CN105364940A - Joint drive device of flexible mechanical arm of robot and flexible mechanical arm with joint drive device - Google Patents
Joint drive device of flexible mechanical arm of robot and flexible mechanical arm with joint drive device Download PDFInfo
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- CN105364940A CN105364940A CN201410430132.8A CN201410430132A CN105364940A CN 105364940 A CN105364940 A CN 105364940A CN 201410430132 A CN201410430132 A CN 201410430132A CN 105364940 A CN105364940 A CN 105364940A
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Abstract
The invention discloses a joint drive device of a flexible mechanical arm of a robot and the flexible mechanical arm with the joint drive device. The joint drive device comprises a cylindrical elastic shell and a hydraulic driver. A through hole is formed in one end of the cylindrical elastic shell and communicated with an outlet of the hydraulic driver. The through hole end of the cylindrical elastic shell is fixedly connected with the fixed end of a joint, and the other end of the cylindrical elastic shell is movably connected with the movable end of the joint. A drive ring and a drive chain which are capable of driving the joint of the mechanical arm are composed of novel flexible hydraulic drive elements, so that the mechanical arm has better flexibility and accuracy. Meanwhile, the wrist of the mechanical arm has real-time self-locking capacity, and the accuracy and stability of the motion position are ensured. In addition, the flexible drive of the wrist joint is achieved through the wrist space drive ring scheme from the aspect of space.
Description
Technical field
The present invention relates to a kind of articulated driving equipment of robot flexibility manipulator, and utilize the flexible manipulator of this articulated driving equipment.
Background technology
Manipulator is that one can simulate human upper limb partial function, realizes hand completes field operation automatic technology equipment by pre-provisioning request.From structure, manipulator is divided into the parts such as support, size arm, wrist and hand clamper, they constitutes the body construction of manipulator.Its arm is mainly used to the space orientation realizing hand clamper, and wrist has been mainly used to the spatial orientation of hand clamper.In order to adapt to the operation of the various complexity of industry spot, the Wrist mechanism of General Requirements manipulator has three degree of freedom, can meet the instructions for use that Manipulator Hand any direction holds used tool in certain area of space.The structure of actual wrist is diversified, and flexible waist is a class wherein.In general, it is in series by multiple motion transfer element, can relatively rotate between each element, and can make robot hand in certain space region, realize the spatial orientation mechanism of any attitude and position by apish list action.The effect of flexible waist be adjustment and the spatial attitude changing Manipulator Hand end clamper with the motion of tie arm to complete the operation of various complexity.Compared with the wrist of other type, it has that range of movement is large, compact conformation, own wt light and to advantages such as operating environment are adaptable.Because flexible waist has obvious superiority, therefore adopt by multiple manipulator.Flexible manipulator in the market, the highest with the popularity of the flexible waist of TrallfaNilsUnder-hang company of Norway development, it is extensively equipped on Trallfa series paint-spray robot.
The mechanism of existing flexible manipulator basic model, as shown in Figure 1; This drive unit mechanism adopts two connecting rods, and middle use ball parafacies connects.Connecting rod A fixes upper end, and connecting rod B can work in three dimensions, and if adopt revolute pair or the sliding pair of the original single degree of freedom, connecting rod B then can only planar work.In addition, the power set of employing neither be directly installed on the motor driving of joint, but adopt multiple heat payload as power set.These driver two ends are separately fixed on connecting rod A and connecting rod B, and the number of driver is even number, and installation site is relative to one-tenth 180 degree.The motion of drive unit carrys out drive link by driver, and connecting rod drives joint motions.Why adopting is the working condition of muscle when using for reference the motion of human upper limb in this way, when a driver contraction is shunk with drivening rod B, driver on the other side will be upheld in addition, and when original position that connecting rod B will recover, then original driver of upholding just can shrink, to produce pulling force, connecting rod B is returned to origin-location, the driver originally shunk now then can be upheld.
There is following technical disadvantages in above-mentioned flexible manipulator: complicated owing to closing internode power transferring structure, each joint needs motor to drive, and make mechanical arm weight comparatively large, thus position control is difficult to reach requirement.
(1) the load pressure value of general artificial-muscle is not very large;
(2) joint curves angle not greatly, thus has influence on the service behaviour of robot;
(3) manipulator does not possess the function of Later development redundant degree of freedom, and processing difficulties;
(4) driving of setting forth is theoretical all to be considered from plane, and all the steering spindle (very important) not analyzing respective direction;
(5) conventional robot joint does not possess good flexibility;
(6) Pneumatic artificial muscle stroke is little (can reach 20% when Pneumatic artificial muscle is unloaded, have when carrying and reach 10% only; And the traditional cylinder had can reach 40%); Pneumatic artificial muscle be deformed into nonlinear element, there is time variation, make accurately to control its displacement very difficult; In the course of the work, Pneumatic artificial muscle own temperature can change, and along with the change of temperature, its performance also can change, and this controls to bring difficulty to high accuracy.
Summary of the invention
The first object of the present invention is to provide a kind of articulated driving equipment of robot flexibility manipulator, and structure is simple, and drive easily, lighter in weight, position control is simple.
Second object is to provide a kind of manipulator employing this articulated driving equipment.
For reaching above-mentioned first object, technical scheme provided by the present invention is: a kind of articulated driving equipment of robot flexibility manipulator, this articulated driving equipment comprises Elastic Cylindrical shell and hydraulic unit driver, and one end of this Elastic Cylindrical shell is provided with through hole, with the outlet of hydraulic unit driver; The described through hole end of Elastic Cylindrical shell is fixedly connected with the stiff end in joint, and the movable end in the other end and joint is flexibly connected.
This articulated driving equipment also includes end cap and clamping ring, and the through hole end of described Elastic Cylindrical shell is fixedly connected with clamping ring, and the other end is fixedly connected with end cap.
For reaching above-mentioned second object, technical scheme provided by the present invention is: a kind of robot flexibility manipulator, comprise arm body, the palm body, the first articulated driving equipment, second joint drive unit and clamper, described first articulated driving equipment one end is fixedly connected with arm body, and the other end is flexibly connected with palm body; One end of described second joint drive unit is fixedly connected with palm body, and the other end is flexibly connected with clamper; Connected by ball pair between described arm body and palm body.
Described arm body is provided with groove, and described first articulated driving equipment is established in a groove; The slide block that described palm body is provided with slide rail and can slides in slide rail; The other end of described first articulated driving equipment is fixedly connected with slide block.
Described first articulated driving equipment is provided with at least four, and the slide rail on the groove on described arm body, palm body and slide block are correspondingly provided with at least four; Described groove is located on the outer peripheral face of arm body equably, and described slide rail is located on the outer peripheral face of palm body equably.
, there is deformation and drive movable end motion in the advantage that the present invention has: utilize in Elastic Cylindrical shell oil-filled, accurately controls bending object, thus have three-dimensional motion model by adjustment input hydraulic pressure value to reach.From basic rotating shaft, determine space driving ring scheme; There is actual product, and carried out corresponding test.
accompanying drawing illustrates:
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail, but content of the present invention is not limited to lifted embodiment.
Fig. 1 is the structural representation of existing product;
Fig. 2 is the structural representation of articulated driving equipment of the present invention;
Fig. 3 is the structural representation of manipulator.
detailed description of the invention:
The articulated driving equipment of a kind of robot flexibility manipulator as shown in Figure 2, this articulated driving equipment comprises Elastic Cylindrical shell 2 and hydraulic unit driver, and one end of this Elastic Cylindrical shell 2 is provided with through hole 31, with the outlet of hydraulic unit driver; The described through hole end of Elastic Cylindrical shell 2 is fixedly connected with the stiff end in joint, and the movable end in the other end and joint is flexibly connected.
This articulated driving equipment also includes end cap 1 and clamping ring 3, and the through hole end of described Elastic Cylindrical shell 2 is fixedly connected with clamping ring 3, and the other end is fixedly connected with end cap 1.
A kind of robot flexibility manipulator as shown in Figure 3, comprise arm body 4, palm body 7, first articulated driving equipment 5, second joint drive unit and clamper 8, described first articulated driving equipment 5 one end is fixedly connected with arm body 4, and the other end is flexibly connected with palm body 7; One end of described second joint drive unit is fixedly connected with palm body 7, and the other end is flexibly connected with clamper 8; Connected by ball pair 6 between described arm body 4 and palm body 7.
Described arm body 4 is provided with groove 41, and described first articulated driving equipment 5 is located in groove 41; The slide block 71 that described palm body 7 is provided with slide rail 72 and can slides in slide rail 72; The other end of described first articulated driving equipment 5 is fixedly connected with slide block 71.
Described first articulated driving equipment 5 is provided with at least four, and the slide rail 72 on the groove 41 on described arm body 4, palm body 7 and slide block 71 are correspondingly provided with at least four; Described groove 41 is located on the outer peripheral face of arm body 4 equably, and described slide rail 72 is located on the outer peripheral face of palm body equably.
Second-hand's dactylus 82 and the 3rd finger segments 84 couple together by with dactylus pin 83 by clamper 8, can realize bending and uphold, and first-hand dactylus 81 is fixed on palm body 7, and couple together with pin and second-hand's dactylus 82.Palm body 7 is fixed by screws in the upper end of ball pair 6, and secondary 6 lower ends of ball are set to sphere, and wrist can utilize ball pair 6 to rotate along either direction.Palm body 7 has many slide rails 72, and slide block 71 can slide up and down on slide rail 72.
Elastic Cylindrical shell 2 in articulated driving equipment is rubber tubes that inside is surrounded by spring, can only axial deformation, and its upper end is connected with slide block 71, and lower end is fixed on arm body 4, is looped around ball pair 6 around.When to Elastic Cylindrical shell 2 filled with oil, rubber tube internal pressure becomes large, impel rubber tube flexural deformation certain angle, bending angle increases along with the increase being filled with fluid pressure, input industrial computer is transformed by A/D after detecting angle of bend by eddy-current transducer, accurately bending object is controlled to reach by adjustment input hydraulic pressure value, Elastic Cylindrical shell 2 bends thus drives palm body 7 top shoe 71 to slide up and down along slide rail 72, regulates the motion of whole manipulator by controlling angle of bend.
Wrist is the mechanism connecting finger and arm, and it makes finger from the clamping of different angles and can unclamp work, to increase the flexibility of manipulator.The movement characteristic of tradition wrist is revolution, up and down bending (swing) and three actions that swing, and namely has three degree of freedom.And the wrist joint that this trifle is introduced is comprehensive, the quantity of its free degree and joint hydraulic driving element and arrange relevant, and joint itself also has self-lock ability, to ensure the stability of fixed position.
This wrist joint drive unit is connected between arm body 4 and palm body 7, and arm body 4 and palm body 7 are linked together by ball pair 6, and then make wrist joint have comprehensive property.Joint hydraulic driver, between arm body 4 and palm body 7, with arm body 4 for stiff end drives palm body 7, and carrys out the surplus length of buffer element by the slide block 71 of palm body 7 slide rail 72 li.The tapering of palm body 7 can avoid the collision with joint hydraulic driver, makes the scope of activities of palm body 7 larger.
Flexible pipe groove 41 is used to install the Elastic Cylindrical shell 2 between control valve and driving element, plays the effect of protection and holding cylindrical elastic container 2.
During wrist joint work, the hydraulic knuckle driver drives palm body 7 being arranged on respective direction moves, and in motion process, element free end slide block 71 has cushioned the surplus length of element, avoids that element is improper to be obstructed.
Also utilize joint hydraulic driver to bend principle for finger-joint to drive, difference is that wrist joint is that finger-joint is hinged with dactylus pin 83 by ball pair 6 exactly.
Hydraulic unit driver wherein can bear higher pressure; Utilize bending novel hydraulic driver can expand the angle of bend (90 degree can be reached) in joint; The corresponding free degree (scalable) is determined by the position and quantity of arranging driving element; From the most basic elaboration space, steering spindle aspect driving ring scheme; Because wrist joint is ball pair 6, so make this manipulator have good flexibility.
The above is only preferred embodiment of the present invention, not does any pro forma restriction to the present invention; Any those skilled in the art, any simple modification done above embodiment according to technical spirit of the present invention, equivalent variations and modification, all still belong in the protection domain of technical solution of the present invention.
Claims (5)
1. an articulated driving equipment for robot flexibility manipulator, is characterized in that: this articulated driving equipment comprises Elastic Cylindrical shell and hydraulic unit driver, and one end of this Elastic Cylindrical shell is provided with through hole, with the outlet of hydraulic unit driver; The described through hole end of Elastic Cylindrical shell is fixedly connected with the stiff end in joint, and the movable end in the other end and joint is flexibly connected.
2. the articulated driving equipment of flexible manipulator according to claim 1, is characterized in that: this articulated driving equipment also includes end cap and clamping ring, and the through hole end of described Elastic Cylindrical shell is fixedly connected with clamping ring, and the other end is fixedly connected with end cap.
3. a robot flexibility manipulator, is characterized in that: comprise arm body, the palm body, the first articulated driving equipment, second joint drive unit and clamper, described first articulated driving equipment one end is fixedly connected with arm body, and the other end is flexibly connected with palm body; One end of described second joint drive unit is fixedly connected with palm body, and the other end is flexibly connected with clamper; Connected by ball pair between described arm body and palm body.
4. flexible manipulator according to claim 3, is characterized in that: described arm body is provided with groove, and described first articulated driving equipment is established in a groove; The slide block that described palm body is provided with slide rail and can slides in slide rail; The other end of described first articulated driving equipment is fixedly connected with slide block.
5. flexible manipulator according to claim 4, is characterized in that: described first articulated driving equipment is provided with at least four, and the slide rail on the groove on described arm body, palm body and slide block are correspondingly provided with at least four; Described groove is located on the outer peripheral face of arm body equably, and described slide rail is located on the outer peripheral face of palm body equably.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410430132.8A CN105364940A (en) | 2014-08-28 | 2014-08-28 | Joint drive device of flexible mechanical arm of robot and flexible mechanical arm with joint drive device |
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| CN201410430132.8A CN105364940A (en) | 2014-08-28 | 2014-08-28 | Joint drive device of flexible mechanical arm of robot and flexible mechanical arm with joint drive device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690366A (en) * | 2016-04-29 | 2016-06-22 | 平玉兰 | Design method of nanoscale precision flexible robot |
| CN109476021A (en) * | 2016-05-25 | 2019-03-15 | 软机器人公司 | Software robot's actuator for positioning, packing and assemble |
| CN110480668A (en) * | 2019-07-30 | 2019-11-22 | 东南大学 | A kind of bulb joint finger mechanism of flexible connection and hydraulic-driven |
| CN112917465A (en) * | 2021-02-01 | 2021-06-08 | 绍兴天宏激光科技有限公司 | Multi-angle swing arm mechanism of bionic robot |
-
2014
- 2014-08-28 CN CN201410430132.8A patent/CN105364940A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690366A (en) * | 2016-04-29 | 2016-06-22 | 平玉兰 | Design method of nanoscale precision flexible robot |
| CN109476021A (en) * | 2016-05-25 | 2019-03-15 | 软机器人公司 | Software robot's actuator for positioning, packing and assemble |
| CN109476021B (en) * | 2016-05-25 | 2020-06-30 | 软机器人公司 | System with soft robotic actuator for positioning, packaging and assembly |
| US11154992B2 (en) | 2016-05-25 | 2021-10-26 | Soft Robotics, Inc. | Soft robotic actuators for positioning, packaging, and assembling |
| CN110480668A (en) * | 2019-07-30 | 2019-11-22 | 东南大学 | A kind of bulb joint finger mechanism of flexible connection and hydraulic-driven |
| CN110480668B (en) * | 2019-07-30 | 2022-02-22 | 东南大学 | Flexible connection and hydraulic drive's bulb joint finger mechanism |
| CN112917465A (en) * | 2021-02-01 | 2021-06-08 | 绍兴天宏激光科技有限公司 | Multi-angle swing arm mechanism of bionic robot |
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Application publication date: 20160302 |