CN105798899A - Modular rope-driven decoupling mechanical arm joint and working method thereof - Google Patents

Modular rope-driven decoupling mechanical arm joint and working method thereof Download PDF

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Publication number
CN105798899A
CN105798899A CN201610236811.0A CN201610236811A CN105798899A CN 105798899 A CN105798899 A CN 105798899A CN 201610236811 A CN201610236811 A CN 201610236811A CN 105798899 A CN105798899 A CN 105798899A
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China
Prior art keywords
rope
driving
joint
decoupling
drivewheel
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CN201610236811.0A
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CN105798899B (en
Inventor
陈柏
印亮
白东明
徐伟
华达人
赵鹏
张磊
蒋素荣
蒋萌
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Nanjing Nuoxi Automation Technology Co Ltd
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Nanjing Nuoxi Automation Technology Co Ltd
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Priority to CN201610236811.0A priority Critical patent/CN105798899B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0241One-dimensional joints
    • B25J17/025One-dimensional joints mounted in series
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means

Abstract

The invention discloses a modular rope-driven decoupling mechanical arm joint and a working method thereof and relates to the field of robots. According to the decoupling mechanism, two different types of modular rope-driven joints are designed, so the problem of motion coupling among all joints of a rope-driven mechanical arm provided with a plurality of joints connected in series is solved. According to the demands of a target task, the rotation type of each joint is changed, and the quantity of the joints of the mechanical aim is increased or reduced, so that assembly of the mechanical arm of a plurality of types of construction can be realized; the application mode and the application range are wide, and the implementation cost is low. A mechanical arm driving unit is arranged at a base, and a rope is used for remote driving, so the rotational inertia of each joint is reduced and the response characteristics of driving are improved. In addition, the interaction safety of the mechanical arm and the environment can be greatly improved due to the flexibility of the rope. The rope-driven modular joint disclosed by the invention is compact in structure, low in rotational inertia, quick in driving response, good in joint flexibility and good in interaction safety.

Description

Modularity rope drives decoupling joint of mechanical arm and method of work thereof
Technical field
The present invention relates to robot field, especially a kind of modularity rope drives decoupling joint of mechanical arm and method of work thereof.
Background technology
The mechanical arm volume mass being widely used at present is big, structure is complicated, rigidity is high, joints' compliance is poor, low with environmental interaction safety.Further, robot load is low from anharmonic ratio, captures load power consumption big, and efficiency is low.In order to reduce weight and the rotary inertia of mechanical arm, improving mechanical arm load from anharmonic ratio, in recent years, a lot of research worker propose novel rope actuation techniques.
Rope actuation techniques adopts rope transmitting movement and power.Motor, driving device are mainly all arranged on pedestal by it, by rope transmitting movement and power to joint, it is achieved the motion in joint.Because driver element is external, and adopting rope drive, the quality of mechanical arm and volume can be greatly reduced.
And by external for driver element, the problem that simultaneously can introduce articular couple.So-called joint motions coupling refers to that the motion in a joint causes the subsidiary motion in another joint.Driving in cascade machine mechanical arm at rope, rope drives can cause that the driving rope in joint, rear end incidentally changes during the joint motions of front end, and then causes the subsidiary rotation in joint.Two kinds of methods are mainly had: one, adopting motion control arithmetic to carry out actively decoupling, along with increasing of joint, the complexity of control algolithm sharply increases currently for joint decoupling;Two, adopting lasso trick transmission, and be absent from motion coupling phenomenon, but it is relatively big to rub between rope and lasso trick, and there is the nonlinear characteristics such as dead band, gap, sluggishness, control accuracy and the dynamic response characteristic of mechanical arm are difficult to ensure that.Accordingly, it would be desirable to a kind of new technical scheme is to solve the problems referred to above.
By the literature search of prior art is found, China Patent No.: CN102672715A, title: one is help the disabled/helped the elderly and drives mechanical arm with rope, this patent disclosure one is help the disabled/is helped the elderly and drives mechanical arm with rope, the drive motor of each cradle head of mechanical arm is arranged in base driving box, utilize rope drive system that the power of drive motor is passed to each cradle head, it is achieved the driving to cradle head.But, this mechanical arm adopts lasso trick driving mechanism, it is difficult to reducing the friction between rope and sleeve in transmission process, and there is many nonlinear characteristics such as dead band, gap, sluggishness, the control accuracy of mechanical arm, dynamic characteristic are difficult to ensure that.Other some documents, as: publication number CN102941573, name is called that a kind of rope drives articulated robot, publication number 1995777A, and name is called the wire cable transmission mechanism for mechanical arm.Cascade machine mechanical arm based on rope drive has been done some useful work by them, but the coupled problem of all unresolved series connection joint rope motion.
Accordingly, it would be desirable to a kind of new technical scheme is to solve the problems referred to above.
Summary of the invention
In order to improve the load of robot from anharmonic ratio, and solve series connection rope and drive each interarticular motion coupled problem of mechanical arm, the invention provides two kinds of modular ropes based on rope mobile decoupling mechanism and drive rotary joint and method thereof.
A kind of rope that the present invention relates to drives revolute joint, it is characterised in that: include revolution pedestal, pivoted link, rope mobile decoupling mechanism, leading block, pivoted link loading bearing;The wherein rotation axis of revolute joint and pivoted link dead in line;
Wherein above-mentioned rope mobile decoupling mechanism realizes rear end is driven the mobile decoupling of rope, it is achieved revolute joint and the mobile decoupling in joint, rear end, includes fast pulley, supporting roller, drivewheel from front to back successively;Wherein fast pulley include fast pulley wheel disc and fast pulley wheel shaft, fast pulley wheel disc and fast pulley wheel shaft mutually be connected can not rotate;Supporting roller is installed on fast pulley wheel shaft, and it is driven by decoupling rope, and axial displacement is limited;This rope mobile decoupling mechanism includes left decoupling rope, right decoupling rope, the left driving in rear end rope, the right driving in rear end rope, the left driving in joint rope, the right driving rope in joint;
Above-mentioned supporting roller includes supporting roller main body, its installed in front has front side wire disk, rear side is provided with rear side wire disk, front side wire disk is identical with rear side wire disk structure, all processing have two donut metallic channels, two donut metallic channels respectively decoupling rope wire annular groove and drive rope wire annular groove;The radius respectively r of decoupling rope wire annular groove and driving rope wire annular groove1,r2;Left fixed pulley module and right fixed pulley module are also installed above supporting roller main body;Left fixed pulley module and right fixed pulley module drive rope fixed pulley composition by a coaxial mounted decoupling rope fixed pulley and one;
Below above-mentioned fast pulley be provided with four through holes parallel with axle axis below drivewheel, and through hole carries out fillet process or installs pulley and be respectively used to the guiding of above-mentioned left decoupling rope, right decoupling rope, the left driving in rear end rope, the right driving rope in rear end;
The front end of above-mentioned left decoupling rope and fast pulley are fixed, initially pass through the corresponding through hole on fast pulley afterwards, left fixed pulley module is arrived from bottom to top in the direction of the clock again along the decoupling rope guiding annular groove of front side wire disk, commutate 180 degree then through left fixed pulley module, lead annular groove from top to bottom counterclockwise again along the decoupling rope of rear side wire disk, after being then passed through the corresponding through hole on drivewheel, the end of rope and drivewheel are fixed;
The front end of above-mentioned right decoupling rope and fast pulley are fixed, initially pass through the corresponding through hole on fast pulley afterwards, right fixed pulley module is arrived from bottom to top counterclockwise again along the decoupling rope guiding annular groove of front side wire disk, commutate 180 degree then through right fixed pulley module, lead annular groove from top to bottom in the direction of the clock again along the decoupling rope of rear side wire disk, after being then passed through the corresponding through hole on drivewheel, the end of rope and drivewheel are fixed;
The front end of the left driving rope in above-mentioned rear end is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley afterwards, left fixed pulley module is arrived from bottom to top in the direction of the clock again along the driving rope guiding annular groove of front side wire disk, commutate 180 degree then through left fixed pulley module, lead annular groove from top to bottom counterclockwise again along the driving rope of rear side wire disk, after being then passed through the corresponding through hole on drivewheel, the end of the left driving rope in rear end is connected with the swivel link in joint, rear end;
The front end of the right driving rope in above-mentioned rear end is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley afterwards, right fixed pulley module is arrived from bottom to top counterclockwise again along the driving rope guiding annular groove of front side wire disk, commutate 180 degree then through right fixed pulley module, lead annular groove from top to bottom in the direction of the clock again along the driving rope of rear side wire disk, after being then passed through the corresponding through hole on drivewheel, the end of the right driving rope in rear end is connected with the swivel link in joint, rear end;
The left front end of driving rope, above-mentioned joint is connected with the driver element in joint, and rear end is connected with drivewheel, and the left driving rope wrapped anti-clockwise in joint is on drivewheel;The right front end of driving rope, above-mentioned joint is connected with the driver element in joint, and rear end is connected with drivewheel, and the right driving rope wound clockwise in joint is on drivewheel;
Clockwise and counterclockwise described in said structure refers both to observe from front to back;
The fast pulley of above-mentioned rope mobile decoupling mechanism is fixing with the revolution pedestal in revolute joint to be connected, and drivewheel is fixed with pivoted link and is connected;
Pivoted link loading bearing inner ring is arranged on fast pulley wheel shaft, and outer ring is arranged in the axis hole of pivoted link, bears the axially and radially load of revolute joint;Leading block is fixedly mounted on revolution pedestal, and the left driving in joint rope, the right driving rope in joint are led.
The method of work of above-mentioned revolute joint, it is characterised in that:
The forward and reverse circular arc cabling utilizing left decoupling rope and right decoupling rope is wound around, realize the half that supporting roller angular velocity of satellite motion is revolute joint angular velocity of rotation ω, it is ω/2, and left decoupling rope and right decoupling rope remain tensioning, it is achieved the forward and reverse reliable driving of supporting roller;
And be wound around by the forward and reverse circular arc cabling of rear end left driving rope and rear end right driving rope, it is achieved rear end left driving rope and rear end right driving rope change in displacement rate is the 2r of supporting roller motion angular speed ω/22Times, wherein r2For rear end left and right driving rope along the cabling radius driving rope guiding annular groove on forward and backward wire disk, ω is the angular velocity of rotation of pivoted link;
The end being rotated joint, the rear end left and right driving rope right-hand member caused by pivoted link will produce+ω Δ tgr2,-ω Δ tgr2Displacement, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;The right-hand member end of joint, the rear end left and right driving rope caused is rotated by generation-2r by supporting roller2gω/2gΔt、+2r2The displacement of g ω/2g Δ t, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;Both realize cancelling out each other;Namely no matter pivoted link drives how drivewheel rotates, and the rear end of the right driving rope of rear end left driving rope and rear end after decoupling mechanism and pivoted link are without relative displacement;
Above-mentioned revolute joint adopts typical rope pair to draw driving;Revolution pedestal maintains static, and when adopting that rope is double; two draws driving, the right front end of driving rope of joint left driving rope and joint and the driver element of revolute joint are fixed, the rear end of rope and the drivewheel consolidation in rope mobile decoupling mechanism;The right driving rope of joint left driving rope and joint is wrapped on drivewheel, and winding direction is contrary;The driving to revolute joint is realized by driving the drawing of ropes to two, putting operation;In driving process, draw, the rope appearance etc. answered of being rivals in a contest, two ropes will not produce tight or lax phenomenon, it is ensured that the reliability of the forward and reverse driving in joint.
A kind of mechanical arm elevation rotary joint driven of restricting that the present invention relates to, it is characterised in that:
Elevation rotary joint includes pitching rotating basis, pitching swivel link, rope mobile decoupling mechanism, pitching swivel link loading bearing;Wherein joint rotation axis is vertical with pitching swivel link axis;
Wherein above-mentioned rope mobile decoupling mechanism, includes fast pulley, supporting roller, drivewheel from front to back successively;Wherein fast pulley includes fast pulley wheel disc and fast pulley wheel shaft, fast pulley wheel disc and fast pulley wheel shaft and is mutually connected, and is fixed from rotating;Supporting roller is installed on fast pulley wheel shaft, and it is driven by decoupling rope, and axial displacement is limited;This rope mobile decoupling mechanism also includes left decoupling rope, right decoupling rope, the left driving in rear end rope, the right driving in rear end rope, the left driving in joint rope, the right driving rope in joint;
Above-mentioned supporting roller includes supporting roller main body, its installed in front has front side wire disk, rear side is provided with rear side wire disk, front side wire disk is identical with rear side wire disk structure, all processing have two donut metallic channels, two donut metallic channels respectively decoupling rope wire annular groove and drive rope wire annular groove;The radius respectively r of decoupling rope wire annular groove and driving rope wire annular groove1,r2;Left fixed pulley module and right fixed pulley module are also installed above supporting roller main body;Left fixed pulley module and right fixed pulley module drive rope fixed pulley composition by a coaxial mounted decoupling rope fixed pulley and one;
Below above-mentioned fast pulley be provided with four through holes parallel with axle axis below drivewheel, and through hole carries out fillet process or installs pulley and be respectively used to the guiding of above-mentioned left decoupling rope, right decoupling rope, the left driving in rear end rope, the right driving rope in rear end;
The front end of above-mentioned left decoupling rope and fast pulley are fixed, initially pass through the corresponding through hole on fast pulley afterwards, left fixed pulley module is arrived from bottom to top in the direction of the clock again along the decoupling rope guiding annular groove of front side wire disk, commutate 180 degree then through left fixed pulley module, lead annular groove from top to bottom counterclockwise again along the decoupling rope of rear side wire disk, after being then passed through the corresponding through hole on drivewheel, the end of rope and drivewheel are fixed;
The front end of above-mentioned right decoupling rope and fast pulley are fixed, initially pass through the corresponding through hole on fast pulley afterwards, right fixed pulley module is arrived from bottom to top counterclockwise again along the decoupling rope guiding annular groove of front side wire disk, commutate 180 degree then through right fixed pulley module, lead annular groove from top to bottom in the direction of the clock again along the decoupling rope of rear side wire disk, after being then passed through the corresponding through hole on drivewheel, the end of rope and drivewheel are fixed;
The front end of the left driving rope in above-mentioned rear end is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley afterwards, left fixed pulley module is arrived from bottom to top in the direction of the clock again along the driving rope guiding annular groove of front side wire disk, commutate 180 degree then through left fixed pulley module, lead annular groove from top to bottom counterclockwise again along the driving rope of rear side wire disk, after being then passed through the corresponding through hole on drivewheel, the end of the left driving rope in rear end is connected with the swivel link in joint, rear end;
The front end of the right driving rope in above-mentioned rear end is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley afterwards, right fixed pulley module is arrived from bottom to top counterclockwise again along the driving rope guiding annular groove of front side wire disk, commutate 180 degree then through right fixed pulley module, lead annular groove from top to bottom in the direction of the clock again along the driving rope of rear side wire disk, after being then passed through the corresponding through hole on drivewheel, the end of the right driving rope in rear end is connected with the swivel link in joint, rear end;
The left front end of driving rope, above-mentioned joint is connected with the driver element in joint, and rear end is connected with drivewheel, and the left driving rope wrapped anti-clockwise in joint is on drivewheel;The right front end of driving rope, above-mentioned joint is connected with the driver element in joint, and rear end is connected with drivewheel, and the right driving rope wound clockwise in joint is on drivewheel;
Clockwise and counterclockwise described in said structure refers both to observe from front to back;
The fast pulley of above-mentioned rope mobile decoupling mechanism is fixing with the pitching rotating basis in elevation rotary joint to be connected, and drivewheel is fixed with pitching swivel link and is connected;Pitching swivel link loading bearing inner ring is arranged on fast pulley wheel shaft, and outer ring is arranged in the axis hole of pitching swivel link, is born the axially and radially load of elevation rotary joint by loading bearing.
The method of work of above-mentioned elevation rotary joint, it is characterised in that:
The forward and reverse circular arc cabling utilizing left decoupling rope and right decoupling rope is wound around, realize the half that supporting roller angular velocity of satellite motion is elevation rotary joint angular velocity of rotation ω, it is ω/2, and left decoupling rope and right decoupling rope remain tensioning, it is achieved the forward and reverse reliable driving of supporting roller;
And be wound around by the forward and reverse circular arc cabling of rear end left driving rope and rear end right driving rope, it is achieved rear end left driving rope and rear end right driving rope change in displacement rate is the 2r of supporting roller motion angular speed ω/22Times, wherein r2For rear end left and right driving rope along the cabling radius driving rope guiding annular groove on forward and backward wire disk, ω is the angular velocity of rotation of pitching swivel link;
The end being rotated joint, the rear end left and right driving rope right-hand member caused by pitching swivel link will produce+ω Δ tgr2,-ω Δ tgr2Displacement, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;The right-hand member end of joint, the rear end left and right driving rope caused is rotated by generation-2r by supporting roller2gω/2gΔt、+2r2The displacement of g ω/2g Δ t, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;Both realize cancelling out each other;Namely no matter pitching swivel link drives how drivewheel rotates, the rear end of the right driving rope of rear end left driving rope and rear end after rope mobile decoupling mechanism with pitching swivel link without relative displacement;
Above-mentioned elevation rotary joint adopts typical rope pair to draw driving;Pitching rotating basis maintains static, and the right front end of driving rope of joint left driving rope and joint and the driver element of revolute joint are fixed, the rear end of rope and the drivewheel consolidation in rope mobile decoupling mechanism;The right driving rope of joint left driving rope and joint is wrapped on drivewheel, and winding direction is contrary;The driving to elevation rotary joint is realized by driving the drawing of ropes to two, putting operation;In driving process, draw, the rope appearance etc. answered of being rivals in a contest, two ropes will not produce tight or lax phenomenon, it is ensured that the reliability of the forward and reverse driving in joint.
Compared with prior art, the invention have the advantages that and effect:
Two kinds of ropes that the present invention proposes drive joint of mechanical arm, and its driver element is positioned over pedestal place, adopts rope remote boot server, improves the load driving response characteristic from anharmonic ratio and joint of mechanical arm.The present invention is directed to joint motions coupling, devise a kind of rope mobile decoupling mechanism, simple and reliable, it is easy to accomplish.The motion that this mechanism realizes joint is independent, reduces the complexity of motion control arithmetic.Two kinds of modularity ropes of the present invention drive joint of mechanical arm, and each joint all can realize the rotation of 0~300 ° of scope, and work space is big, and response performance is good.And in actual application, it is possible to the requirement according to operation target, the kind in conversion joint, the number of degrees of freedom, of increase and decrease mechanical arm, it is achieved the assembling of multiple configuration mechanical arm, applied range, it is achieved cost is low.
Accompanying drawing explanation
Fig. 1 is the structural representation of rope mobile decoupling mechanism;
Fig. 2 is the structural representation of revolute joint;
Fig. 3 is the structural representation of elevation rotary joint;
Fig. 4 is the schematic diagram of each rope cabling in rope mobile decoupling mechanism, and wherein the left side is the cabling schematic diagram that decoupling rope and rear end drive rope;The right is joint drive rope cabling schematic diagram;
Fig. 5 is the Uncoupled procedure schematic diagram that rear end drives rope, and wherein the left side is that drivewheel rotates, and rear end drives rope cabling schematic diagram;The right rotates for supporting roller, and rear end drives rope cabling schematic diagram;
Fig. 6 is the structural representation of multiple configuration mechanical arm;
Fig. 7 is waist joint supporting roller and rope cabling schematic diagram thereof, and wherein the left side is the structural representation of waist revolute joint place supporting roller;The right is the structural representation of each rope cabling in waist revolute joint place;
Fig. 8 is shoulder joints supporting roller and rope cabling schematic diagram thereof, and wherein the left side is the structural representation of shoulder pitch rotary joint place supporting roller;The right is the structural representation of each rope cabling in shoulder pitch rotary joint place;
Number in the figure title: 1 revolute joint;2 elevation rotary joint;3 rope mobile decoupling mechanisms;The rope of more than 4 kind of configuration drives mechanical arm;11 revolution pedestals;12 pivoted links;13 leading blocks;14 pivoted link loading bearings;
21 pitching rotating basiss;22 pitching swivel link;23 pitching rotate loading bearing;
31 fast pulleys;32 supporting rollers;Wire disk on front side of 32-1;32-2 supporting roller main body;Wire disk on rear side of 32-3;The left fixed pulley module of 32-4;The right fixed pulley module of 32-5;33 drivewheels;The left decoupling rope of 34-1;The right decoupling rope of 34-2;The left driving rope in 35-1 rear end;The right driving rope in 35-2 rear end;The left driving rope in 36-1 joint;The right driving rope in 36-2 joint;
41 articulated ropes drive mechanical arm;The first four-degree-of-freedom Joint Manipulator of 41-1;41-2 the second four-degree-of-freedom Joint Manipulator;41-3 Three Degree Of Freedom Joint Manipulator;42 wrist formula ropes drive mechanical arm;43SCARA formula rope drives mechanical arm;
51 waist revolute joints;52 shoulder pitch rotary joints;53 ancon elevation rotary joint, 54 wrist elevation rotary joint.
Detailed description of the invention
Accompanying drawing discloses the involved in the present invention structural representation being preferable to carry out without limitation, explains technical scheme below with reference to accompanying drawing.
Refer to shown in Fig. 1,4,5, it is provided that a kind of mechanism driving the rope passive decoupling of motion driving cascade machine mechanical arm for rope.Rope mobile decoupling mechanism 3, includes fast pulley 31, supporting roller 32, drivewheel 33 from front to back successively;Wherein fast pulley 31 includes fast pulley wheel disc and fast pulley wheel shaft, fast pulley wheel disc and fast pulley wheel shaft and is mutually connected, and is fixed from rotating;Supporting roller 32 is installed on fast pulley wheel shaft, and it is driven by decoupling rope, and axial displacement is limited;This rope mobile decoupling mechanism 3 also includes left decoupling rope 34-1, right decoupling rope 34-2, the left driving in rear end rope 35-1, the right driving in rear end rope 35-2, the left driving in joint rope 36-1, the right driving rope 36-2 in joint;
Above-mentioned supporting roller 32 includes supporting roller main body 32-2, its installed in front has front side wire disk (32-1), rear side is provided with rear side wire disk (32-3), front side wire disk (32-1) is identical with rear side wire disk (32-3) structure, all processing have two donut metallic channels, two donut metallic channels respectively decoupling rope wire annular groove and drive rope wire annular groove;The radius respectively r of decoupling rope wire annular groove and driving rope wire annular groove1,r2;Left fixed pulley module 32-4 and right fixed pulley module 32-5 is also installed above supporting roller main body 32-2;Left fixed pulley module 32-4 and right fixed pulley module 32-5 drives rope fixed pulley composition by a coaxial mounted decoupling rope fixed pulley and one;Below fast pulley 31 be provided with four through holes parallel with axle axis below drivewheel 33, for above-mentioned left decoupling rope 34-1, right decoupling rope 34-2, the left driving in rear end rope 35-1, the right driving rope 35-2 in rear end guiding;
The front end of above-mentioned left decoupling rope 34-1 is fixed with fast pulley 31, initially pass through the corresponding through hole on fast pulley 31 afterwards, left fixed pulley module 32-4 is arrived from bottom to top in the direction of the clock again along the decoupling rope guiding annular groove of front side wire disk 32-1, commutate 180 degree then through left fixed pulley module 32-4, lead annular groove from top to bottom counterclockwise again along the decoupling rope of rear side wire disk 32-3, after being then passed through the corresponding through hole on drivewheel 33, the end of rope is fixed with drivewheel 33;
The front end of above-mentioned right decoupling rope 34-2 is fixed with fast pulley 31, initially pass through the corresponding through hole on fast pulley 31 afterwards, right fixed pulley module 32-5 is arrived from bottom to top counterclockwise again along the decoupling rope guiding annular groove of front side wire disk 32-1, commutate 180 degree then through right fixed pulley module 32-5, lead annular groove from top to bottom in the direction of the clock again along the decoupling rope of rear side wire disk 32-3, after being then passed through the corresponding through hole on drivewheel 33, the end of rope is fixed with drivewheel 33;
The front end of the left driving rope 35-1 in above-mentioned rear end is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley 31 afterwards, left fixed pulley module 32-4 is arrived from bottom to top in the direction of the clock again along the driving rope guiding annular groove of front side wire disk 32-1, commutate 180 degree then through left fixed pulley module 32-4, lead annular groove from top to bottom counterclockwise again along the driving rope of rear side wire disk 32-3, after being then passed through the corresponding through hole on drivewheel 33, the left end of driving rope 35-1 in rear end is connected with the swivel link in joint, rear end;
The front end of the right driving rope 35-2 in above-mentioned rear end is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley 31 afterwards, right fixed pulley module 32-5 is arrived from bottom to top counterclockwise again along the driving rope guiding annular groove of front side wire disk 32-1, commutate 180 degree then through right fixed pulley module 32-5, lead annular groove from top to bottom in the direction of the clock again along the driving rope of rear side wire disk 32-3, after being then passed through the corresponding through hole on drivewheel 33, the right end of driving rope 35-2 in rear end is connected with the swivel link in joint, rear end;
The front end of the left driving rope 36-1 in above-mentioned joint is connected with the driver element in joint, and rear end is connected with drivewheel 33, and the left driving in joint rope 36-1 wrapped anti-clockwise is on drivewheel 33;
The front end of the right driving rope 36-2 in above-mentioned joint is connected with the driver element in joint, and rear end is connected with drivewheel 33, and the right driving in joint rope 36-2 wound clockwise is on drivewheel 33;
Clockwise and counterclockwise described in said structure refers both to observe from front to back;
Above-mentioned left decoupling rope 34-1, right decoupling rope 34-2 are used for driving supporting roller 32.When drivewheel 33 rotates with Fig. 1 direction, with the right decoupling rope 34-2 tensioning of drivewheel 33 consolidation, left decoupling rope 34-1 relaxes.When the decoupling rope guide ring groove radius on front side wire disk 32-1, rear side wire disk 32-3 is equal, can ensure that the angular velocity that supporting roller 32 rotates is drivewheel 33 rotational angular velocity ω 1/2, and rotated by drivewheel 33 and cause that fixing end (on the drivewheel 33) displacement of right decoupling rope 34-2 is sized to ω Δ tgr1, right decoupling rope 34-2 drive supporting roller 32 to cause that fixing end (on the drivewheel 33) displacement of left decoupling rope 34-1 is sized to ω/2 Δ tg2r1=ω Δ tgr1, displacement is equal in magnitude.Thereby guarantee that left decoupling rope 34-1, right decoupling rope 34-2 will not produce the phenomenon that certain root decoupling rope is excessively tight or generation is lax, it is ensured that the reliability of the forward and reverse driving of supporting roller 32;
The left driving in above-mentioned rear end rope 35-1, the right driving rope 35-2 in rear end, owing to the left driving in rear end rope 35-1, the right driving rope 35-2 in rear end are wound around along the guiding annular groove on front side wire disk 32-1, rear side wire disk 32-3, and the driving rope guide ring groove radius on front side wire disk 32-1, rear side wire disk 32-3 is equal, is r2, so supporting roller 32 rotate cause the left driving in rear end rope 35-1, the right driving in rear end rope 35-2 right end rate of change be the 2r of supporting roller turning rate2Times.When drivewheel 33 rotates with direction shown in Fig. 1, ω angular velocity, by the guiding of through hole on drivewheel 33, the left driving rope 35-1 in rear end departs from along the guiding annular groove on rear side wire disk 32-3, and the right end of the left driving rope 35-1 in rear end produces+ω Δ tgr2Displacement, and the right driving rope 35-2 in rear end is wound around along the guiding annular groove on rear side wire disk 32-3, the right end of the right driving rope 35-2 in rear end produces-ω Δ tgr2(ω is the angular velocity of rotation of drivewheel 33, r in displacement2For front side wire disk 32-1, rear side wire disk 32-3 drive the radius of rope guiding annular groove, with upwardly directed for just along rope in Fig. 5).As shown in Figure 4,5, due to the driving of left decoupling rope 34-1, right decoupling rope 34-2, supporting roller 32 follows drivewheel 33 rotating in same direction with ω/2 angular velocity, the angle ω Δ t/2 that supporting roller rotates.Because supporting roller 32 rotates the left driving in rear end rope 35-1, the speed of the right driving in rear end rope 35-2 right end is the 2r of supporting roller angular speed2Times, so the displacement of the right end of the left driving in rear end rope 35-1, the right driving rope 35-2 in rear end is sized to ω Δ t/2g2r2=ω Δ tgr2.The rotation of supporting roller, causes that the left driving rope 35-1 in rear end may proceed to be wound around along the guiding annular groove on front side, rear side wire disk, and coiling length is ω Δ tgr2, namely the right-hand member of the left driving rope 35-1 in rear end will generation-ω Δ tgr2Displacement.A part of the right driving rope 35-2 in rear end will depart from along the guiding annular groove on front side, rear side wire disk, and departing from length is ω Δ tgr2, namely the right-hand member of the right driving rope 35-2 in rear end will produce+ω Δ tgr2Displacement (upwardly directed along rope in Fig. 5 is just).The left driving in rear end rope 35-1, the right driving rope 35-2 in rear end are after decoupling module, end on the right side of them and between drivewheel 33 without relative movement, namely the rope 35 that drives in joint, rear end does not produce relative movement because of the rotation of drivewheel 33, it is achieved that the passive decoupling of rope motion;
Refer to shown in Fig. 2, based on the revolute joint 1 that rope drives, the rotation axis in its joint and pivoted link 12 dead in line.Revolute joint 1 includes revolution pedestal 11, pivoted link 12, rope mobile decoupling mechanism 3, leading block 13, pivoted link loading bearing 14.Rope mobile decoupling mechanism 3 realizes rear end is driven the mobile decoupling of rope, it is achieved the mobile decoupling in revolute joint 1 and joint, rear end.The fast pulley 31 of above-mentioned rope mobile decoupling mechanism 3 is fixing with the revolution pedestal 11 in revolute joint 1 to be connected, and drivewheel 33 is fixed with pivoted link 12 and is connected.Pivoted link loading bearing 14 inner ring is arranged on the wheel shaft of fast pulley 31, and outer ring is arranged in the axis hole of pivoted link 12, is born the axially and radially load of revolute joint 1 by loading bearing.Leading block 13 is fixedly mounted on revolution pedestal 11, and the left driving in joint rope 36-1, the right driving rope 36-2 in joint are led.The driving of above-mentioned revolute joint 1, adopts and drives that rope is double; two draws drive pattern, and the left driving in joint rope 36-1, the right driving rope 36-2 in joint fix with drivewheel 33, by the drawing of two ropes, put operation and realize the driving to revolute joint 1.
Refer to shown in Fig. 3, elevation rotary joint 2, adopt rope to drive.Joint rotation axis is vertical with pitching swivel link 22 axis.Elevation rotary joint 2, including pitching rotating basis 21, pitching swivel link 22, rope mobile decoupling mechanism 3, pitching swivel link loading bearing 23.Rope mobile decoupling mechanism 3 realizes rear end is driven the mobile decoupling of rope, it is achieved the mobile decoupling in elevation rotary joint 2 and joint, rear end.The fast pulley 31 of above-mentioned rope mobile decoupling mechanism 3 is fixing with the pitching rotating basis 21 in elevation rotary joint 2 to be connected, and drivewheel 33 is fixed with pitching swivel link 22 and is connected.Pitching swivel link loading bearing 23 inner ring is arranged on the wheel shaft of fast pulley 31, and outer ring is arranged in the axis hole of pitching swivel link 22, is born the axially and radially load of elevation rotary joint 2 by loading bearing.Elevation rotary joint adopts typical rope pair to draw drive pattern, by the left driving in joint rope 36-1, the right driving rope 36-2 in joint draw, put operation drive pitching swivel link 22.
Consult shown in Fig. 6, for based on two kinds rope drive modular rotary joints, it is proposed to multiple configuration rope drive mechanical arm structural representation.According to different operation tasks, form the rope driving mechanical arm of articulated type, wrist type, SCARA formula configuration.Articulated rope drives mechanical arm 41 to be divided into Three Degree Of Freedom Joint Manipulator 41-3, the first four-degree-of-freedom Joint Manipulator 41-1, the second four-degree-of-freedom Joint Manipulator 41-2 by number of degrees of freedom,.Three Degree Of Freedom Joint Manipulator 41-3 is followed successively by revolute joint 1, elevation rotary joint 2, elevation rotary joint 2 from pedestal to mechanical arm tail end;The first four-degree-of-freedom Joint Manipulator 41-1 is followed successively by revolute joint 1, elevation rotary joint 2, elevation rotary joint 2, elevation rotary joint 2 from pedestal to mechanical arm tail end;The second four-degree-of-freedom Joint Manipulator 41-2 is followed successively by revolute joint 1, elevation rotary joint 2, elevation rotary joint 2, revolute joint 1 from pedestal to mechanical arm tail end;Wrist formula rope drives mechanical arm 42, and the rotation axis in three joints meets at a bit, containing three degree of freedom, respectively is revolute joint 1, elevation rotary joint 2, revolute joint 1;SCARA formula rope drives mechanical arm 43 to have three degree of freedom, is followed successively by revolute joint 1, revolute joint 1, revolute joint 1.
Consulting shown in Fig. 6, the first four-degree-of-freedom Joint Manipulator 41-1 is the first preferred embodiments.This mechanical arm includes waist revolute joint 51, shoulder pitch rotary joint 52, ancon elevation rotary joint 53, wrist elevation rotary joint 54.Waist revolute joint 51, rotates around vertical axle.Shoulder pitch rotary joint 52 does elevating movement around trunnion axis, and ancon elevation rotary joint 53 does elevating movement around trunnion axis, and wrist elevation rotary joint 54 does elevating movement around trunnion axis.The rope mobile decoupling mechanism at waist revolute joint 51 place, realize the mobile decoupling of waist revolute joint 51 and shoulder, ancon, wrist elevation rotary joint, shown in its supporting roller structural representation left figure of such as Fig. 7, being wound with six roots of sensation rear end joint drive rope and two decoupling ropes on this supporting roller, the six roots of sensation drives rope to correspond to the driving rope of shoulder, ancon, wrist elevation rotary joint respectively.Supporting roller has four concentrically ringed troughs for rope cabling (for rear end joint drive rope cabling, a trough is used for the cabling of decoupling rope to three troughs).The right figure of Fig. 7 is the rope cabling schematic diagram at waist revolute joint 51 place;The rope mobile decoupling mechanism at shoulder pitch rotary joint 52 place, it is achieved the mobile decoupling of shoulder pitch rotary joint 52 and ancon elevation rotary joint 53, wrist elevation rotary joint 54, shown in its supporting roller structural representation left figure of such as Fig. 8.This supporting roller is wound with four rear end joint drive ropes and two decoupling ropes, four drive the driving rope that rope corresponds to ancon, wrist elevation rotary joint respectively, supporting roller has three concentrically ringed troughs for rope cabling (for rear end joint drive rope cabling, a trough is used for the cabling of decoupling rope to two troughs).The right figure of Fig. 8 is the rope cabling schematic diagram at shoulder revolute joint 52 place;The rope mobile decoupling mechanism at ancon elevation rotary joint 53 place, it is achieved the mobile decoupling of ancon elevation rotary joint 53 and wrist elevation rotary joint 54.The supporting roller of its rope mobile decoupling mechanism is as shown in fig. 1.Wrist elevation rotary joint 54 is not because having joint, rear end, it is not necessary to rope is carried out decoupling, so not having rope mobile decoupling mechanism in wrist elevation rotary joint 54.

Claims (4)

1. a modularity rope drives decoupling mechanical arm revolute joint, it is characterised in that:
Including revolution pedestal (11), pivoted link (12), rope mobile decoupling mechanism (3), leading block (13), pivoted link loading bearing (14);The wherein rotation axis of revolute joint (1) and pivoted link (12) dead in line;
Wherein above-mentioned rope mobile decoupling mechanism (3) realizes rear end is driven the mobile decoupling of rope, realize the mobile decoupling of revolute joint (1) and joint, rear end, include fast pulley (31), supporting roller (32), drivewheel (33) from front to back successively;Wherein fast pulley (31) include fast pulley wheel disc and fast pulley wheel shaft, fast pulley wheel disc and fast pulley wheel shaft mutually be connected can not rotate;Supporting roller (32) is installed on fast pulley wheel shaft, and it is driven by decoupling rope, and axial displacement is limited;This rope mobile decoupling mechanism (3) includes left decoupling rope (34-1), right decoupling rope (34-2), the left driving in rear end rope (35-1), the right driving in rear end rope (35-2), the left driving in joint rope (36-1), the right driving rope (36-2) in joint;
Above-mentioned supporting roller (32) includes supporting roller main body (32-2), its installed in front has front side wire disk (32-1), rear side is provided with rear side wire disk (32-3), front side wire disk (32-1) is identical with rear side wire disk (32-3) structure, all processing have two donut metallic channels, two donut metallic channels respectively decoupling rope wire annular groove and drive rope wire annular groove;The radius respectively r of decoupling rope wire annular groove and driving rope wire annular groove1,r2;Left fixed pulley module (32-4) and right fixed pulley module (32-5) are also installed in supporting roller main body (32) top;Left fixed pulley module (32-4) and right fixed pulley module (32-5) drive rope fixed pulley composition by a coaxial mounted decoupling rope fixed pulley and one;
Above-mentioned fast pulley (31) lower section and drivewheel (33) lower section are provided with four through holes parallel with axle axis, and through hole carries out fillet process or installation pulley is respectively used to the guiding of above-mentioned left decoupling rope (34-1), right decoupling rope (34-2), the left driving in rear end rope (35-1), the right driving rope (35-2) in rear end;
The front end of above-mentioned left decoupling rope (34-1) is fixed with fast pulley (31), initially pass through the corresponding through hole on fast pulley (31) afterwards, left fixed pulley module (32-4) is arrived from bottom to top in the direction of the clock again along the decoupling rope guiding annular groove of front side wire disk (32-1), 180 degree are commutated then through left fixed pulley module (32-4), lead annular groove from top to bottom counterclockwise again along the decoupling rope of rear side wire disk (32-3), after being then passed through the corresponding through hole on drivewheel (33), the end of rope is fixed with drivewheel (33);
The front end of above-mentioned right decoupling rope (34-2) is fixed with fast pulley (31), initially pass through the corresponding through hole on fast pulley (31) afterwards, right fixed pulley module (32-5) is arrived from bottom to top counterclockwise again along the decoupling rope guiding annular groove of front side wire disk (32-1), 180 degree are commutated then through right fixed pulley module (32-5), lead annular groove from top to bottom in the direction of the clock again along the decoupling rope of rear side wire disk (32-3), after being then passed through the corresponding through hole on drivewheel (33), the end of rope is fixed with drivewheel (33);
The front end of the left driving rope (35-1) in above-mentioned rear end is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley (31) afterwards, left fixed pulley module (32-4) is arrived from bottom to top in the direction of the clock again along the driving rope guiding annular groove of front side wire disk (32-1), 180 degree are commutated then through left fixed pulley module (32-4), lead annular groove from top to bottom counterclockwise again along the driving rope of rear side wire disk (32-3), after being then passed through the corresponding through hole on drivewheel (33), the left end of driving rope (35-1) in rear end is connected with the swivel link in joint, rear end;
The front end of the right driving rope (35-2) in above-mentioned rear end is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley (31) afterwards, right fixed pulley module (32-5) is arrived from bottom to top counterclockwise again along the driving rope guiding annular groove of front side wire disk (32-1), 180 degree are commutated then through right fixed pulley module (32-5), lead annular groove from top to bottom in the direction of the clock again along the driving rope of rear side wire disk (32-3), after being then passed through the corresponding through hole on drivewheel (33), the right end of driving rope (35-2) in rear end is connected with the swivel link in joint, rear end;
The front end of the left driving rope (36-1) in above-mentioned joint is connected with the driver element in joint, and rear end is connected with drivewheel (33), and joint left driving rope (36-1) wrapped anti-clockwise is on drivewheel (33);
The front end of the right driving rope (36-2) in above-mentioned joint is connected with the driver element in joint, and rear end is connected with drivewheel (33), and joint right driving rope (36-2) wound clockwise is on drivewheel (33);
Clockwise and counterclockwise described in said structure refers both to observe from front to back;
The fast pulley (31) of above-mentioned rope mobile decoupling mechanism (3) is fixing with the revolution pedestal (11) in revolute joint (1) to be connected, and drivewheel (33) is fixing with pivoted link (12) to be connected;
Pivoted link loading bearing (14) inner ring is arranged on fast pulley wheel shaft, and outer ring is arranged in the axis hole of pivoted link (12), bears the axially and radially load of revolute joint (1);Leading block (13) is fixedly mounted in revolution pedestal (11), and the left driving in joint rope (36-1), the right driving rope (36-2) in joint are led.
2. the method for work of decoupling mechanical arm revolute joint is driven according to modularity rope described in claim 1, it is characterised in that:
The forward and reverse circular arc cabling utilizing left decoupling rope (34-1) and right decoupling rope (34-2) is wound around, realize the half that supporting roller (32) angular velocity of satellite motion is revolute joint angular velocity of rotation ω, it is ω/2, and left decoupling rope (34-1) and right decoupling rope (34-2) remain tensioning, it is achieved the forward and reverse reliable driving of supporting roller (32);
And by the winding of the left driving in rear end rope (35-1) and rear end right driving rope (35-2) forward and reverse circular arc cabling, it is achieved the left driving in rear end rope (35-1) and rear end right driving rope (35-2) change in displacement rate is the 2r of supporting roller (32) motion angular speed ω/22Times, wherein r2For rear end left and right driving rope along the cabling radius driving rope guiding annular groove on forward and backward wire disk, ω is the angular velocity of rotation of pivoted link (12);
The end being rotated joint, the rear end left and right driving rope right-hand member caused by pivoted link (12) will produce+ω Δ tgr2,-ω Δ tgr2Displacement, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;The right-hand member end of joint, the rear end left and right driving rope caused is rotated by generation-2r by supporting roller (32)2gω/2gΔt、+2r2The displacement of g ω/2g Δ t, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;Both realize cancelling out each other;Namely no matter pivoted link (12) drives how drivewheel (33) rotates, and the rear end of the right driving rope (35-2) of the left driving in rear end rope (35-1) and rear end after decoupling mechanism and pivoted link (12) are without relative displacement;
Above-mentioned revolute joint (1) adopts typical rope pair to draw driving;Revolution pedestal (11) maintains static, when adopting rope pair to draw driving, the right front end of driving rope (36-2) of the left driving in joint rope (36-1) and joint and the driver element of revolute joint are fixed, and the rear end of rope consolidates with the drivewheel (33) in rope mobile decoupling mechanism (3);The right driving rope (36-2) of the left driving in joint rope (36-1) and joint is wrapped on drivewheel (33), and winding direction is contrary;The driving to revolute joint (1) is realized by driving the drawing of ropes to two, putting operation;In driving process, draw, the rope appearance etc. answered of being rivals in a contest, two ropes will not produce tight or lax phenomenon, it is ensured that the reliability of the forward and reverse driving in joint.
3. a modularity rope drives decoupling mechanical arm elevation rotary joint, it is characterised in that:
Elevation rotary joint (2) includes pitching rotating basis (21), pitching swivel link (22), rope mobile decoupling mechanism (3), pitching swivel link loading bearing (23);Wherein joint rotation axis is vertical with pitching swivel link (22) axis;
Wherein above-mentioned rope mobile decoupling mechanism (3), includes fast pulley (31), supporting roller (32), drivewheel (33) from front to back successively;Wherein fast pulley (31) includes fast pulley wheel disc and fast pulley wheel shaft, fast pulley wheel disc and fast pulley wheel shaft and is mutually connected, and is fixed from rotating;Supporting roller (32) is installed on fast pulley wheel shaft, and it is driven by decoupling rope, and axial displacement is limited;This rope mobile decoupling mechanism (3) also includes left decoupling rope (34-1), right decoupling rope (34-2), the left driving in rear end rope (35-1), the right driving in rear end rope (35-2), the left driving in joint rope (36-1), the right driving rope (36-2) in joint;
Above-mentioned supporting roller (32) includes supporting roller main body (32-2), its installed in front has front side wire disk (32-1), rear side is provided with rear side wire disk (32-3), front side wire disk (32-1) is identical with rear side wire disk (32-3) structure, all processing have two donut metallic channels, two donut metallic channels respectively decoupling rope wire annular groove and drive rope wire annular groove;The radius respectively r of decoupling rope wire annular groove and driving rope wire annular groove1,r2;Left fixed pulley module (32-4) and right fixed pulley module (32-5) are also installed in supporting roller main body (32) top;Left fixed pulley module (32-4) and right fixed pulley module (32-5) drive rope fixed pulley composition by a coaxial mounted decoupling rope fixed pulley and one;
Above-mentioned fast pulley (31) lower section and drivewheel (33) lower section are provided with four through holes parallel with axle axis, and through hole carries out fillet process or installation pulley is respectively used to the guiding of above-mentioned left decoupling rope (34-1), right decoupling rope (34-2), the left driving in rear end rope (35-1), the right driving rope (35-2) in rear end;
The front end of above-mentioned left decoupling rope (34-1) is fixed with fast pulley (31), initially pass through the corresponding through hole on fast pulley (31) afterwards, left fixed pulley module (32-4) is arrived from bottom to top in the direction of the clock again along the decoupling rope guiding annular groove of front side wire disk (32-1), 180 degree are commutated then through left fixed pulley module (32-4), lead annular groove from top to bottom counterclockwise again along the decoupling rope of rear side wire disk (32-3), after being then passed through the corresponding through hole on drivewheel (33), the end of rope is fixed with drivewheel (33);
The front end of above-mentioned right decoupling rope (34-2) is fixed with fast pulley (31), initially pass through the corresponding through hole on fast pulley (31) afterwards, right fixed pulley module (32-5) is arrived from bottom to top counterclockwise again along the decoupling rope guiding annular groove of front side wire disk (32-1), 180 degree are commutated then through right fixed pulley module (32-5), lead annular groove from top to bottom in the direction of the clock again along the decoupling rope of rear side wire disk (32-3), after being then passed through the corresponding through hole on drivewheel (33), the end of rope is fixed with drivewheel (33);
The front end of the left driving rope (35-1) in above-mentioned rear end is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley (31) afterwards, left fixed pulley module (32-4) is arrived from bottom to top in the direction of the clock again along the driving rope guiding annular groove of front side wire disk (32-1), 180 degree are commutated then through left fixed pulley module (32-4), lead annular groove from top to bottom counterclockwise again along the driving rope of rear side wire disk (32-3), after being then passed through the corresponding through hole on drivewheel (33), the left end of driving rope (35-1) in rear end is connected with the swivel link in joint, rear end;
The front end of the right driving rope (35-2) in above-mentioned rear end is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley (31) afterwards, right fixed pulley module (32-5) is arrived from bottom to top counterclockwise again along the driving rope guiding annular groove of front side wire disk (32-1), 180 degree are commutated then through right fixed pulley module (32-5), lead annular groove from top to bottom in the direction of the clock again along the driving rope of rear side wire disk (32-3), after being then passed through the corresponding through hole on drivewheel (33), the right end of driving rope (35-2) in rear end is connected with the swivel link in joint, rear end;
The front end of the left driving rope (36-1) in above-mentioned joint is connected with the driver element in joint, and rear end is connected with drivewheel (33), and joint left driving rope (36-1) wrapped anti-clockwise is on drivewheel (33);
The front end of the right driving rope (36-2) in above-mentioned joint is connected with the driver element in joint, and rear end is connected with drivewheel (33), and joint right driving rope (36-2) wound clockwise is on drivewheel (33);
Clockwise and counterclockwise described in said structure refers both to observe from front to back;
The fast pulley (31) of above-mentioned rope mobile decoupling mechanism (3) is fixing with the pitching rotating basis (21) in elevation rotary joint (2) to be connected, and drivewheel (33) is fixing with pitching swivel link (22) to be connected;Pitching swivel link loading bearing (23) inner ring is arranged on fast pulley wheel shaft, and outer ring is arranged in the axis hole of pitching swivel link (22), is born the axially and radially load of elevation rotary joint (2) by loading bearing.
4. the method for work of decoupling mechanical arm elevation rotary joint is driven according to modularity rope described in claim 3, it is characterised in that:
The forward and reverse circular arc cabling utilizing left decoupling rope (34-1) and right decoupling rope (34-2) is wound around, realize the half that supporting roller (32) angular velocity of satellite motion is elevation rotary joint angular velocity of rotation ω, it is ω/2, and left decoupling rope (34-1) and right decoupling rope (34-2) remain tensioning, it is achieved the forward and reverse reliable driving of supporting roller (32);
And by the winding of the left driving in rear end rope (35-1) and rear end right driving rope (35-2) forward and reverse circular arc cabling, it is achieved the left driving in rear end rope (35-1) and rear end right driving rope (35-2) change in displacement rate is the 2r of supporting roller (32) motion angular speed ω/22Times, wherein r2For rear end left and right driving rope along the cabling radius driving rope guiding annular groove on forward and backward wire disk, ω is the angular velocity of rotation of pitching swivel link (22);
The end being rotated joint, the rear end left and right driving rope right-hand member caused by pitching swivel link (22) will produce+ω Δ tgr2,-ω Δ tgr2Displacement, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;The right-hand member end of joint, the rear end left and right driving rope caused is rotated by generation-2r by supporting roller (32)2gω/2gΔt、+2r2The displacement of g ω/2g Δ t, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;Both realize cancelling out each other;Namely no matter pitching swivel link (22) drives how drivewheel (33) rotates, and the rear end of the right driving rope (35-2) of the left driving in rear end rope (35-1) and rear end after rope mobile decoupling mechanism (3) and pitching swivel link (22) are without relative displacement;
Above-mentioned elevation rotary joint (2) adopts typical rope pair to draw driving;Pitching rotating basis (21) maintains static, the right front end of driving rope (36-2) of the left driving in joint rope (36-1) and joint and the driver element of revolute joint are fixed, and the rear end of rope consolidates with the drivewheel (33) in rope mobile decoupling mechanism (3);The right driving rope (36-2) of the left driving in joint rope (36-1) and joint is wrapped on drivewheel (33), and winding direction is contrary;The driving to elevation rotary joint (2) is realized by driving the drawing of ropes to two, putting operation;In driving process, draw, the rope appearance etc. answered of being rivals in a contest, two ropes will not produce tight or lax phenomenon, it is ensured that the reliability of the forward and reverse driving in joint.
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