lever 1 and second gimbal lever 2_g:

Formula five: V_g=W₁+W₂+W₃+W₄=

m₁gh+m₂gh+m₄gh′l₄+(m₁gl′₁+m₂gl₁+m₃gl′₃+m₄gl₁)c₁+m₂gl′₂c₁c₂-m₂gl′₂s₁s₂

Step 6: calculate the elongation x of the first spring 15₁:

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

Wherein, x₁ ²Be the first spring 15 elongation square, d₁For the length of gimbal lever's steel wire rope 18, d₁ ²For gimbal lever's steel wire rope 18 length square；

Step 7: calculate the elongation x of the second spring 17₂:

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

Wherein, x₂ ²Be the second spring 17 elongation square, d₂For the length of forearm steel wire rope 19, d₂ ²For forearm steel wire rope 19 length square；

Step 8: calculate elastic potential energy and the V of 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, k₁It is the stiffness factor of the first spring 15, k₂It it is the stiffness factor of the second spring 17；

Step 9: for making V_s+V_g=constant, to formula eight rain scavenging coefficient, owing to gravitional force checkout result is negative value, therefore has:

Formula nine: m₁gl′₁+m₂gl₁+m₃gl′₃+m₄gl₁=k₁hd₁V_sAnd V_gRespective items coefficient cancellation

Formula ten: m₂gl′₂=k₂hd₂V_sAnd V_gRespective items coefficient cancellation

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

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

Detailed description of the invention five: illustrating that present embodiment, present embodiment are to realize the balanced compensated method of space gravity in conjunction with Fig. 3, its step is as follows:

Step one: calculate the gravitional force W of big armed lever 4₁:

Formula one ': W₁=m₁g(l′₁c₁+h)

Wherein, m₁For the quality of big armed lever 4, g is acceleration of gravity, l₁' for the mass centre o'clock of big armed lever 4 to the length of the first shoulder joint 7 and the second shoulder joint 8 pin joint, c₁For cos θ₁, θ₁For the acute angle between the big armed lever 4 in outside and the fixed mount 20 of parallelogram, h is that the pin joint of the first shoulder joint 7 is to the distance between the pin joint of the first cradle head 11；

Step 2: calculate the gravitional force W of little armed lever 5₂:

Formula two ': W₂=m₂g(l₁c₁+l′₂c₁c₂-l′₂c₀s₁s₂+h)

Wherein, m₂For the quality of little armed lever 5, l₁For the length of big armed lever 4, l '₂For mass centre's point of little armed lever 5 to the length of elbow joint 6 pin joint, c₀For cos θ₀, c₂For cos θ₂, s₁For sin θ₁, s₂For sin θ₂, θ₂For the acute angle between the little armed lever 5 in outside and the big armed lever 4 of little armed lever 5；θ₀For the big axial angle of rotation of armed lever 4；

Step 3: calculate the gravitional force W of first gimbal lever 1₃:

Formula three ': W₃=m₃gl′₃c₁

Wherein, m₃It is the quality of first gimbal lever 1, l '₃It is the mass centre o'clock length to the first cradle head 11 pin joint of first gimbal lever 1；

Step 4: calculate the gravitional force W of second gimbal lever 2₄:

Formula four ': W₄=m₄g(l₁c₁+l′₄)

Wherein, m₄It is the quality of second gimbal lever 2, l '₄It is mass centre's point length to union joint 10 pin joint of second gimbal lever 2；

Step 5: calculate total potential energy V of big armed lever 4, little armed lever 5, first gimbal lever 1 and second gimbal lever 2_g:

Formula five ': V_g=W₁+W₂+W₃+W₄=

m₁gh+m₂gh+m₄gl′₄+(m₁gl′₁+m₂gl₁+m₃gl′₃+m₄gl₁)c₁+m₂gl′₂c₁c₂-m₂gl′₂c₀s₁s₂

Step 6: calculate the elongation x of the first spring 15₁:

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

Wherein, x₁ ²Be the first spring 15 elongation square, d₁For the length of gimbal lever's steel wire rope 18, d₁ ²For gimbal lever's steel wire rope 18 length square；

Step 7: calculate the elongation x of the second spring 17₂:

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, x₂ ²Be the second spring 17 elongation square, d₂For the length of forearm steel wire rope 19, d₂ ²For forearm steel wire rope 19 length square；

Step 8: calculate elastic potential energy and the V of 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, k₁It is the stiffness factor of the first spring 15, k₂It it is the stiffness factor of the second spring 17；

Step 9: for making V_s+V_g=constant, to formula eight ' rain scavenging coefficient, owing to gravitional force checkout result is negative value, therefore has:

Formula nine ': m₁gl′₁+m₂gl₁+m₃gl′₃+m₄gl₁=k₁hd₁V_sAnd V_gRespective items coefficient cancellation

Formula ten ': m₂gl′₂=k₂hd₂V_sAnd V_gRespective items coefficient cancellation

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

Step 11: according to actual object quality m, regulates the pin joint of the first shoulder joint 7 to the distance h between the pin joint of the first cradle head 11, can realize space compensation。

Claims (5)

1. a robot three-dimensional space gravity compensating chain device, it is characterized in that: described device includes first gimbal lever (1), second gimbal lever (2), fixed cover (3), big armed lever (4), little armed lever (5), elbow joint (6), first shoulder joint (7), second shoulder joint (8), 3rd shoulder joint (9), union joint (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), gimbal lever's steel wire rope (18), forearm steel wire rope (19) and fixed mount (20), one end of first gimbal lever (1) is fixing with the first cradle head (11) to be connected, 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 first gimbal lever (1) is fixing with union joint (10) to be connected, one end of second gimbal lever (2) is hinged with union joint (10), the other end of second gimbal lever (2) is hinged with fixed cover (3), one end of big armed lever (4) is connected through fixed cover (3) and elbow joint (6) are fixing, fixed cover (3) rotates around big armed lever (4), the other end and first shoulder joint (7) of big armed lever (4) are connected by bearing, 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 of little armed lever (5) is hinged with elbow joint (6), first pulley (14) and the first spring (15) are each attached in first gimbal lever (1), and first pulley (14) be positioned at the side of the first cradle head (11), first spring (15) is positioned at the side of union joint (10), second pulley (16) and the second spring (17) are each attached on little armed lever (5), and second pulley (16) be 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) and the 3rd cradle head (13) are all fixing with fixed mount (20) to be connected, one end of gimbal lever's steel wire rope (18) is fixing with fixed mount (20) to be connected, the other end of gimbal lever's steel wire rope (18) walks around that the first pulley (14) and the first spring (15) are fixing to be connected, one end of forearm steel wire rope (19) is fixing with second gimbal lever (2) to be connected, the other end of forearm steel wire rope (19) walks around that the second pulley (16) and the second spring (17) are fixing to be connected。

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

3. robot three-dimensional space gravity compensating chain device according to claim 1 or claim 2, it is characterised in that: described first gimbal lever (1), second gimbal lever (2), big armed lever (4) and fixed mount (20) constitute parallelogram。

4. one kind utilizes robot three-dimensional space gravity compensating chain device to realize the balanced compensated method of robot three-dimensional space gravity, it is characterised in that: described method is to realize the method that plane gravitational equilibrium compensates, and its step is as follows:

Step one: calculate the gravitional force W of big armed lever (4)₁:

Formula one: W₁=m₁g(l′₁c₁+h)

Wherein, wherein, m₁For the quality of big armed lever (4), g is acceleration of gravity, l '₁For the mass centre o'clock of big armed lever (4) to the length of the first shoulder joint (7) Yu the second shoulder joint (8) pin joint, c₁For cos θ₁, θ₁For the acute angle between the big armed lever in outside (4) and the fixed mount (20) of parallelogram, h is that the pin joint of the first shoulder joint (7) is to the distance between the pin joint of the first cradle head (11)；

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

Formula two: W₂=m₂g(l₁c₁+l′₂c₁₊₂+ h)=m₂g(l₁c₁+l′₂c₁c₂-l′₂s₁s₂+h)

Wherein, m₂For the quality of little armed lever (5), l₁For the length of big armed lever (4), l '₂For mass centre's point of little armed lever (5) to the length of elbow joint (6) pin joint, c₁₊₂For cos (θ₁+θ₂), c₂For cos θ₂, s₁For sin θ₁, s₂For sin θ₂, θ₂For the acute angle between the little armed lever in outside (5) and the big armed lever (4) of little armed lever (5)；

Step 3: calculate the gravitional force W of first gimbal lever (1)₃:

Formula three: W₃=m₃gl′₃c₁

Wherein, m₃It is the quality of first gimbal lever (1), l '₃It is the mass centre o'clock length to the first cradle head (11) pin joint of first gimbal lever (1)；

Step 4: calculate the gravitional force W of second gimbal lever (2)₄:

Formula four: W₄=m₄g(l₁c₁+l′₄)

Wherein, m4 is the quality of second gimbal lever (2), l '₄It is mass centre's point length to union joint (10) pin joint of second gimbal lever (2)；

Step 5: calculate total potential energy V of big armed lever (4), little armed lever (5), first gimbal lever (1) and second gimbal lever (2)_g:

Formula five: V_g=W₁+W₂+W₃+W₄=m₁gh+m₂gh+m₄gl′₄+(m₁gl′₁+m₂gl₁+m₃gl′₃+m₄gl₁)c₁+m₂gl′₂c₁c₂-m₂gl′₂s₁s₂

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

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

Wherein, x₁ ²Be the first spring (15) elongation square, d₁For the length of gimbal lever's steel wire rope (18), d₁ ²For gimbal lever's steel wire rope (18) length square；

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

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

Wherein, x₂ ²Be the second spring (17) elongation square, d₂For the length of forearm steel wire rope (19), d₂ ²For forearm steel wire rope (19) length square；

Step 8: calculate elastic potential energy and the V of 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, k₁It is the stiffness factor of the first spring (15), k₂It it is the stiffness factor of the second spring (17)；

Step 9: for making V_s+V_g=constant, to formula eight rain scavenging coefficient, owing to gravitional force checkout result is negative value, therefore has:

Formula nine: m₁gl′₁+m₂gl₁+m₃gl′₃+m₄gl₁=k₁hd₁V_sAnd V_gRespective items coefficient cancellation

Formula ten: m₂gl′₂=k₂hd₂V_sAnd V_gRespective items coefficient cancellation

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, regulates the pin joint of the first shoulder joint (7) to the distance h between the pin joint of the first cradle head (11), can realize balanced compensated。

5. one kind utilizes robot three-dimensional space gravity compensating chain device to realize the balanced compensated method of robot three-dimensional space gravity, it is characterised in that: described method is to realize the balanced compensated method of space gravity, and its step is as follows:

Step one: calculate the gravitional force W of big armed lever (4)₁:

Formula one ': W₁=m₁g(l′₁c₁+h)

Wherein, wherein, m₁For the quality of big armed lever (4), g is acceleration of gravity, l '₁For the mass centre o'clock of big armed lever (4) to the length of the first shoulder joint (7) Yu the second shoulder joint (8) pin joint, c₁For cos θ₁, θ₁For the acute angle between the big armed lever in outside (4) and the fixed mount (20) of parallelogram, h is that the pin joint of the first shoulder joint (7) is to the distance between the pin joint of the first cradle head (11)；

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

Formula two ': W₂=m₂g(l₁c₁+l′₂c₁c₂-l′₂c₀s₁s₂+h)

Wherein, m₂For the quality of little armed lever (5), l₁For the length of big armed lever (4), l '₂For mass centre's point of little armed lever (5) to the length of elbow joint (6) pin joint, c₀For cos θ₀, c₂For cos θ₂, s₁For sin θ₁, s₂For sin θ₂, θ₂For the acute angle between the little armed lever in outside (5) and the big armed lever (4) of little armed lever (5)；θ₀For big armed lever (4) axially angle of rotation；

Step 3: calculate the gravitional force W of first gimbal lever (1)₃:

Formula three ': W₃=m₃gl′₃c₁

Wherein, m₃It is the quality of first gimbal lever (1), l '₃It is the mass centre o'clock length to the first cradle head (11) pin joint of first gimbal lever (1)；

Step 4: calculate the gravitional force W of second gimbal lever (2)₄:

Formula four ': W₄=m₄g(l₁c₁+l′₄)

Wherein, m₄It is the quality of second gimbal lever (2), l '₄It is mass centre's point length to union joint (10) pin joint of second gimbal lever (2)；

Step 5: calculate total potential energy V of big armed lever (4), little armed lever (5), first gimbal lever (1) and second gimbal lever (2)_g:

Formula five ': V_g=W₁+W₂+W₃+W₄=m₁gh+m₂gh+m₄gl′₄+(m₁gl′₁+m₂gl₁+m₃gl′₃+m₄gl₁)c₁+m₂gl′₂c₁c₂-m₂gl′₂c₀s₁s₂

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

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

Wherein, x₁ ²Be the first spring (15) elongation square, d₁For the length of gimbal lever's steel wire rope (18), d₁ ²For gimbal lever's steel wire rope (18) length square；

Step 7: calculate the elongation x of 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, x₂ ²Be the second spring (17) elongation square, d₂For the length of forearm steel wire rope (19), d₂ ²For forearm steel wire rope (19) length square；

Step 8: calculate elastic potential energy and the V of 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, k₁It is the stiffness factor of the first spring (15), k₂It it is the stiffness factor of the second spring (17)；

Step 9: for making V_s+V_g=constant, to formula eight ' rain scavenging coefficient, owing to gravitional force checkout result is negative value, therefore has:

Formula nine ': m₁gl′₁+m₂gl₁+m₃gl′₃+m₄gl₁=k₁hd₁V_sAnd V_gRespective items coefficient cancellation

Formula ten ': m₂gl′₂=k₂hd₂V_sAnd V_gRespective items coefficient cancellation

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

Step 11: according to actual object quality m, regulates the pin joint of the first shoulder joint (7) to the distance h between the pin joint of the first cradle head (11), can realize space compensation。