CN105150219B - A kind of super redundancy flexible mechanical arm driven based on rope - Google Patents

A kind of super redundancy flexible mechanical arm driven based on rope Download PDF

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Publication number
CN105150219B
CN105150219B CN201510631030.7A CN201510631030A CN105150219B CN 105150219 B CN105150219 B CN 105150219B CN 201510631030 A CN201510631030 A CN 201510631030A CN 105150219 B CN105150219 B CN 105150219B
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China
Prior art keywords
rope
joint
mechanical arm
rotating shaft
driving
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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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Shenzhen Graduate School Harbin Institute of Technology
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Shenzhen Graduate School Harbin Institute of Technology
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Abstract

The invention discloses a kind of super redundancy flexible mechanical arm driven based on rope, including drive module, mechanical arm module rope is driven with some, mechanical arm module includes the joint of multiple series connection, adjacent joint is intersected therebetween and vertical rotating shaft connection by being located at, the driving rope at least three is connected with any joint, drive rope can the self-movement under the driving of drive module, and driving rope on same joint meets and sets:The joint can the relative joint generation for the closing on rotation around the shaft with the pulling for driving rope.The present invention each joint can be carried out it is separately adjustable, control it is more accurate;The weight in joint can also greatly be mitigated, so as to further increase the bearing capacity of mechanical arm, the high-speed mobile and quick response of mechanical arm is advantageously implemented;Meanwhile, eliminate the arrangement work of electric wiring, be only made up of mechanical structure on mechanical arm, be not easily susceptible to the influence of adverse circumstances, help to increase the service life, it is easy to disassemble, safeguard and assemble.

Description

A kind of super redundancy flexible mechanical arm driven based on rope
Technical field
The present invention relates to robot field, more particularly, to mechanical arm field.
Background technology
Ultra-redundant degree of freedom mechanical arm is put forward to solve the problems, such as that conventional serial robot dexterity is poor, and it leads to Crossing increases substantial amounts of Joint motion, makes the dimension of joint space much larger than task space dimension, and the introducing of Joint motion makes machinery Arm can more neatly realize desired end pose.Therefore, this mechanical arm is especially suitable for use as:1st, in Anomalistic space Operation equipment, substantial amounts of Joint motion can make mechanical arm possess extremely strong avoidance ability, it is especially suitable for use as extraordinary machine Device people, for example, rescue the lifesaving robot of survivor, nuclear reactor inspection machine people to seek as after earthquake disaster through rubble rubble Deng;2nd, the manipulator of irregular object is captured, i.e., large-size and irregular object is captured using full arm winding mode, Can be used for the exclusion of explosive and the maintenance of space station.
However, ultra-redundant degree of freedom mechanical arm uses the motor and driver of discrete, motor to be mounted directly mostly at present At cradle head, driver is fixed in switch board, and the two is attached with cable, can so bring many shortcomings:
1st, the electric wiring of mechanical arm is very cumbersome, and great inconvenience is brought to follow-up maintenance, also easily triggers safety hidden Suffer from;
2nd, the inertia and quality of mechanical arm are increased, causes its bearing capacity to be subject to certain restrictions, be unfavorable for fortune at a high speed Dynamic and quick response;
3rd, motor-driven joint is typically all the joint of single-degree-of-freedom, in order to realize that multifreedom motion will be inevitable Cause the complication of control system;
4th, manufacturing cost is increased.
The content of the invention
In order to overcome the deficiencies in the prior art, the present invention to provide a kind of super redundancy flexible mechanical arm driven based on rope, It can carry out separately adjustable to each joint, make control more accurate;The weight in joint can greatly be mitigated, so that further Increase the bearing capacity of mechanical arm, be advantageously implemented the high-speed mobile and quick response of mechanical arm;Meanwhile, eliminate electric wiring Arrangement work, be only made up of mechanical structure on mechanical arm, be not easily susceptible to the influence of adverse circumstances, contribute to extension to use the longevity Life, easy to disassemble, maintenance and assembling.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of super redundancy flexible mechanical arm driven based on rope, including drive module, mechanical arm module and some drivings Rope, mechanical arm module includes the joints of multiple series connection, and adjacent joint is by located at intersecting therebetween and vertical turn Axle is connected, and is connected with the driving rope at least three on any joint, drive rope can the self-movement under the driving of drive module, and Driving rope on same joint meets setting:The joint can rotate in the relative joint closed on the pulling for driving rope The rotation of axle.
As the further improved procedure of such scheme, rope is driven to be fixed in the tail end in joint.
Used as the further improved procedure of such scheme, it is at 3,120 ° of settings to be spaced between adjacent driven rope to drive rope.
Used as the further improved procedure of such scheme, it is that the shaft end for corresponding to rotating shaft at 4 respectively is set to drive rope.
Used as the further improved procedure of such scheme, drive module includes servomotor, leading screw, sliding block, nut and leads Rail, wherein, the quantity of servomotor, leading screw, sliding block, nut and guide rail with drive rope quantity correspondent equal, leading screw one end with watch The drive shaft connection of motor is taken, the other end is spirally connected with nut, and sliding block is fixed on nut, and can opposite rail slip, driving rope Two ends it is affixed with nut with corresponding joint respectively.
Used as the further improved procedure of such scheme, drive module includes frame, and multiple drives rope and watches accordingly Take motor, leading screw, sliding block, nut, guide rail to be arranged in same frame side by side, multiple frame settings stacked on top of one another.
Used as the further improved procedure of such scheme, mechanical arm module includes contiguous block, and contiguous block is provided with two phases Mutually intersect and vertical rotating shaft mounting hole, rotating shaft is located in rotating shaft mounting hole respectively, and at one rotating shaft from another in rotating shaft Passed through in the through hole of heart position, the two ends in joint are equipped with hinged seat, and adjacent joint passes through being hinged for the two adjacent end respectively Seat is hinged with rotating shaft.
Used as the further improved procedure of such scheme, the two ends in joint are provided with wiring side, if wiring side is provided with main line Hole.
Used as the further improved procedure of such scheme, including wiring disk, it is located at drive module and mechanical arm module Between, some string holes and flexible pipe are evenly distributed with along the circumference of disk, the quantity correspondent equal that its quantity is restricted with driving.
The beneficial effects of the invention are as follows:
Each joint can be carried out it is separately adjustable, control it is more accurate;The weight in joint can also greatly be mitigated, so that Further increase the bearing capacity of mechanical arm, be advantageously implemented the high-speed mobile and quick response of mechanical arm;Meanwhile, eliminate electricity The arrangement work of gas circuit, is only made up of on mechanical arm mechanical structure, is not easily susceptible to the influence of adverse circumstances, contributes to extension to make It is easy to disassemble, safeguard and assemble with the life-span.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the overall schematic of one embodiment of the invention;
Fig. 2 is the schematic diagram of drive module one embodiment of the present invention;
Fig. 3 is the schematic diagram of adjacent segment connection of the present invention(Hide and drive rope);
Fig. 4 is the assembling schematic diagram of fixing end and movable end when joint of the present invention connects;
Fig. 5 is the decomposing schematic representation of fixing end and movable end when joint of the present invention connects;
Fig. 6 is the schematic diagram of present invention wiring disk.
Specific embodiment
The technique effect of design of the invention, concrete structure and generation is carried out clearly below with reference to embodiment and accompanying drawing Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that in situation about not conflicting Under, the feature in embodiment and embodiment in the application can be mutually combined.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixation ", " connection " in another feature, It can directly fix, be connected in another feature, it is also possible to fix indirectly, be connected in another feature.Additionally, this The description such as upper and lower, left and right used in invention is only that the mutual alignment of each part of the invention relative in accompanying drawing is closed For system.
Additionally, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article and the art The implication that personnel are generally understood that is identical.Term used in the description is intended merely to describe specific embodiment herein, without It is to limit the present invention.Term as used herein " and/or " include the arbitrary of one or more related Listed Items Combination.
Reference picture 1, shows the overall schematic of one embodiment of the invention, and it includes drive module 1, mechanical arm module 2 drive rope with some(It is not shown), the joints 21 that wherein mechanical arm module 2 is connected including multiple, adjacent joint 21 is by setting In therebetween intersecting and vertical rotating shaft connection, what just relative can be occurred in two frees degree between such joint turns Dynamic, by the combinations in the similar joints of multiple, mechanical arm module just can spatially free bend.
Joint is preferably at 10 in the present embodiment.
The driving rope at least three is connected with any joint, drives rope as the Transfer Medium of power by drive module 1 It is driven, and any motion driven between rope is all that independent, so different within same time driving rope can divide Other places in tighten up or diastole state so that pull corresponding joint towards different directions deflect.Additionally, in order to ensure joint around two Rotation on rotating shaft four direction can be driven the control of rope, to driving the affixed position of rope on same joint in the present invention Have certain limitations, that is, drive rope to concentrate on certain side, the pass that such joint could relatively be closed on the pulling for driving rope There is the rotation in all directions in section.
Specifically, driving rope to be fixed in the tail end in joint, it is easy to exert a force joint.In the present invention, joint tail end and head End is defined as follows:It is tail end near one end of drive module 1, away from one end of drive module 1 along the length direction of mechanical arm It is head end, similarly hereinafter.
The preferred embodiment of rope is driven as the present invention, drive rope between driving ropes at 3 and adjacent 120 ° of interval set Put.As example, to meet the control in each joint of mechanical arm, the sum of rope is driven to should be 30, it is described to drive rope by the During one section of joint, wherein 3 affixed with first paragraph joint, remaining 27 through reaching second segment joint behind the joint, this When separate again 3 drive rope it is affixed with second segment joint, it is remaining driving rope move on, by that analogy until arrival it is last One end joint, so just realizes being separately controlled for each end joint.
Used as another embodiment for driving rope, it is at 4, the rotating shaft 24 of first rotating shaft 23 and second to be corresponded to respectively to drive rope Shaft end is set, and so each drives rope to correspond to the rotation in direction, so that control is more accurate.
Reference picture 2, shows the schematic diagram of drive module one embodiment of the present invention, including servomotor 11, leading screw 12, Sliding block 13, nut 14 and guide rail 15, wherein, quantity and the drive of servomotor 11, leading screw 12, sliding block 13, nut 14 and guide rail 15 Running rope quantity correspondent equal, i.e., drive rope at one at motor correspondence control one.Specifically, the one end of leading screw 12 and servomotor 11 Drive shaft is connected by shaft coupling, and the other end is spirally connected with nut 14, and sliding block 13 is fixed on nut 14, and can opposite rail 15 slide Dynamic, the two ends of driving rope 3 are affixed with corresponding joint, nut respectively, and so with the rotation of leading screw, nut 14 will be with movable slider 13 It is movable along guide rail, and then pull joint to deflect by driving rope.
Preferably, drive module 1 includes frame 16, and servomotor 11 is fixed on the head end of frame 16, and leading screw 12 passes through silk Thick stick mounting seat 17 is affixed with frame 16, and guide rail 15 is fixed along the length direction of frame 16.Multiple is installed side by side in same frame Drive rope and corresponding servomotor, leading screw, sliding block, nut and guide rail, multiple frames are stacked on top of one another constituting above-mentioned drive Dynamic model block, is easy to drive module to install and management.
Reference picture 3 shows the accompanying drawings of mechanical arm module to Fig. 5, interarticular by taking arbitrary neighborhood joint as an example Rotation occurs mainly in previous joint(I.e. close to the joint of drive module)Head end and latter joint(I.e. away from drive module Joint)Tail end between, and the head end in previous joint is relative in rotation process remains static, and rotates main by latter The tail end in joint is completed, and for the ease of description, therefore the head end in previous joint is referred to as into fixing end 21, and the tail end in latter joint claims Be movable end 22, rotating shaft therebetween is referred to as the rotating shaft 24 of first rotating shaft 23 and second, wherein first rotating shaft 23 and The key element that second rotating shaft 24 is realized rotating as joint, in the present invention using the structure of right-angled intersection, movable end 22 can 21 flexible rotatings of end are relatively fixed rotating around first rotating shaft 23, the second rotating shaft 24, it is to be understood that the rotating shaft of right-angled intersection formula Attachment structure is one embodiment of the present invention, and movable end 22 can also use any other known technology to realize two Rotation in the free degree.
The present invention is additionally provided with contiguous block 25 to realize the connection between movable end and fixing end, and contiguous block 25 is preferably one Square, which is provided with two and intersects and vertical rotating shaft mounting hole, and hinge is correspondingly provided with movable end 22 and fixing end 21 Joint chair.First rotating shaft 23 is hinged after a rotating shaft mounting hole is passed through with the hinged seat in fixing end 21, such contiguous block 25 just can be relatively fixed end 21 around first rotating shaft 23 rotates, and the center of first rotating shaft 23 is provided with through hole, and the second rotating shaft 24 is being worn It is hinged with the hinged seat on movable end after the through hole crossed in another rotating shaft mounting hole and first rotating shaft 23, such movable end 22 is just Can be rotated relative to contiguous block 25 around the second rotating shaft 24, and can be rotated with the end 21 that is relatively fixed of the one of contiguous block 25, to realize closing The rotation in two frees degree is saved, while movement of the first rotating shaft along rotating shaft mounting hole can also be limited, some joints are by upper The mode stated is connected, and just can be formed can be with the mechanical arm of free bend.
Further, the second rotating shaft 24 includes a screw 241, and one end of screw 241 is bolted with stop nut 242, screw Axle sleeve 243 is provided between 241 and respective axes of rotation mounting hole.
Preferably, in order to realize driving the ordered arrangement restricted, it is easy to the periphery of follow-up maintenance, fixing end 21 and movable end 22 Wiring side 26 is provided with, wiring is evenly distributed with some string holes 261 on side 26 along its circumference, drives rope 3 to pass through in fixing end 21 It is fixed in after string holes on movable end 22 in corresponding string holes, so drives rope separated from one another, between effectively can avoiding rope Winding.
In the present invention, the fixing end holding geo-stationary in joint, movable end has both direction relative to fixing end The free degree, its different rotational angle in the two frees degree correspond to the length for driving rope different respectively, therefore, it can lead to The corresponding rope lengths variable quantity of joint angles crossed required for inverse solution is calculated, assigns it to drive module, just can realize list The motion planning function of two, the joint free degree.
Reference picture 6, when the joint of mechanical arm is more, driving the quantity of rope can become extremely huge, in order to prevent rope Between occur winding, be additionally provided between drive module 1 and mechanical arm module 2 wiring disk 4, wiring disk 4 on along its circumference Some string holes 41 and flexible pipe 42, its quantity and the quantity correspondent equal for driving rope 3 are evenly distributed with, from the drive that drive module is drawn Running rope is guided to respective string holes 41 by flexible pipe 42 first, then is connected with corresponding joint respectively, so that the orderly row of rope Cloth, is easy to management.
Above is preferable implementation of the invention is illustrated, but the invention is not limited to the implementation Example, those of ordinary skill in the art can also make a variety of equivalent variations or replace on the premise of without prejudice to spirit of the invention Change, these equivalent deformations or replacement are all contained in the application claim limited range.

Claims (8)

1. it is a kind of based on rope drive super redundancy flexible mechanical arm, it is characterised in that including drive module, mechanical arm module with Some to drive rope, the mechanical arm module includes the joint of multiple series connection, and the adjacent joint is by located at phase therebetween Mutually intersect and vertical rotating shaft connection, the driving rope at least three is connected with any joint, the driving rope can The self-movement under the driving of the drive module, and the driving rope satisfaction setting on same joint:The joint can be with institute State the pulling of driving rope and the rotation around the rotating shaft occurs relative to the joint closed on;The mechanical arm module also includes connection Block, the contiguous block is provided with two and intersects and vertical rotating shaft mounting hole, and the rotating shaft is located in the rotating shaft respectively In mounting hole, the rotating shaft includes first rotating shaft and the second rotating shaft, and the center of the first rotating shaft is provided with through hole, described the Two rotating shafts are passed through from the through hole;Also include wiring disk, it is located between the drive module and mechanical arm module, along institute The circumference for stating disk is evenly distributed with some string holes and flexible pipe, the quantity correspondent equal that its quantity is restricted with driving, the driving rope Drawn from drive module and by the hose guide to respective string holes, then be connected with corresponding joint respectively.
2. it is according to claim 1 based on rope drive super redundancy flexible mechanical arm, it is characterised in that the driving rope It is fixed in the tail end in the joint.
3. it is according to claim 2 based on rope drive super redundancy flexible mechanical arm, it is characterised in that the driving rope At 3,120 ° of interval setting between the adjacent driving rope.
4. it is according to claim 2 based on rope drive super redundancy flexible mechanical arm, it is characterised in that the driving rope At 4, the shaft end that the rotating shaft is corresponded to respectively is set.
5. the super redundancy flexible mechanical arm driven based on rope according to any one of claim 2 to 4, its feature exists Include servomotor, leading screw, sliding block, nut and guide rail in, the drive module, wherein, the servomotor, leading screw, sliding block, The quantity of nut and guide rail drives rope quantity correspondent equal with described, and described leading screw one end is connected with the drive shaft of servomotor, The other end is spirally connected with the nut, and the sliding block is fixed on the nut, and can relatively described slide, the driving rope Two ends it is affixed with corresponding joint, nut respectively.
6. it is according to claim 5 based on rope drive super redundancy flexible mechanical arm, it is characterised in that the driving mould Block includes frame, and multiple driving ropes and corresponding servomotor, leading screw, sliding block, nut, guide rail are arranged on same side by side In frame, multiple frame settings stacked on top of one another.
7. the super redundancy flexible mechanical arm driven based on rope according to any one of claim 2 to 4, its feature exists Be equipped with hinged seat in the two ends in, the joint, the adjacent joint respectively by the hinged seat of the two adjacent end with it is described Rotating shaft is hinged.
8. it is according to claim 7 based on rope drive super redundancy flexible mechanical arm, it is characterised in that the joint Two ends are provided with wiring side, and the wiring side is provided with some string holes.
CN201510631030.7A 2015-09-28 2015-09-28 A kind of super redundancy flexible mechanical arm driven based on rope Active CN105150219B (en)

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