CN105150219B - Based on the redundant cord driving ultra flexible manipulator - Google Patents

Based on the redundant cord driving ultra flexible manipulator Download PDF

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Publication number
CN105150219B
CN105150219B CN 201510631030 CN201510631030A CN105150219B CN 105150219 B CN105150219 B CN 105150219B CN 201510631030 CN201510631030 CN 201510631030 CN 201510631030 A CN201510631030 A CN 201510631030A CN 105150219 B CN105150219 B CN 105150219B
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CN 201510631030
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Chinese (zh)
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CN105150219A (en )
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徐文福
刘天亮
牟宗高
梁斌
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哈尔滨工业大学深圳研究生院
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Abstract

本发明公开了一种基于绳索驱动的超冗余柔性机械臂,包括驱动模块、机械臂模块与若干驱动绳,机械臂模块包括多个串联的关节,相邻的关节通过设于二者之间相互交叉且垂直的转轴连接,任意关节上固接有至少三处的驱动绳,驱动绳可在驱动模块的驱动下独立运动,且位于同一关节上的驱动绳满足设置:该关节可随驱动绳的拉动而相对临近的关节发生绕转轴的转动。 The present invention discloses a flexible manipulator based super redundant cord drive, comprising a drive module, and a plurality of manipulator module drive sheave, a plurality of manipulator module comprises a series of joints, the adjacent joint disposed therebetween by intersect each other and perpendicular to the rotary shaft is connected, is fixed to a driving cord at least in three positions, drive sheave independently movable by a drive module on any joint, and on the drive cord on the same joint meets the setup: the joint may vary drive sheave pivotal movement relative to the pulling occurs near the joint. 本发明可以对各关节进行独立调节,控制更加精确;还可以极大的减轻关节的重量,从而进一步增加机械臂的承载能力,有利于实现机械臂的高速移动和快速响应;同时,省去了电气线路的排布工作,机械臂上仅由机械结构组成,不易受到恶劣环境的影响,有助于延长使用寿命,便于拆卸、维护和组装。 The present invention can be adjusted independently of each joint, more precise control; also can greatly reduce the weight of the joint, thereby further increasing the carrying capacity of the robot arm, and facilitate rapid response to achieve high-speed movement of the robot arm; the same time, eliminating the need for work electrical circuit arrangement, the mechanical structure composed only of the robot arm, is less susceptible to the harsh environment of extended life, easy to disassemble, assemble and maintain.

Description

一种基于绳索驱动的超冗余柔性机械臂 Based on the redundant cord driving ultra flexible manipulator

技术领域 FIELD

[0001] 本发明涉及机器人领域,尤其是涉及机械臂领域。 [0001] The present invention relates to the field of robotics, in particular to the field of robotic arm.

背景技术 Background technique

[0002] 超冗余自由度机械臂是为解决传统串联机器人灵活性较差的问题提出来的,其通过增加大量的冗余关节,使关节空间的维数远大于任务空间维数,冗余关节的引入使机械臂可以更加灵活地实现期望的末端位姿。 [0002] super redundant degrees of freedom manipulator is to solve the conventional series of poor flexibility of the issues raised by the robot, which is much larger than the dimension of the space mission by adding a large number of redundant joint, the joint space dimension of redundant introducing joint robot arm can be more flexible to achieve the desired end position and orientation. 因此,这种机械臂特别适合用作:1、不规则空间内的操作设备,大量的冗余关节可使机械臂具备极强的避障能力,使其特别适合用作特种机器人,例如作为地震灾后穿过碎石瓦砾来寻救幸存者的救生机器人、核反应堆检查机器人等;2、抓取非规则物体的机械手,即采用全臂包卷方式来抓取较大尺寸以及不规则的物体,可以用于爆炸物的排除以及空间站的维护。 Therefore, this robot arm is particularly suitable as: 1, operation of the device in an irregular space, a large amount of redundant joint manipulator can have a very strong obstacle avoidance capability, making it particularly suitable as a special robot, for example as Seismic through either the rubble disaster rescue survivors rescue robot, the robot checks reactor; 2, irregular object gripping robot, i.e. with full gripping arm wrapping manner to the larger size and irregular objects may be excluded for explosives and space station maintenance.

[0003] 然而,目前超冗余自由度机械臂大多采用分立式的电机和驱动器,电机直接安装在转动关节处,驱动器固定在控制柜中,二者用电缆线进行连接,这样会带来很多缺点: [0003] However, they use super-redundant degree of freedom manipulator discrete motor and drives the motor directly mounted on the roll joints, drive fixed to the cabinet, both the electrical cables are connected, it will bring many shortcomings:

[0004] 1、机械臂的电气线路十分繁琐,给后续检修带来极大的不便,也容易引发安全隐患; [0004] 1, the electrical wiring is very complicated robotic arm, to the subsequent overhaul great inconvenience, can easily lead to security risks;

[0005] 2、增加了机械臂的惯性和质量,导致其承载能力受到一定的限制,不利于高速运动和快速响应; [0005] 2, and increases the inertial mass of the robot arm, resulting in its carrying capacity subject to certain restrictions, it is not conducive to quick response and high-speed movement;

[0006] 3、电机驱动的关节一般都是单自由度的关节,为了实现多自由度运动将不可避免的导致控制系统的复杂化; [0006] 3, the motor driving articulation joint generally single degree of freedom, in order to achieve multiple degrees of freedom will inevitably lead to a complicated control system;

[0007] 4、增加制造成本。 [0007] 4, the manufacturing cost increases.

发明内容 SUMMARY

[0008] 为了克服现有技术的不足,本发明提供一种基于绳索驱动的超冗余柔性机械臂,其可以对各关节进行独立调节,使控制更加精确;可以极大的减轻关节的重量,从而进一步增加机械臂的承载能力,有利于实现机械臂的高速移动和快速响应;同时,省去了电气线路的排布工作,机械臂上仅由机械结构组成,不易受到恶劣环境的影响,有助于延长使用寿命,便于拆卸、维护和组装。 [0008] In order to overcome the deficiencies of the prior art, the present invention provides a flexible manipulator Hyper Redundant drive rope, which can be independently adjusted for each joint, so that more precise control; can greatly reduce the weight of the joint, thereby further increasing the carrying capacity of the robot arm, and facilitate rapid response to achieve high-speed movement of the robot arm; the same time, eliminating the work of the electrical circuit arrangement, the mechanical structure composed only of the robot arm, is less susceptible to the harsh environment, it is helps extend the service life, easy to disassemble, assemble and maintain.

[0009] 本发明解决其技术问题所采用的技术方案是: [0009] aspect of the present invention to solve the technical problem are:

[0010] —种基于绳索驱动的超冗余柔性机械臂,包括驱动模块、机械臂模块与若干驱动绳,机械臂模块包括多个串联的关节,相邻的关节通过设于二者之间相互交叉且垂直的转轴连接,任意关节上固接有至少三处的驱动绳,驱动绳可在驱动模块的驱动下独立运动,且位于同一关节上的驱动绳满足设置:该关节可随驱动绳的拉动而相对临近的关节发生绕转轴的转动。 [0010] - species Hyper Redundant flexible manipulator rope drive, comprising a drive module, and a plurality of manipulator module drive sheave, a plurality of manipulator module comprises a series of joints, the joints adjacent to each other through a provided therebetween cROSS and the vertical shaft is connected, is fixed to a driving cord at least in three positions on any joint, the driving cord can be independently moved by a drive module and on the drive cord on the same joint meets the setup: the joint can with the drive cord pivotal movement relative to the pulling occurs near the joint.

[0011] 作为上述方案的进一步改进方式,驱动绳固接于关节的尾端。 [0011] As an improvement to the above-described embodiment mode, the drive sheave fixed to the trailing end of the joint.

[0012] 作为上述方案的进一步改进方式,驱动绳为3处,相邻驱动绳之间间隔120°设置。 [0012] As an improvement to the above-described embodiment mode, the drive sheave is at 3, disposed 120 ° apart adjacent the drive between the ropes.

[0013] 作为上述方案的进一步改进方式,驱动绳为4处,分别对应转轴的轴端设置。 [0013] As an improvement to the above-described embodiment mode, the drive sheave 4 is respectively provided corresponding to the shaft end of the rotating shaft.

[0014] 作为上述方案的进一步改进方式,驱动模块包括伺服电机、丝杠、滑块、螺母与导轨,其中,伺服电机、丝杠、滑块、螺母及导轨的数量与驱动绳数量对应相等,丝杠一端与伺服电机的驱动轴连接,另一端与螺母螺接,滑块固接在螺母上,并可相对导轨滑动,驱动绳的两端分别与对应关节与螺母固接。 [0014] As a further improvement mode, the driving module includes a servo motor of the above-described embodiment, the lead screw, a slider, a nut and the guide rail, wherein the servo motor, lead screw, the slider, the number of nuts and the number of drive ropes is equal to the corresponding guide rail, One end of the screw shaft is connected to the servo motor, and the other end is screwed with the nut, the nut is fixed to the slider, and slides the guide rails, the drive sheave corresponding to the joint ends respectively fastened with a nut.

[0015] 作为上述方案的进一步改进方式,驱动模块包括机架,多个驱动绳以及相应的伺服电机、丝杠、滑块、螺母、导轨并列安装在同一机架上,多个机架上下层叠设置。 [0015] As a further improvement mode, the above-described embodiment of the drive module includes a frame, a plurality of drive sheave and the corresponding servo motor, lead screw, a slider, a nut, guide rails mounted in parallel on the same chassis, a plurality of racks stacked vertically settings.

[0016] 作为上述方案的进一步改进方式,机械臂模块包括连接块,连接块上设有两条相互交叉且垂直的转轴安装孔,转轴分别穿设在转轴安装孔内,且一处转轴从另一处转轴中心位置的通孔内穿过,关节的两端均设有铰接座,相邻的关节分别通过二者临近端的铰接座与转轴铰接。 [0016] As a further embodiment of the improvement embodiment described above, the robotic arm includes a connection module block is provided with two mutually perpendicular and intersecting the shaft mounting hole connecting block, respectively, through the shaft mounting hole provided in the shaft, and a rotary shaft from the other a through hole passing through the center position of the shaft, both ends of the hinge joints are equipped with seats, the adjacent seats respectively hinged joint with the shaft near the both ends by the hinge.

[0017] 作为上述方案的进一步改进方式,关节的两端设有布线边,布线边上设有若干线孔。 [0017] As an improvement to the above-described embodiment mode, the wiring is provided at both ends of the joint edge, the edge is provided with a plurality of wiring line hole.

[0018] 作为上述方案的进一步改进方式,包括布线圆盘,其设于驱动模块与机械臂模块之间,沿圆盘的周向均匀分布有若干线孔与软管,其数量与驱动绳的数量对应相等。 [0018] As a further embodiment of the improvement embodiment described above, the disc includes a wiring, which is provided between the drive module and the manipulator module, along the periphery of the disc to a plurality of uniformly distributed holes and hose line, the number of the drive rope equal to the corresponding number.

[0019] 本发明的有益效果是: [0019] Advantageous effects of the present invention are:

[0020] 可以对各关节进行独立调节,控制更加精确;还可以极大的减轻关节的重量,从而进一步增加机械臂的承载能力,有利于实现机械臂的高速移动和快速响应;同时,省去了电气线路的排布工作,机械臂上仅由机械结构组成,不易受到恶劣环境的影响,有助于延长使用寿命,便于拆卸、维护和组装。 [0020] can be adjusted independently of each joint, more precise control; also can greatly reduce the weight of the joint, thereby further increasing the carrying capacity of the robot arm, is conducive to high-speed movement of the robot arm and responsive; simultaneously, eliminating electrical circuit arrangement of the work, the robot arm structure composed only of mechanical, less affected by the harsh environment of extended life, easy to disassemble, assemble and maintain.

附图说明 BRIEF DESCRIPTION

[0021] 下面结合附图和实施例对本发明进一步说明。 Figures and examples further illustrate the present invention [0021] The following binding.

[0022] 图1是本发明一个实施例的整体示意图; [0022] FIG. 1 is a schematic diagram of a whole embodiment of the present invention;

[0023] 图2是本发明驱动模块一个实施例的示意图; [0023] FIG. 2 is a schematic view of the module of the present invention, one embodiment of a drive;

[0024] 图3是本发明相邻关节连接的示意图(隐藏驱动绳); [0024] FIG. 3 is a schematic view of the articulation (hidden drive sheave) adjacent to the present invention;

[0025] 图4是本发明关节连接时固定端与活动端的装配示意图; [0025] FIG. 4 is a schematic view of the assembly of the fixed end and free end of the joint when the present invention is connected;

[0026] 图5是本发明关节连接时固定端与活动端的分解示意图; [0026] FIG. 5 is an exploded schematic view of a joint of the present invention when a fixed end connected to the movable end;

[0027] 图6是本发明布线圆盘的示意图。 [0027] FIG. 6 is a schematic diagram of the present invention is a wiring disc.

具体实施方式 detailed description

[0028] 以下将结合实施例和附图对本发明的构思、具体结构及产生的技术效果进行清楚、完整的描述,以充分地理解本发明的目的、方案和效果。 [0028] The following examples and drawings in conjunction with embodiments of the inventive concept, the specific structure and technical effect produced clearly and fully described, to fully understand the objects, solutions and advantages of the present invention. 需要说明的是,在不冲突的情况下,本申请中的实施例及实施例中的特征可以相互组合。 Incidentally, in the case of no conflict, embodiments and features of the embodiments of the present application can be combined with each other.

[0029] 需要说明的是,如无特殊说明,当某一特征被称为“固定”、“连接”在另一个特征,它可以直接固定、连接在另一个特征上,也可以间接地固定、连接在另一个特征上。 [0029] Incidentally, if no special instructions, when a particular feature is referred to as "fixed", "connected" In another feature, it may be directly fixed, connected to the other features, it may be indirectly fixed, connected to the other feature. 此外,本发明中所使用的上、下、左、右等描述仅仅是相对于附图中本发明各组成部分的相互位置关系来说的。 Further, the upper, lower, left, right, etc. used in the present invention is described only with respect to the drawings the present invention is the mutual positional relationship of the various components is.

[0030] 此外,除非另有定义,本文所使用的所有的技术和科学术语与本技术领域的技术人员通常理解的含义相同。 [0030] In addition, the same meaning unless otherwise all technical and scientific terms used definitions, as used herein and in the art generally understood in the art. 本文说明书中所使用的术语只是为了描述具体的实施例,而不是为了限制本发明。 The term used in the specification herein is for the purpose of describing particular embodiments only and is not intended to limit the present invention. 本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的组合。 As used herein, the term "and / or" includes any one or more of the associated listed items combinations thereof.

[0031] 参照图1,示出了本发明一个实施例的整体示意图,其包括驱动模块1、机械臂模块2与若干驱动绳(未示出),其中机械臂模块2包括多个串联的关节21,相邻的关节21通过设于二者之间相互交叉且垂直的转轴连接,这样关节之间便可以相对发生两个自由度上的转动,通过多个类似关节的组合,机械臂模块便可以在空间上自由弯曲。 [0031] Referring to FIG. 1, the present invention is shown a schematic diagram of the whole embodiment, including a drive module 1, module 2 and a plurality of robot arm drive sheave (not shown), wherein a plurality of manipulator module 2 comprises a series of joint 21, adjacent to the joint 21 is connected by a provided therebetween intersect each other and perpendicular to the shaft, they can be rotated in the two degrees of freedom relative to occur between such joint, by combining a plurality of similar joints, manipulator module will free to bend in space.

[0032] 在本实施例中关节优选为10处。 [0032] In the present embodiment, the joint is preferably at 10.

[0033] 任意关节上固接有至少三处的驱动绳,驱动绳作为动力的传递介质由驱动模块1进行驱动,且任意驱动绳之间的运动都是独立的,这样在同一时间内不同的驱动绳可以分别处于收紧或舒张的状态,从而拉动对应关节朝不同方向偏转。 [0033] A drive rope fixed at least on any of the three joints, drive sheave as the power transmission medium is driven by the drive module 1, and any movement between the drive cord are independent, so that at the same time the different driving each rope may be in a state of relaxation or tightened, thereby pulling in different directions corresponding to the joint deflection. 此外,为了保证关节绕两个转轴四个方向上的转动都能受到驱动绳的控制,本发明中对同一关节上驱动绳的固接位置有一定限制,即驱动绳不能集中在某一侧,这样关节才能随驱动绳的拉动而相对临近的关节发生各个方向上的转动。 Further, to ensure joint rotation about a rotation axis in four directions can be controlled by two drive ropes, in the present invention, there is a limit to the attachment position of the drive sheave on the same joint, i.e. the drive rope is not concentrated on one side, such rotation of the joint in each direction to pull the drive cord with the relatively near joints occur.

[0034] 具体的,驱动绳固接于关节的尾端,便于对关节施力。 [0034] Specifically, the drive sheave fixed to the trailing end of the joint, the joint facilitate urging. 在本发明中,关节尾端与首端的定义如下:沿机械臂的长度方向,靠近驱动模块1的一端为尾端,远离驱动模块1的一端为首端,下同。 In the present invention, the head-end joint trailing end defined as follows: a longitudinal direction of the robot arm, close to the drive module 1 is a tail end, away from the driving end of a headed end of the module, the same below.

[0035] 作为本发明驱动绳的优选实施例,驱动绳为3处,且相邻的驱动绳之间间隔120°设置。 [0035] As the drive sheave preferred embodiment of the present invention, as the drive sheave 3, the interval between 120 ° and arranged adjacent the drive sheave. 以此为例,为满足机械臂各关节的控制,驱动绳的总数应为30根,所述驱动绳在经过第一段关节时,其中3根与第一段关节固接,其余的27根穿过该关节后达到第二段关节处,此时再分出3根驱动绳与第二段关节固接,剩下的驱动绳继续前进,以此类推直至到达最后的一端关节,这样便实现了各端关节的分开控制。 As an example, to meet the manipulator control each joint, should the total number of drive sheave 30, the drive rope passes through the first section joint, wherein the joint 3 fixed to the first section, the remaining 27 after passing through the articulation joint to achieve the second segment, this time to separate the drive sheave 3 is fixed to the second segment joints, to move the rest of the drive sheave, and so on until the joint reaches the final end, this will achieve separately controlling the respective end joint.

[0036] 作为驱动绳的另一个实施例,驱动绳为4处,分别对应第一转轴23与第二转轴24的轴端设置,这样每一根驱动绳均对应一个方向的转动,从而使控制更加精确。 [0036] As another embodiment of the drive sheave, for the drive sheave 4, respectively corresponding to the first rotary shaft 23 is provided with a second axial end of the rotary shaft 24, so that each of the drive sheave is rotated in one direction corresponds to that the control more accurate.

[0037] 参照图2,示出了本发明驱动模块一个实施例的示意图,包括伺服电机11、丝杠12、滑块13、螺母14与导轨15,其中,伺服电机11、丝杠12、滑块13、螺母14及导轨15的数量与驱动绳数量对应相等,即一处电机对应控制一处驱动绳。 [0037] Referring to Figure 2, there is shown a schematic view of the present invention, the driving module according to one embodiment, includes a servo motor 11, screw 12, slider 13, nut 14 and guide rail 15, wherein the servo motor 11, screw 12, the slide block 13, the number of the number of drive sheave 14 and the guide nut 15 corresponding to equal, i.e. corresponding to a motor driving a control cable. 具体的,丝杠12—端与伺服电机11的驱动轴通过联轴器连接,另一端与螺母14螺接,滑块13固接在螺母14上,并可相对导轨15滑动,驱动绳3的两端分别与对应关节、螺母固接,这样随着丝杠的转动,螺母14将带动滑块13沿导轨前后移动,进而通过驱动绳拉动关节偏转。 Specifically, the screw is connected via a coupling 12- end with the drive shaft of the servo motor 11, and the other end is screwed with the nut 14, the slider 13 fixed to the nut 14, and can slide relative to the guide rail 15, the drive sheave 3 respectively corresponding to both ends of the joint, is fixed to the nut, so that the rotation of the lead screw, the nut 14 will drive the slider 13 moves back and forth along the guide rails, and further deflected by the driving hove movable joints.

[0038] 优选的,驱动模块1包括机架16,伺服电机11固定在机架16的首端,丝杠12通过丝杠安装座17与机架16固接,导轨15沿机架16的长度方向固定。 [0038] Preferably, the driving module 1 includes a frame 16, the servo motor 11 is fixed to the frame 16 of the head end, the length of the screw 12 and screw mount 17 fixed to the frame 16, the frame 16 along the rails 15 fixed direction. 同一机架上并列安装有多个驱动绳以及相应的伺服电机、丝杠、滑块、螺母与导轨,多个机架上下层叠以组成上述的驱动模块,便于驱动模块安装与管理。 A plurality of parallel mounted corresponding drive sheave and the servo motor, lead screw, a slider, a nut and one rack rail, a plurality of racks stacked vertically to form the above-described drive module, the drive module is easy to install and manage.

[0039] 参照图3至图5,示出了机械臂模块的相关示意图,以任意相邻关节为例,关节间的转动主要发生在前一关节(即靠近于驱动模块的关节)的首端与后一关节(即远离驱动模块的关节)的尾端之间,而前一关节的首端在转动过程中相对处于静止状态,转动主要由后一关节的尾端完成,为了便于描述,故将前一关节的首端称之为固定端21,后一关节的尾端称之为活动端22,二者之间的转轴分别称之为第一转轴23与第二转轴24,其中第一转轴23与第二转轴24作为关节实现转动的关键元件,在本发明中采用十字交叉的结构,活动端22可分别绕第一转轴23、第二转轴24相对固定端21灵活转动,可以理解的是,十字交叉式的转轴连接结构为本发明的一种实施方式,活动端22也可以采用任何其他公知的技术以实现两个自由度上的转动。 [0039] Referring to FIGS. 3 to 5, a schematic diagram shows a manipulator module related to any adjacent the joint, for example, rotation between the joints in the former head of one major joints (i.e. joints close to the drive module) of a joint between the tail and the rear (i.e., away from the joint drive module), and a front end of the first joint during rotation relative to a stationary state, after the trailing end of the rotation mainly by a joint, for convenience of description, it the first end of the front joint is called a fixed end 21, a trailing end of the joint 22 is called a movable end, the shaft therebetween respectively as first shaft 23 and second shaft 24, wherein the first a second rotary shaft 23 and the shaft 24 is rotated as the key element to achieve the joint, using cross structure in the present invention, the movable end 22 of the shaft 23 are rotatable about a first, a second rotary shaft 24 rotates relative to the fixed end 21 of the flexible, it can be appreciated is one embodiment of cross-like shaft connecting structure of the present invention, the mobile terminal 22 may be used in any other known in the art to effect rotation of the two degrees of freedom.

[0040] 本发明为实现活动端与固定端之间的连接,还设有连接块25,连接块25优选为一正方体,其上设有两条相互交叉且垂直的转轴安装孔,活动端22与固定端21上对应设有铰接座。 [0040] The present invention is a connection between the movable end and fixed end, also a connecting block 25, the connecting block 25 is preferably a cube, which is provided with two mutually perpendicular and intersecting the rotating shaft mounting hole, the movable end 22 21 corresponding to the upper end of the fixed seat is provided with a hinge. 第一转轴23在穿过其中一条转轴安装孔后与固定端21上的铰接座铰接,这样连接块25便能绕第一转轴23相对固定端21转动,第一转轴23中心位置设有通孔,第二转轴24在穿过另一条转轴安装孔与第一转轴23上的通孔后与活动端上的铰接座铰接,这样活动端22便能绕第二转轴24相对连接块25转动,并能与连接块25—体的相对固定端21转动,以实现关节在两个自由度上的转动,同时还能限制第一转轴沿转轴安装孔的移动,若干关节通过上述的方式串联,便能形成可以自由弯曲的机械臂。 Wherein the first shaft 23 after passing through a hinge shaft mounting hole 21 on the hinged seat end is fixed, so that connector block 25 will be able to rotate about a first rotation shaft 23 is rotated relative to the fixed end 21, the center position of the first shaft 23 is provided with a through hole the second rotary shaft 24 after passing through the through hole 23 on the other shaft and the first mounting hole and the hinge shaft hinged on the free end of the seat, so that the movable end 22 about the second shaft 24 will be able to block rotation relative to the connector 25, and 25 can be fixed relative to the end member and the connecting block 21 is rotated to effect rotation of the articulation in two degrees of freedom, while limiting movement of the first shaft along the rotation shaft mounting hole, a plurality of joints in series by the above manner, will be able to forming a robot arm can flex.

[0041] 进一步的,第二转轴24包括一螺钉241,螺钉241的一端螺接有防松螺母242,螺钉241与相应转轴安装孔之间设有轴套243。 [0041] Further, the second shaft 24 includes a screw 241, one end of the screw 241 is screwed with a locknut 242, the sleeve 243 is provided between the screw shaft 241 and a respective mounting hole.

[0042] 优选的,为了实现驱动绳的有序排布,便于后续维护,固定端21与活动端22的周边设有布线边26,布线边26上沿其周向均匀分布有若干线孔261,驱动绳3穿过固定端21上的线孔后固接在活动端22上对应的线孔内,这样驱动绳彼此分离,可以有效的避免绳索间的缠绕。 [0042] Preferably, in order to achieve an orderly arrangement of the drive rope, to facilitate subsequent maintenance, the fixed end 21 and movable end 22 is provided with the peripheral edge of the wiring 26, the wiring 26 side of the circumferential direction thereof, a plurality of uniformly distributed holes 261 line , drive sheave 3 through the rear hole on the wire 21 fixed to the fixed end of the corresponding hole on the movable end line 22, separated from each other so that the drive rope, can effectively prevent the winding rope between.

[0043] 在本发明中,关节的固定端保持相对静止,活动端相对于固定端具有两个方向的自由度,其在这两个自由度上不同的转动角度分别对应着驱动绳不同的长度,因此,可以通过逆解计算所需要的关节角度对应的绳索长度变化量,将其赋给驱动模块,便可以实现单关节两个自由度的运动规划功能。 [0043] In the present invention, the fixed end of the joint remains relatively stationary, the movable end of the fixed end having a degree of freedom for the two directions, the two degrees of freedom in which different rotational angles correspond to the different length of the drive rope Therefore, the amount of change may be calculated rope length corresponding to a joint angle desired by the inverse solution, which is assigned a drive module, a single joint can be realized in two degrees of freedom motion planning function.

[0044] 参照图6,当机械臂的关节较多时,驱动绳的数量会变得极为庞大,为了防止绳索之间出现缠绕,在驱动模块1与机械臂模块2之间还设有布线圆盘4,布线圆盘4上沿其周向均匀分布有若干线孔41与软管42,其数量与驱动绳3的数量对应相等,从驱动模块引出的驱动绳首先由软管42引导至各自的线孔41内,再分别与对应关节连接,从而使绳索有序的排布,便于管理。 [0044] Referring to FIG 6, when the large manipulator joints, the number of the drive rope becomes very large, in order to prevent the wiring cable occurs between the winding discs, the driving module 1 is also provided between the module and the robot arm 2 4, the wiring on the disc 4 along its circumference a number of uniformly distributed line hole 41 and hose 42, the number of which corresponds to the number of drive ropes is equal to 3, the drive cord drawn from the first drive module is guided by the hose 42 to the respective in-line hole 41, are then connected to the corresponding joint, so that the orderly arrangement of the rope, easy to manage.

[0045] 以上是对本发明的较佳实施进行了具体说明,但本发明创造并不限于所述实施例,熟悉本领域的技术人员在不违背本发明精神的前提下还可做出种种的等同变形或替换,这些等同的变形或替换均包含在本申请权利要求所限定的范围内。 [0045] The foregoing is the preferred embodiment of the present invention have been specifically described, but the present invention is not limited to the creation of embodiments, those skilled in the art without departing from the spirit of the present invention may also be made of various equivalents modification or replacement, such equivalent modifications or substitutions are included in the present application within the scope defined by the claims.

Claims (8)

  1. 1. 一种基于绳索驱动的超冗余柔性机械臂,其特征在于,包括驱动模块、机械臂模块与若干驱动绳,所述机械臂模块包括多个串联的关节,相邻的所述关节通过设于二者之间相互交叉且垂直的转轴连接,任意所述关节上固接有至少三处的所述驱动绳,所述驱动绳可在所述驱动模块的驱动下独立运动,且位于同一关节上的驱动绳满足设置:该关节可随所述驱动绳的拉动而相对临近的关节发生绕所述转轴的转动;所述机械臂模块还包括连接块,所述连接块上设有两条相互交叉且垂直的转轴安装孔,所述转轴分别穿设在所述转轴安装孔内,所述转轴包括第一转轴和第二转轴,所述第一转轴的中心位置设有通孔,所述第二转轴从所述通孔内穿过;还包括布线圆盘,其设于所述驱动模块与机械臂模块之间,沿所述圆盘的周向均匀分布有若干线孔与软管,其数量与 A flexible manipulator Hyper Redundant drive rope, characterized in that the drive module comprises a robot arm with a number of module drive sheave, the manipulator module comprises a plurality of series of joints, the joint by adjacent disposed therebetween intersect each other and perpendicular to the shaft connected with said drive sheave fixed at least on any of the three joints, the drive sheave independently movable by driving the driving module, and in the same the drive rope is provided to meet the joint: the rotating shaft is rotated about the joint may be driven with the pull cord occurs relatively near the joint; the robot arm module further comprises a connection block, the connection block is provided with the two intersect each other and perpendicular to the rotation shaft mounting hole, respectively, through the shaft mounting hole provided in said shaft, said shaft comprising a first shaft and a second shaft, the center position of the first rotary shaft is provided with a through hole, the from passing through the second shaft through hole; disk further includes a wiring which is provided between the drive module and the manipulator module along the disk circumferential direction with a plurality of uniformly distributed holes hose line, the number and 动绳的数量对应相等,所述驱动绳从驱动模块引出并由所述软管引导至各自的线孔内,再分别与对应关节连接。 Equal number of corresponding moving rope, said rope guide to the respective drive line drawn by the hose from the bore of the drive module, and then respectively connected to the corresponding joints.
  2. 2. 根据权利要求1所述的基于绳索驱动的超冗余柔性机械臂,其特征在于,所述驱动绳固接于所述关节的尾端。 The ultra-flexible manipulator based on the redundancy of the driving rope of claim 1, wherein said drive sheave fixed to the trailing end of the joint.
  3. 3. 根据权利要求2所述的基于绳索驱动的超冗余柔性机械臂,其特征在于,所述驱动绳为3处,相邻所述驱动绳之间间隔120 °设置。 The ultra-flexible manipulator based on the redundancy of the cord drive as claimed in claim 2, wherein said drive sheave is at 3, the interval between 120 ° disposed adjacent the drive sheave.
  4. 4. 根据权利要求2所述的基于绳索驱动的超冗余柔性机械臂,其特征在于,所述驱动绳为4处,分别对应所述转轴的轴端设置。 The ultra-flexible manipulator based on the redundancy of the cord drive as claimed in claim 2, wherein said drive sheave is 4, corresponding to the axial end of the rotating shaft is provided.
  5. 5. 根据权利要求2至4中任一项所述的基于绳索驱动的超冗余柔性机械臂,其特征在于,所述驱动模块包括伺服电机、丝杠、滑块、螺母与导轨,其中,所述伺服电机、丝杠、滑块、螺母及导轨的数量与所述驱动绳数量对应相等,所述丝杠一端与伺服电机的驱动轴连接,另一端与所述螺母螺接,所述滑块固接在所述螺母上,并可相对所述导轨滑动,所述驱动绳的两端分别与对应关节、螺母固接。 As claimed in any one of claims 2 to 4 flexible manipulator Hyper Redundant drive rope, characterized in that one of said drive module includes a servo motor, lead screw, a slider, a nut and the guide rail, wherein the number of said servo motor, lead screw, a slider, a nut and guideway corresponding to the number of the drive sheave are equal, the screw shaft is connected to one end of the servo motor, the other end of the threaded nut, the slip block fixedly connected to the nut, and can slide relative to the guide rail, said drive sheave corresponding to the two ends of the joint, the nut fixed.
  6. 6. 根据权利要求5所述的基于绳索驱动的超冗余柔性机械臂,其特征在于,所述驱动模块包括机架,多个所述驱动绳以及相应的伺服电机、丝杠、滑块、螺母、导轨并列安装在同一机架上,多个所述机架上下层叠设置。 The ultra-flexible manipulator based on the redundancy driving rope according to claim 5, characterized in that the drive module comprises a chassis, a drive sheave and a corresponding plurality of servo motors, screw, slider, nuts, mounted side by side on the same rail chassis, the plurality of racks stacked vertically.
  7. 7. 根据权利要求2至4中任一项所述的基于绳索驱动的超冗余柔性机械臂,其特征在于,所述关节的两端均设有铰接座,相邻的所述关节分别通过二者临近端的铰接座与所述转轴铰接。 The flexible manipulator Hyper Redundant drive rope, characterized in that in any one of claims 2 to 4, the joint ends are provided with hinge mount as claimed in claim respectively adjacent said joint both the seat and near the hinge shaft hinged end.
  8. 8. 根据权利要求7所述的基于绳索驱动的超冗余柔性机械臂,其特征在于,所述关节的两端设有布线边,所述布线边上设有若干线孔。 According to claim super flexible manipulator based redundancy driving the rope 7, wherein both ends of the joint edge of a wiring provided, is provided with a plurality of said wiring line hole edge.
CN 201510631030 2015-09-28 2015-09-28 Based on the redundant cord driving ultra flexible manipulator CN105150219B (en)

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CN105666479A (en) * 2015-12-29 2016-06-15 上海大学 Control methods for driving rear-mounted continuous multi-joint mechanical arm
CN105798899B (en) * 2016-04-15 2017-10-20 南京若希自动化科技有限公司 The modular cable-driven mechanical arm joints decouple its working methods
CN105798900B (en) * 2016-04-15 2017-10-31 南京航空航天大学 Based cord decoupling mechanism drive wheel train and decoupling method
CN105798898B (en) * 2016-04-15 2017-10-20 南京若希自动化科技有限公司 For passive decoupling mechanism in which a rope coupling and decoupling method
CN105798947B (en) * 2016-04-15 2017-12-15 南京航空航天大学 Reconfigurable series drive cord decoupling manipulator joints and working methods

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