CN105798899B - Modularization rope driving decoupling joint of mechanical arm and its method of work - Google Patents

Modularization rope driving decoupling joint of mechanical arm and its method of work Download PDF

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Publication number
CN105798899B
CN105798899B CN201610236811.0A CN201610236811A CN105798899B CN 105798899 B CN105798899 B CN 105798899B CN 201610236811 A CN201610236811 A CN 201610236811A CN 105798899 B CN105798899 B CN 105798899B
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China
Prior art keywords
rope
driving
joint
decoupling
wheel
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CN105798899A (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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    • 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 kind of modularization rope driving decoupling joint of mechanical arm and its method of work, it is related to robot field.The decoupling mechanism, devises two distinct types of modularization rope driving joint, solves each interarticular motion coupled problem that joint series rope drives mechanical arm.According to the demand of goal task, convert the rotation type in joint, increase and decrease the number of joint of mechanical arm, realize the assembling of a variety of configuration mechanical arms, the application mode has a wide range of application, and cost of implementation is low.Because the mechanical arm driver element is placed at pedestal, using rope remote boot server, the rotary inertia in joint is reduced, the response characteristic of driving is improved.Also, the compliance of rope will greatly promote the security of mechanical arm and environmental interaction.The rope drive module articulation structure of the present invention is compact, and rotary inertia is low, driving response is fast, and joints' compliance is good, and secure interactive is good.

Description

Modularization rope driving decoupling joint of mechanical arm and its method of work
Technical field
The present invention relates to robot field, especially a kind of modularization rope driving decoupling joint of mechanical arm and its work side Method.
Background technology
The mechanical arm volume mass that is widely used at present is big, complicated, rigidity is high, joints' compliance is poor, with environment friendship Mutual security is low.Also, robot loads deadweight than low, captures load power consumption greatly, efficiency is low.In order to reduce the weight of mechanical arm And rotary inertia, mechanical arm load deadweight ratio is improved, in recent years, many researchers propose new rope actuation techniques.
Actuation techniques of restricting transmit motion and power using rope.It mainly by motor, drive device all on pedestal, By rope transmission motion and power to joint, the motion in joint is realized.Because driver element is external, and is passed using rope Dynamic, the quality and volume of mechanical arm can be greatly reduced.
And driver element is external, while the problem of articular couple being introduced.So-called joint motions coupling refers to a pass The motion of section causes the subsidiary motion in another joint.In rope driving series connection mechanical arm, during rope driving front end joint motions The driving rope in rear end joint can be caused incidentally to change, and then cause the subsidiary rotation in joint.It is main currently for joint decoupling There are two methods:First, active decoupling is carried out using motion control arithmetic, with increasing for joint, the complexity of control algolithm is anxious Increase severely and add;2nd, it is driven using lasso trick, and it is larger in the absence of being rubbed between motion coupling phenomenon, but rope and lasso trick, and exist dead The nonlinear characteristics such as area, gap, sluggishness, the control accuracy and 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 above problems.
Found by the literature search to prior art, China Patent No.:CN102672715A, title:One kind is help the disabled/helped It is old with rope driving mechanical arm, patent disclosure one kind is help the disabled/helped the elderly with rope driving mechanical arm, each cradle head of mechanical arm Motor is all arranged in base driving box, and the power of motor is passed into each cradle head using drive system of restricting, Realize the driving to cradle head.However, the mechanical arm uses lasso trick driving mechanism, it is difficult to reduce rope and set in transmission process Friction between cylinder, and there is many nonlinear characteristics such as dead band, gap, sluggishness, control accuracy, the dynamic characteristic of mechanical arm are difficult To ensure.Some other documents, such as:Publication number CN102941573, entitled a kind of rope driving articulated robot, openly Number 1995777A, the entitled wire cable transmission mechanism for mechanical arm.They do to the series connection mechanical arm based on rope drive Some beneficial work, but all do not solve the coupled problem of series connection joint rope motion.
Accordingly, it would be desirable to which a kind of new technical scheme is to solve the above problems.
The content of the invention
Load in order to improve robot is conducted oneself with dignity ratio, and solves series connection rope driving mechanical arm each interarticular motion coupling Conjunction problem, the invention provides two kinds of modular rope driving rotary joints and its method based on rope mobile decoupling mechanism.
A kind of rope driving revolute joint of the present invention, it is characterised in that:Including revolution pedestal, pivoted link, rope Mobile decoupling mechanism, leading block, pivoted link loading bearing;The wherein rotation axis of revolute joint and pivoted link axis weight Close;
Wherein above-mentioned rope mobile decoupling mechanism realizes the mobile decoupling that rope is driven to rear end, realize revolute joint with The mobile decoupling in rear end joint, includes fast pulley, supporting roller, driving wheel successively from front to back;Wherein fast pulley includes fast pulley Wheel disc and fast pulley wheel shaft, fast pulley wheel disc and fast pulley wheel shaft are mutually connected and can not rotated;Supporting roller is installed on fast pulley wheel On axle, it is driven by decoupling rope, and axial displacement is limited;The rope mobile decoupling mechanism includes left decoupling rope, the right side Decouple rope, the left driving rope in rear end, the right driving rope in rear end, the left driving rope in joint, the right driving rope in joint;
Above-mentioned supporting roller includes servo-actuated wheel body, and its installed in front has front side wire disk, and rear side is provided with rear side wire Disk, front side wire disk is identical with rear side wire dish structure, is machined with two donut metallic channels, two donut metallic channels point Rope wire annular groove and driving rope wire annular groove Wei not decoupled;Decouple the half of rope wire annular groove and driving rope wire annular groove Footpath is respectively r1,r2;Left fixed pulley module and right fixed pulley module are also installed above servo-actuated wheel body;Left fixed pulley module and the right side Fixed pulley module is constituted by coaxial mounted one decoupling rope fixed pulley and a driving rope fixed pulley;
Four through holes parallel with axle axis are provided with below above-mentioned fast pulley and below driving wheel, and through hole is carried out Fillet processing or installation pulley are respectively used to above-mentioned left decoupling rope, right decoupling rope, the left driving rope in rear end, the right driving in rear end The guiding of rope;
The front end of above-mentioned left decoupling rope is fixed with fast pulley, and the corresponding through hole on fast pulley is initially passed through afterwards, then by suitable Decoupling rope of the clockwise along front side wire disk is oriented to annular groove and reaches left fixed pulley module from bottom to top, then by left fixed sliding Take turns module commutation 180 degree, then counterclockwise along rear side wire disk decoupling rope be oriented to annular groove from top to bottom, be then passed through After corresponding through hole on driving wheel, end and the driving wheel of rope are fixed;
The front end of above-mentioned right decoupling rope is fixed with fast pulley, and the corresponding through hole on fast pulley is initially passed through afterwards, then by inverse Decoupling rope of the clockwise along front side wire disk is oriented to annular groove and reaches right fixed pulley module from bottom to top, then by right fixed sliding Take turns module commutation 180 degree, then in the direction of the clock along rear side wire disk decoupling rope be oriented to annular groove from top to bottom, be then passed through After corresponding through hole on driving wheel, end and the driving wheel of rope are fixed;
The front end of the above-mentioned left driving rope in rear end is used to be connected with the driver element in rear end joint;Fast pulley is initially passed through afterwards On corresponding through hole, then be oriented to annular groove along the driving rope of front side wire disk in the direction of the clock and reach left fixed sliding from bottom to top Module is taken turns, then by left fixed pulley module commutation 180 degree, then counterclockwise along the driving rope guiding of rear side wire disk Annular groove from top to bottom, is then passed through after the corresponding through hole on driving wheel, the rotation of the end and rear end joint of the left driving rope in rear end Connecting rod is connected;
The front end of the above-mentioned right driving rope in rear end is used to be connected with the driver element in rear end joint;Fast pulley is initially passed through afterwards On corresponding through hole, then be oriented to annular groove along the driving rope of front side wire disk counterclockwise and reach right fixed sliding from bottom to top Module is taken turns, then by right fixed pulley module commutation 180 degree, then in the direction of the clock along the driving rope guiding of rear side wire disk Annular groove from top to bottom, is then passed through after the corresponding through hole on driving wheel, the rotation of the end and rear end joint of the right driving rope in rear end Connecting rod is connected;
The front end of the above-mentioned left driving rope in joint is connected with the driver element in joint, and rear end is connected with driving wheel, and joint is left Rope wrapped anti-clockwise is driven on driving wheel;The front end of the above-mentioned right driving rope in joint is connected with the driver element in joint, after End is connected with driving wheel, and the right driving rope wound clockwise in joint is on driving wheel;
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 fixedly connected with the revolution pedestal in revolute joint, and driving wheel is with returning Turn connecting rod to be fixedly 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, is held By the axially and radially load of revolute joint;Leading block is fixedly mounted on revolution pedestal, driving rope left to joint, joint Right driving rope is oriented to.
The method of work of above-mentioned revolute joint, it is characterised in that:
Using forward and reverse circular arc cabling winding of left decoupling rope and right decoupling rope, realize that supporting roller angular velocity of satellite motion is Revolute joint angular velocity of rotation ω half, as ω/2, and left decoupling rope and right decoupling rope remain tensioning, it is real The forward and reverse reliable driving of existing supporting roller;
And wound by the right forward and reverse circular arc cabling of driving rope of the left driving rope in rear end and rear end, realize the left driving in rear end The right driving rope change in displacement rate of rope and rear end be supporting roller motion angular speed ω/2 2r2Times, wherein r2For rear end it is left, Right driving rope is oriented to the cabling radius of annular groove along the driving rope on forward and backward wire disk, and ω is the anglec of rotation of pivoted link Speed;
By pivoted link rotate caused by rear end joint left and right driving rope right-hand member end by generation+ω Δs tr2,- ωΔt·r2Displacement, wherein using along rope direction by driver element end point to joint extreme direction as just;Rotated by supporting roller The right-hand member end of caused rear end joint left and right driving rope is by generation -2r2·ω/2·Δt、+2r2The Δ t of ω/2 position Move, wherein to point to joint extreme direction as just by driver element end along rope direction;Both realize and cancelled out each other;No matter return Turn connecting rod and drive how driving wheel rotates, the rear end of the right driving rope of the left driving rope in the rear end after decoupling mechanism and rear end With pivoted link without relative displacement;
Above-mentioned revolute joint draws driving using typical rope is double;Turn round pedestal fixed, driven using double draw of rope When, the front end of the right driving rope of the left driving rope in joint and joint and the driver element of revolute joint are fixed, the rear end of rope with Driving wheel consolidation in rope mobile decoupling mechanism;The right driving rope of the left driving rope in joint and joint is wrapped on driving wheel, And winding direction is opposite;By the drawing to two driving ropes, put driving of the operation realization to revolute joint;During driving, Draw, put that corresponding rope length is equal, two ropes will not produce tight or relaxation phenomenon, it is ensured that the forward and reverse driving in joint can By property.
A kind of mechanical arm elevation rotary joint of driving of restricting of the present invention, it is characterised in that:
Elevation rotary joint includes pitching rotating basis, and pitching swivel link, rope mobile decoupling mechanism, pitching rotation connects Bar 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, driving wheel successively from front to back;Wherein Fast pulley includes fast pulley wheel disc and fast pulley wheel shaft, and fast pulley wheel disc and fast pulley wheel shaft are mutually connected, and are fixed from rotating; Supporting roller is installed on fast pulley wheel shaft, and it is driven by decoupling rope, and axial displacement is limited;The rope mobile decoupling machine Structure is also including left decoupling rope, right decoupling rope, the left driving rope in rear end, the right driving rope in rear end, the left driving rope in joint, pass Save right driving rope;
Above-mentioned supporting roller includes servo-actuated wheel body, and its installed in front has front side wire disk, and rear side is provided with rear side wire Disk, front side wire disk is identical with rear side wire dish structure, is machined with two donut metallic channels, two donut metallic channels point Rope wire annular groove and driving rope wire annular groove Wei not decoupled;Decouple the half of rope wire annular groove and driving rope wire annular groove Footpath is respectively r1,r2;Left fixed pulley module and right fixed pulley module are also installed above servo-actuated wheel body;Left fixed pulley module and the right side Fixed pulley module is constituted by coaxial mounted one decoupling rope fixed pulley and a driving rope fixed pulley;
Four through holes parallel with axle axis are provided with below above-mentioned fast pulley and below driving wheel, and through hole is carried out Fillet processing or installation pulley are respectively used to above-mentioned left decoupling rope, right decoupling rope, the left driving rope in rear end, the right driving in rear end The guiding of rope;
The front end of above-mentioned left decoupling rope is fixed with fast pulley, and the corresponding through hole on fast pulley is initially passed through afterwards, then by suitable Decoupling rope of the clockwise along front side wire disk is oriented to annular groove and reaches left fixed pulley module from bottom to top, then by left fixed sliding Take turns module commutation 180 degree, then counterclockwise along rear side wire disk decoupling rope be oriented to annular groove from top to bottom, be then passed through After corresponding through hole on driving wheel, end and the driving wheel of rope are fixed;
The front end of above-mentioned right decoupling rope is fixed with fast pulley, and the corresponding through hole on fast pulley is initially passed through afterwards, then by inverse Decoupling rope of the clockwise along front side wire disk is oriented to annular groove and reaches right fixed pulley module from bottom to top, then by right fixed sliding Take turns module commutation 180 degree, then in the direction of the clock along rear side wire disk decoupling rope be oriented to annular groove from top to bottom, be then passed through After corresponding through hole on driving wheel, end and the driving wheel of rope are fixed;
The front end of the above-mentioned left driving rope in rear end is used to be connected with the driver element in rear end joint;Fast pulley is initially passed through afterwards On corresponding through hole, then be oriented to annular groove along the driving rope of front side wire disk in the direction of the clock and reach left fixed sliding from bottom to top Module is taken turns, then by left fixed pulley module commutation 180 degree, then counterclockwise along the driving rope guiding of rear side wire disk Annular groove from top to bottom, is then passed through after the corresponding through hole on driving wheel, the rotation of the end and rear end joint of the left driving rope in rear end Connecting rod is connected;
The front end of the above-mentioned right driving rope in rear end is used to be connected with the driver element in rear end joint;Fast pulley is initially passed through afterwards On corresponding through hole, then be oriented to annular groove along the driving rope of front side wire disk counterclockwise and reach right fixed sliding from bottom to top Module is taken turns, then by right fixed pulley module commutation 180 degree, then in the direction of the clock along the driving rope guiding of rear side wire disk Annular groove from top to bottom, is then passed through after the corresponding through hole on driving wheel, the rotation of the end and rear end joint of the right driving rope in rear end Connecting rod is connected;
The front end of the above-mentioned left driving rope in joint is connected with the driver element in joint, and rear end is connected with driving wheel, and joint is left Rope wrapped anti-clockwise is driven on driving wheel;The front end of the above-mentioned right driving rope in joint is connected with the driver element in joint, after End is connected with driving wheel, and the right driving rope wound clockwise in joint is on driving wheel;
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 fixedly connected with the pitching rotating basis in elevation rotary joint, main Driving wheel is fixedly connected with pitching swivel link;Pitching swivel link loading bearing inner ring is arranged on fast pulley wheel shaft, outer ring peace In the axis hole of pitching swivel link, the axially and radially load of elevation rotary joint is born by loading bearing.
The method of work of above-mentioned elevation rotary joint, it is characterised in that:
Using forward and reverse circular arc cabling winding of left decoupling rope and right decoupling rope, realize that supporting roller angular velocity of satellite motion is Elevation rotary joint angular velocity of rotation ω half, as ω/2, and left decoupling rope and right decoupling rope remain Tightly, the forward and reverse reliable driving of supporting roller is realized;
And wound by the right forward and reverse circular arc cabling of driving rope of the left driving rope in rear end and rear end, realize the left driving in rear end The right driving rope change in displacement rate of rope and rear end be supporting roller motion angular speed ω/2 2r2Times, wherein r2For rear end it is left, Right driving rope is oriented to the cabling radius of annular groove along the driving rope on forward and backward wire disk, and ω is the rotation of pitching swivel link Tarnsition velocity;
By pitching swivel link rotate caused by rear end joint left and right driving rope right-hand member end by generation+ω Δs t r2,-ω Δs tr2Displacement, wherein using along rope direction by driver element end point to joint extreme direction as just;By supporting roller The right-hand member end of rear end joint left and right driving rope caused by rotating is by generation -2r2·ω/2·Δt、+2r2·ω/2·Δt Displacement, wherein using along rope direction by driver element end point to joint extreme direction as just;Both realize and cancelled out each other;I.e. without Drive how driving wheel rotates by pitching swivel link, the left driving rope in the rear end after rope mobile decoupling mechanism and rear end The rear end of right driving rope is with pitching swivel link without relative displacement;
Above-mentioned elevation rotary joint draws driving using typical rope is double;Pitching rotating basis is fixed, and joint is left to drive The front end of the right driving rope of running rope rope and joint and the driver element of revolute joint are fixed, rear end and the rope mobile decoupling of rope Driving wheel consolidation in mechanism;The right driving rope of the left driving rope in joint and joint is wrapped on driving wheel, and winding direction Conversely;By the drawing to two driving ropes, put driving of the operation realization to elevation rotary joint;During driving, draw, be rivals in a contest and answer Rope length it is equal, two ropes will not produce it is tight or relaxation phenomenon, it is ensured that the reliability of the forward and reverse driving in joint.
Compared with prior art, the invention has the advantages that and effect:
Two kinds of ropes driving joint of mechanical arm proposed by the present invention, its driver element is positioned at pedestal, long-range using rope Driving, improves the load deadweight of mechanical arm than the driving response characteristic with joint.The present invention is for joint motions coupling, design A kind of rope mobile decoupling mechanism, it is simple and reliable, it is easy to accomplish.The mechanism realizes that the motion in joint is independent, reduces motion The complexity of control algolithm.Two kinds of modularization ropes driving joint of mechanical arm of the present invention, 0~300 ° of model can be achieved in each joint The rotation enclosed, working space is big, and response performance is good.And in actual application, it can be become according to the requirement for operating target The species in joint is changed, increases and decreases the number of degrees of freedom, of mechanical arm, realizes the assembling of a variety of configuration mechanical arms, have a wide range of application, be implemented as This is low.
Brief description of the drawings
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 that decoupling rope and rear end are driven The cabling schematic diagram of running rope 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 main wheel rotation, and rear end driving rope is walked Line schematic diagram;The right rotates for supporting roller, rear end driving rope cabling schematic diagram;
Fig. 6 is the structural representation of a variety of configuration mechanical arms;
Fig. 7 is waist joint supporting roller and its rope cabling schematic diagram, and the wherein left side is supporting roller at waist revolute joint Structural representation;The right is the structural representation of each rope cabling at waist revolute joint;
Fig. 8 be shoulder joints supporting roller and its rope cabling schematic diagram, wherein the left side be shoulder pitch rotary joint at The structural representation of driving wheel;The right is the structural representation of each rope cabling at shoulder pitch rotary joint;
Label title in figure:1 revolute joint;2 elevation rotary joints;3 rope mobile decoupling mechanisms;The rope of more than 4 kinds of configuration Drive mechanical arm;11 revolution pedestals;12 pivoted links;13 leading blocks;14 pivoted link loading bearings;
21 pitching rotating basis;22 pitching swivel links;23 pitching rotate loading bearing;
31 fast pulleys;32 supporting rollers;Wire disk on front side of 32-1;32-2 is servo-actuated wheel body;Wire disk on rear side of 32-3;32-4 is left Fixed pulley module;The right fixed pulley modules of 32-5;33 driving wheels;The left decoupling ropes of 34-1;The right decoupling ropes of 34-2;35-1 rear ends are left Drive rope;The right driving rope in 35-2 rear ends;The left driving rope in 36-1 joints;The right driving rope in 36-2 joints;
41 articulated rope driving mechanical arms;The first four-degree-of-freedom Joint Manipulator of 41-1;Second of four selfs of 41-2 By degree Joint Manipulator;41-3 Three Degree Of Freedom Joint Manipulators;42 wrist formula ropes drive mechanical arm;43SCARA formulas rope drives Dynamic mechanical arm;
51 waist revolute joints;52 shoulder pitch rotary joints;53 ancon elevation rotary joints, 54 wrist pitching rotation are closed Section.
Embodiment
Accompanying drawing discloses the structural representation being preferable to carry out involved in the present invention without limitation, below with reference to accompanying drawing Explain technical scheme.
Shown move there is provided a kind of driving rope for being used for rope driving series connection mechanical arm in Fig. 1,4,5 is referred to passively to solve The mechanism of coupling.Rope mobile decoupling mechanism 3, includes fast pulley 31, supporting roller 32, driving wheel 33 successively from front to back;It is wherein solid Fixed wheel 31 includes fast pulley wheel disc and fast pulley wheel shaft, and fast pulley wheel disc and fast pulley wheel shaft are mutually connected, and are 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;The rope mobile decoupling Mechanism 3 also includes left decoupling rope 34-1, right decoupling rope 34-2, the left driving rope 35-1 in rear end, the right driving rope 35- in rear end 2nd, the left driving rope 36-1 in joint, the right driving rope 36-2 in joint;
Above-mentioned supporting roller 32 includes servo-actuated wheel body 32-2, and its installed in front has front side wire disk (32-1), rear side peace Equipped with rear side wire disk (32-3), front side wire disk (32-1) is identical with rear side wire disk (32-3) structure, is machined with two same Heart annulus metallic channel, two donut metallic channels are respectively decoupling rope wire annular groove and driving rope wire annular groove;Decoupling rope The radius of rope wire annular groove and driving rope wire annular groove is respectively r1,r2;Left fixed pulley is also installed above servo-actuated wheel body 32-2 Module 32-4 and right fixed pulley module 32-5;Left fixed pulley module 32-4 and right fixed pulley module 32-5 are by coaxial mounted one Individual decoupling rope fixed pulley and a driving rope fixed pulley composition;The lower section of fast pulley 31 and the lower section of driving wheel 33 are provided with four The individual through hole parallel with axle axis, for above-mentioned left decoupling rope 34-1, right decoupling rope 34-2, the left driving rope in rear end 35-1, the right driving rope 35-2 in rear end guiding;
Above-mentioned left decoupling rope 34-1 front end is fixed with fast pulley 31, and the correspondence initially passed through afterwards on fast pulley 31 is led to Hole, then in the direction of the clock along front side wire disk 32-1 decoupling rope be oriented to annular groove reach left fixed pulley module from bottom to top 32-4, then by left fixed pulley module 32-4 commutation 180 degrees, then counterclockwise along rear side wire disk 32-3 decoupling rope Rope is oriented to annular groove from top to bottom, is then passed through after the corresponding through hole on driving wheel 33, end and the driving wheel 33 of rope are fixed;
Above-mentioned right decoupling rope 34-2 front end is fixed with fast pulley 31, and the correspondence initially passed through afterwards on fast pulley 31 is led to Hole, then counterclockwise along front side wire disk 32-1 decoupling rope be oriented to annular groove reach right fixed pulley module from bottom to top 32-5, then by right fixed pulley module 32-5 commutation 180 degrees, then in the direction of the clock along rear side wire disk 32-3 decoupling rope Rope is oriented to annular groove from top to bottom, is then passed through after the corresponding through hole on driving wheel 33, end and the driving wheel 33 of rope are fixed;
The above-mentioned left driving rope 35-1 in rear end front end is used to be connected with the driver element in rear end joint;Initially pass through afterwards solid Corresponding through hole on fixed wheel 31, then in the direction of the clock along front side wire disk 32-1 driving rope be oriented to annular groove from bottom to top Reach left fixed pulley module 32-4, then commutated 180 degree by left fixed pulley module 32-4, then lead counterclockwise along rear side Drum 32-3 driving rope is oriented to annular groove from top to bottom, is then passed through after the corresponding through hole on driving wheel 33, the left driving rope in rear end Rope 35-1 end is connected with the swivel link in rear end joint;
The above-mentioned right driving rope 35-2 in rear end front end is used to be connected with the driver element in rear end joint;Initially pass through afterwards solid Corresponding through hole on fixed wheel 31, then counterclockwise along front side wire disk 32-1 driving rope be oriented to annular groove from bottom to top Reach right fixed pulley module 32-5, then commutated 180 degree by right fixed pulley module 32-5, then lead in the direction of the clock along rear side Drum 32-3 driving rope is oriented to annular groove from top to bottom, is then passed through after the corresponding through hole on driving wheel 33, the right driving rope in rear end Rope 35-2 end is connected with the swivel link in rear end joint;
The above-mentioned left driving rope 36-1 in joint front end is connected with the driver element in joint, and rear end is connected with driving wheel 33, The left driving rope 36-1 wrapped anti-clockwises in joint are on driving wheel 33;
The above-mentioned right driving rope 36-2 in joint front end is connected with the driver element in joint, and rear end is connected with driving wheel 33, The right driving rope 36-2 wound clockwises in joint are on driving wheel 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 is used for driving supporting roller 32.When driving wheel 33 is with Fig. 1 side To during rotation, it is tensioned with the right decoupling rope 34-2 that driving wheel 33 is consolidated, left decoupling rope 34-1 relaxations.When front side wire disk When decoupling rope guide ring groove radius on 32-1, rear side wire disk 32-3 is equal, you can ensure the angle speed that supporting roller 32 is rotated Spend for the 1/2 of the rotational angular velocity ω of driving wheel 33, and being rotated by driving wheel 33 causes right decoupling rope 34-2 fixing end (main On driving wheel 33) displacement be ω Δs tr1, left decoupling rope 34-1 is caused by right decoupling rope 34-2 driving supporting rollers 32 Fixing end (on driving wheel 33) displacement be ω Δs t/22r1=ωΔt·r1, displacement is equal.Thereby guarantee that a left side Decoupling rope 34-1, right decoupling rope 34-2 will not produce certain root and decouple the phenomenon that rope is excessively tight or generation is loose, it is ensured that The reliability of the forward and reverse driving of supporting roller 32;
The above-mentioned left driving rope 35-1 in rear end, the right driving rope 35-2 in rear end, due to the left driving rope 35-1 in rear end, rear end Right driving rope 35-2 is wound along the guiding annular groove on front side wire disk 32-1, rear side wire disk 32-3, and front side wire Driving rope guide ring groove radius on disk 32-1, rear side wire disk 32-3 is equal, is r2, cause so supporting roller 32 is rotated The left driving rope 35-1 in rear end, the rate of change of the right driving rope 35-2 right ends in rear end be supporting roller turning rate 2r2Times.When driving wheel 33 is rotated with direction shown in Fig. 1, ω angular speed, by the guiding of through hole on driving wheel 33, rear end is left Rope 35-1 is driven to depart from along the guiding annular groove on rear side wire disk 32-3, the left driving rope 35-1 in rear end right end production Raw+ω Δs tr2Displacement, and the right driving rope 35-2 in rear end is wound along the guiding annular groove on rear side wire disk 32-3, rear end Right driving rope 35-2 right end generation-ω Δs tr2(ω is the angular velocity of rotation of driving wheel 33, r for displacement2Led for front side Drive rope to be oriented in the radius of annular groove, Fig. 5 on drum 32-1, rear side wire disk 32-3 to be just upwards along rope direction). As shown in Figure 4,5, due to left decoupling rope 34-1, right decoupling rope 34-2 driving, supporting roller 32 is followed with the angular speed of ω/2 Driving wheel 33 rotates in same direction, the angle ω Δs t/2 of supporting roller rotation.Because the left driving rope 35-1 in the rotation of supporting roller 32 rear end, The speed of the right driving rope 35-2 right ends in rear end is the 2r of supporting roller angular speed2Times, so the left driving rope 35-1 in rear end, The displacement of the right driving rope 35-2 in rear end right end is ω Δs t/22r2=ωΔt·r2.The rotation of supporting roller, leads The left driving rope 35-1 in rear end is caused to may proceed to along the guiding annular groove winding on front side, rear side wire disk, coiling length is ω Δs t·r2, namely the left driving rope 35-1 in rear end right-hand member by generation-ω Δs tr2Displacement.The one of the right driving rope 35-2 in rear end Part will depart from along the guiding annular groove on front side, rear side wire disk, and disengaging length is ω Δs tr2, that is, rear end is right to drive Running rope rope 35-2 right-hand member is by generation+ω Δs tr2Displacement (along rope direction upwards for just in Fig. 5).The left driving rope in rear end Rope 35-1, the right driving rope 35-2 in rear end are moved after decoupling module between the end and driving wheel 33 on the right side of them without relative Move, namely the driving rope 35 in rear end joint does not produce relative movement because of the rotation of driving wheel 33, realizes rope motion Passive de-coupling;
Refer to shown in Fig. 2, the revolute joint 1 driven based on rope, rotation axis and the axle of pivoted link 12 in its joint Line is overlapped.Revolute joint 1 includes revolution pedestal 11, and pivoted link 12, rope mobile decoupling mechanism 3, leading block 13, revolution connects Bar loading bearing 14.Rope mobile decoupling mechanism 3 realizes the mobile decoupling that rope is driven to rear end, realizes revolute joint 1 with after Hold the mobile decoupling in joint.The fast pulley 31 of above-mentioned rope mobile decoupling mechanism 3 is fixed with the revolution pedestal 11 in revolute joint 1 Connection, driving wheel 33 is fixedly connected with pivoted link 12.The inner ring of pivoted link loading bearing 14 is arranged on the wheel shaft of fast pulley 31 On, outer ring is arranged in the axis hole of pivoted link 12, and the axially and radially load of revolute joint 1 is born by loading bearing.Lead It is fixedly mounted on to pulley 13 on revolution pedestal 11, driving rope 36-1 left to joint, the right driving rope 36-2 in joint are led To.The driving of above-mentioned revolute joint 1, drive pattern, the left driving rope 36-1 in joint, the right drive in joint are drawn using driving rope is double Running rope rope 36-2 is fixed with driving wheel 33, by the drawing to two ropes, puts driving of the operation realization to revolute joint 1.
Refer to shown in Fig. 3, elevation rotary joint 2 is driven using rope.Joint rotation axis and pitching swivel link 22 Axis is vertical.Elevation rotary joint 2, including pitching rotating basis 21, pitching swivel link 22, rope mobile decoupling mechanism 3 bows Face upward swivel link loading bearing 23.Rope mobile decoupling mechanism 3 realizes the mobile decoupling that rope is driven to rear end, realizes that pitching is revolved Turn the mobile decoupling in joint 2 and rear end joint.The fast pulley 31 of above-mentioned rope mobile decoupling mechanism 3 and elevation rotary joint 2 In pitching rotating basis 21 be fixedly connected, driving wheel 33 is fixedly connected with pitching swivel link 22.Pitching swivel link is carried The inner ring of bearing 23 is arranged on the wheel shaft of fast pulley 31, and outer ring is arranged in the axis hole of pitching swivel link 22, passes through carrying axle Bear the axially and radially load of elevation rotary joint 2.Elevation rotary joint draws drive pattern using typical rope is double, leads to Driving rope 36-1 left to joint, the right driving rope 36-2 in joint is crossed to be drawn, put operation driving pitching swivel link 22.
As shown in fig.6, being the rotary joint based on two kinds of rope drive modules, the rope driving machine of a variety of configurations of proposition Tool arm configuration schematic diagram.According to different operation tasks, composition articulated type, wrist type, the rope driving machinery of SCARA formula configurations Arm.Articulated rope driving mechanical arm 41 is divided into Three Degree Of Freedom Joint Manipulator 41-3, the first four freedom by number of degrees of freedom, Spend Joint Manipulator 41-1, second of four-degree-of-freedom Joint Manipulator 41-2.Three Degree Of Freedom Joint Manipulator 41-3 from Pedestal to mechanical arm tail end is followed successively by revolute joint 1, elevation rotary joint 2, elevation rotary joint 2;The first four-degree-of-freedom is closed Section formula mechanical arm 41-1 from pedestal to mechanical arm tail end be followed successively by revolute joint 1, elevation rotary joint 2, elevation rotary joint 2, Elevation rotary joint 2;Second of four-degree-of-freedom Joint Manipulator 41-2 is followed successively by revolute joint from pedestal to mechanical arm tail end 1st, elevation rotary joint 2, elevation rotary joint 2, revolute joint 1;Wrist formula rope drives mechanical arm 42, the rotary shaft in three joints Line is met at a bit, containing three degree of freedom, respectively is revolute joint 1, elevation rotary joint 2, revolute joint 1;SCARA formulas Rope driving mechanical arm 43 has three degree of freedom, is followed successively by revolute joint 1, revolute joint 1, revolute joint 1.
As shown in fig.6, the first four-degree-of-freedom Joint Manipulator 41-1 is the first preferred embodiments.The mechanical arm bag Include waist revolute joint 51, shoulder pitch rotary joint 52, ancon elevation rotary joint 53, wrist elevation rotary joint 54.Waist Portion's revolute joint 51, rotates around vertical axle.Shoulder pitch rotary joint 52 makees elevating movement around trunnion axis, and ancon pitching rotation is closed Section 53 makees elevating movement around trunnion axis, and wrist elevation rotary joint 54 makees elevating movement around trunnion axis.At waist revolute joint 51 Rope mobile decoupling mechanism, realize waist revolute joint 51 and shoulder, ancon, the mobile decoupling of wrist elevation rotary joint, Its supporting roller structural representation is wound with six roots of sensation rear end joint drive rope and two solutions as shown in Fig. 7 left figures on the supporting roller Coupling rope, six roots of sensation driving rope corresponds to the driving rope of shoulder, ancon, wrist elevation rotary joint respectively.Have on supporting roller The cabling channel of four concentric circles is used for rope cabling, and (three cabling channels are used for rear end joint drive rope cabling, a cabling channel Cabling for decoupling rope).Fig. 7 right figures are the rope cabling schematic diagram at waist revolute joint 51;Shoulder pitch rotation is closed The rope mobile decoupling mechanism at 52 is saved, shoulder pitch rotary joint 52 and ancon elevation rotary joint 53, wrist pitching is realized The mobile decoupling of rotary joint 54, its supporting roller structural representation is as shown in Fig. 8 left figures.Four rear ends are wound with the supporting roller Joint drive rope and two decoupling ropes, four driving ropes correspond to ancon, the driving of wrist elevation rotary joint respectively The cabling channel for having three concentric circles on rope, supporting roller is used for rope cabling (two cabling channels is used for rear end joint drive rope Cabling a, cabling channel is used for the cabling for decoupling rope).Fig. 8 right figures are the rope cabling schematic diagram at shoulder revolute joint 52; Rope mobile decoupling mechanism at ancon elevation rotary joint 53, realizes that ancon elevation rotary joint 53 rotates with wrist pitching and closes The mobile decoupling of section 54.The supporting roller of its rope mobile decoupling mechanism is as shown in fig. 1.Wrist elevation rotary joint 54 is not because have There is rear end joint, it is not necessary to which rope is decoupled, so there is no rope mobile decoupling mechanism in wrist elevation rotary joint 54.

Claims (4)

1. a kind of modularization rope driving 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 is held Carry bearing (14);Wherein the rotation axis of revolute joint (1) is overlapped with pivoted link (12) axis;
Wherein above-mentioned rope mobile decoupling mechanism (3) realizes the mobile decoupling that rope is driven to rear end, realizes revolute joint (1) With the mobile decoupling in rear end joint, include fast pulley (31), supporting roller (32), driving wheel (33) successively from front to back;It is wherein solid Fixed wheel (31) includes fast pulley wheel disc and fast pulley wheel shaft, and fast pulley wheel disc and fast pulley wheel shaft are mutually connected and can not rotated;With Driving wheel (32) is installed on fast pulley wheel shaft, and it is driven by decoupling rope, and axial displacement is limited;The rope mobile decoupling Mechanism (3) includes left decoupling rope (34-1), right decoupling rope (34-2), the left driving rope (35-1) in rear end, the right driving in rear end Rope (35-2), the left driving rope (36-1) in joint, the right driving rope (36-2) in joint;
Above-mentioned supporting roller (32) includes servo-actuated wheel body (32-2), and its installed in front has front side wire disk (32-1), rear side peace Equipped with rear side wire disk (32-3), front side wire disk (32-1) is identical with rear side wire disk (32-3) structure, is machined with two same Heart annulus metallic channel, two donut metallic channels are respectively decoupling rope wire annular groove and driving rope wire annular groove;Decoupling rope The radius of rope wire annular groove and driving rope wire annular groove is respectively r1,r2;Also install left fixed sliding above servo-actuated wheel body (32-2) Take turns module (32-4) and right fixed pulley module (32-5);Left fixed pulley module (32-4) and right fixed pulley module (32-5) are by same A decoupling rope fixed pulley and a driving rope fixed pulley composition that axle is installed;
Four through holes parallel with axle axis, and through hole are provided with below above-mentioned fast pulley (31) and below driving wheel (33) Carry out fillet processing or pulley be installed to be respectively used to above-mentioned left decoupling rope (34-1), right decoupling rope (34-2), the left drive in rear end Running rope rope (35-1), the guiding of 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), and the correspondence initially passed through afterwards on fast pulley (31) is led to Hole, then in the direction of the clock along front side wire disk (32-1) decoupling rope be oriented to annular groove reach left fixed pulley mould from bottom to top Block (32-4), then by left fixed pulley module (32-4) commutation 180 degree, then counterclockwise along rear side wire disk (32-3) Decoupling rope be oriented to annular groove from top to bottom, be then passed through after the corresponding through hole on driving wheel (33), the end of rope and driving wheel (33) it is fixed;
The front end of above-mentioned right decoupling rope (34-2) is fixed with fast pulley (31), and the correspondence initially passed through afterwards on fast pulley (31) is led to Hole, then counterclockwise along front side wire disk (32-1) decoupling rope be oriented to annular groove reach right fixed pulley mould from bottom to top Block (32-5), then by right fixed pulley module (32-5) commutation 180 degree, then in the direction of the clock along rear side wire disk (32-3) Decoupling rope be oriented to annular groove from top to bottom, be then passed through after the corresponding through hole on driving wheel (33), the end of rope and driving wheel (33) it is fixed;
The front end of the above-mentioned left driving rope (35-1) in rear end is used to be connected with the driver element in rear end joint;Fixation is initially passed through afterwards Take turns the corresponding through hole on (31), then along the driving rope of front side wire disk (32-1) be oriented to annular groove from lower in the direction of the clock It is upper to reach left fixed pulley module (32-4), then commutated 180 degree by left fixed pulley module (32-4), then counterclockwise along The driving rope of rear side wire disk (32-3) is oriented to annular groove from top to bottom, is then passed through after the corresponding through hole on driving wheel (33), after The end of the left driving rope (35-1) in end is connected with the swivel link in rear end joint;
The front end of the above-mentioned right driving rope (35-2) in rear end is used to be connected with the driver element in rear end joint;Fixation is initially passed through afterwards Take turns the corresponding through hole on (31), then along the driving rope of front side wire disk (32-1) be oriented to annular groove from lower counterclockwise It is upper to reach right fixed pulley module (32-5), then commutated 180 degree by right fixed pulley module (32-5), then in the direction of the clock along The driving rope of rear side wire disk (32-3) is oriented to annular groove from top to bottom, is then passed through after the corresponding through hole on driving wheel (33), after The end of the right driving rope (35-2) in end is connected with the swivel link in rear end joint;
The front end of the above-mentioned left driving rope (36-1) in joint is connected with the driver element in joint, and rear end is connected with driving wheel (33), Left driving rope (36-1) wrapped anti-clockwise in joint is on driving wheel (33);
The front end of the above-mentioned right driving rope (36-2) in joint is connected with the driver element in joint, and rear end is connected with driving wheel (33), Right driving rope (36-2) wound clockwise in joint is on driving wheel (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 fixedly connected with the revolution pedestal (11) in revolute joint (1), Driving wheel (33) is fixedly connected with pivoted link (12);
Pivoted link loading bearing (14) inner ring is arranged on fast pulley wheel shaft, and outer ring is arranged on the axis hole of pivoted link (12) In, bear the axially and radially load of revolute joint (1);Leading block (13) is fixedly mounted on revolution pedestal (11), to closing The left driving rope (36-1) of section, the right driving rope (36-2) in joint are oriented to.
2. the method for work of mechanical arm revolute joint is decoupled according to modularization rope driving described in claim 1, it is characterised in that:
Using forward and reverse circular arc cabling winding of left decoupling rope (34-1) and right decoupling rope (34-2), supporting roller (32) is realized Angular velocity of satellite motion is revolute joint angular velocity of rotation ω half, as ω/2, and left decoupling rope (34-1) and right decoupling Rope (34-2) remains tensioning, realizes the forward and reverse reliable driving of supporting roller (32);
And wound by the right forward and reverse circular arc cabling of driving rope (35-2) of the left driving rope (35-1) in rear end and rear end, after realization End it is left driving rope (35-1) and rear end it is right drive rope (35-2) change in displacement rate be supporting roller (32) angular velocity of satellite motion ω/ 2 2r2Times, wherein r2The cabling half of annular groove is oriented to along the driving rope on forward and backward wire disk for rear end left and right driving rope Footpath, ω is the angular velocity of rotation of pivoted link (12);
By pivoted link (12) rotate caused by rear end joint left and right driving rope right-hand member end by generation+ω Δs tr2,- ωΔt·r2Displacement, wherein using along rope direction by driver element end point to joint extreme direction as just;By supporting roller (32) The right-hand member end of rear end joint left and right driving rope caused by rotating is by generation -2r2·ω/2·Δt、+2r2·ω/2·Δt Displacement, wherein using along rope direction by driver element end point to joint extreme direction as just;Both realize and cancelled out each other;I.e. without By pivoted link (12) drive driving wheel (33) how to rotate, the rear end after decoupling mechanism it is left driving rope (35-1) and after The rear end of the right driving rope (35-2) in end is with pivoted link (12) without relative displacement;
Above-mentioned revolute joint (1) draws driving using typical rope is double;Turn round pedestal (11) fixed, driven using double draw of rope When dynamic, the front end of the right driving rope (36-2) of the left driving rope (36-1) in joint and joint and the driver element of revolute joint are consolidated Fixed, rear end and the driving wheel (33) in rope mobile decoupling mechanism (3) of rope are consolidated;The left driving rope (36-1) in joint and pass The right driving rope (36-2) of section is wrapped on driving wheel (33), and winding direction is opposite;By the drawing to two driving ropes, put The driving to revolute joint (1) is realized in operation;During driving, draw, put that corresponding rope length is equal, two ropes will not be produced tightly Taut or relaxation phenomenon, it is ensured that the reliability of the forward and reverse driving in joint.
3. a kind of modularization rope driving decoupling mechanical arm elevation rotary joint, it is characterised in that:
Elevation rotary joint (2) include 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), active successively from front to back Take turns (33);Wherein fast pulley (31) includes fast pulley wheel disc and fast pulley wheel shaft, and fast pulley wheel disc and fast pulley wheel shaft are mutually solid Even, it is fixed from rotating;Supporting roller (32) is installed on fast pulley wheel shaft, and it is driven by decoupling rope, and axial displacement quilt Limitation;The 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 rope (35-2) in rear end, the left driving rope (36-1) in joint, the right driving rope (36-2) in joint;
Above-mentioned supporting roller (32) includes servo-actuated wheel body (32-2), and its installed in front has front side wire disk (32-1), rear side peace Equipped with rear side wire disk (32-3), front side wire disk (32-1) is identical with rear side wire disk (32-3) structure, is machined with two same Heart annulus metallic channel, two donut metallic channels are respectively decoupling rope wire annular groove and driving rope wire annular groove;Decoupling rope The radius of rope wire annular groove and driving rope wire annular groove is respectively r1,r2;Also install left fixed sliding above servo-actuated wheel body (32-2) Take turns module (32-4) and right fixed pulley module (32-5);Left fixed pulley module (32-4) and right fixed pulley module (32-5) are by same A decoupling rope fixed pulley and a driving rope fixed pulley composition that axle is installed;
Four through holes parallel with axle axis, and through hole are provided with below above-mentioned fast pulley (31) and below driving wheel (33) Carry out fillet processing or pulley be installed to be respectively used to above-mentioned left decoupling rope (34-1), right decoupling rope (34-2), the left drive in rear end Running rope rope (35-1), the guiding of 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), and the correspondence initially passed through afterwards on fast pulley (31) is led to Hole, then in the direction of the clock along front side wire disk (32-1) decoupling rope be oriented to annular groove reach left fixed pulley mould from bottom to top Block (32-4), then by left fixed pulley module (32-4) commutation 180 degree, then counterclockwise along rear side wire disk (32-3) Decoupling rope be oriented to annular groove from top to bottom, be then passed through after the corresponding through hole on driving wheel (33), the end of rope and driving wheel (33) it is fixed;
The front end of above-mentioned right decoupling rope (34-2) is fixed with fast pulley (31), and the correspondence initially passed through afterwards on fast pulley (31) is led to Hole, then counterclockwise along front side wire disk (32-1) decoupling rope be oriented to annular groove reach right fixed pulley mould from bottom to top Block (32-5), then by right fixed pulley module (32-5) commutation 180 degree, then in the direction of the clock along rear side wire disk (32-3) Decoupling rope be oriented to annular groove from top to bottom, be then passed through after the corresponding through hole on driving wheel (33), the end of rope and driving wheel (33) it is fixed;
The front end of the above-mentioned left driving rope (35-1) in rear end is used to be connected with the driver element in rear end joint;Fixation is initially passed through afterwards Take turns the corresponding through hole on (31), then along the driving rope of front side wire disk (32-1) be oriented to annular groove from lower in the direction of the clock It is upper to reach left fixed pulley module (32-4), then commutated 180 degree by left fixed pulley module (32-4), then counterclockwise along The driving rope of rear side wire disk (32-3) is oriented to annular groove from top to bottom, is then passed through after the corresponding through hole on driving wheel (33), after The end of the left driving rope (35-1) in end is connected with the swivel link in rear end joint;
The front end of the above-mentioned right driving rope (35-2) in rear end is used to be connected with the driver element in rear end joint;Fixation is initially passed through afterwards Take turns the corresponding through hole on (31), then along the driving rope of front side wire disk (32-1) be oriented to annular groove from lower counterclockwise It is upper to reach right fixed pulley module (32-5), then commutated 180 degree by right fixed pulley module (32-5), then in the direction of the clock along The driving rope of rear side wire disk (32-3) is oriented to annular groove from top to bottom, is then passed through after the corresponding through hole on driving wheel (33), after The end of the right driving rope (35-2) in end is connected with the swivel link in rear end joint;
The front end of the above-mentioned left driving rope (36-1) in joint is connected with the driver element in joint, and rear end is connected with driving wheel (33), Left driving rope (36-1) wrapped anti-clockwise in joint is on driving wheel (33);
The front end of the above-mentioned right driving rope (36-2) in joint is connected with the driver element in joint, and rear end is connected with driving wheel (33), Right driving rope (36-2) wound clockwise in joint is on driving wheel (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) and the pitching rotating basis (21) in elevation rotary joint (2) It is fixedly connected, driving wheel (33) is fixedly connected with pitching swivel link (22);Pitching swivel link loading bearing (23) inner ring is pacified On fast pulley wheel shaft, outer ring is arranged in the axis hole of pitching swivel link (22), and bearing pitching by loading bearing rotates The axially and radially load in joint (2).
4. the method for work of mechanical arm elevation rotary joint is decoupled according to modularization rope driving described in claim 3, it is characterised in that:
Using forward and reverse circular arc cabling winding of left decoupling rope (34-1) and right decoupling rope (34-2), supporting roller (32) is realized Angular velocity of satellite motion is elevation rotary joint angular velocity of rotation ω half, as ω/2, and left decoupling rope (34-1) and the right side Decoupling rope (34-2) remains tensioning, realizes the forward and reverse reliable driving of supporting roller (32);
And wound by the right forward and reverse circular arc cabling of driving rope (35-2) of the left driving rope (35-1) in rear end and rear end, after realization End it is left driving rope (35-1) and rear end it is right drive rope (35-2) change in displacement rate be supporting roller (32) angular velocity of satellite motion ω/ 2 2r2Times, wherein r2The cabling half of annular groove is oriented to along the driving rope on forward and backward wire disk for rear end left and right driving rope Footpath, ω is the angular velocity of rotation of pitching swivel link (22);
By pitching swivel link (22) rotate caused by rear end joint left and right driving rope right-hand member end by generation+ω Δs t r2,-ω Δs tr2Displacement, wherein using along rope direction by driver element end point to joint extreme direction as just;By supporting roller (32) the right-hand member end of rear end joint left and right driving rope caused by rotating is by generation -2r2·ω/2·Δt、+2r2·ω/ 2 Δ t displacement, wherein to point to joint extreme direction as just by driver element end along rope direction;Both realize and mutually supported Disappear;I.e. no matter pitching swivel link (22) drive driving wheel (33) how to rotate, after rope mobile decoupling mechanism (3) after The rear end of the right driving rope (35-2) of the left driving rope (35-1) in end and rear end is with pitching swivel link (22) without relative displacement;
Above-mentioned elevation rotary joint (2) draws driving using typical rope is double;Pitching rotating basis (21) is fixed, and joint is left The front end of the right driving rope (36-2) of driving rope (36-1) and joint and the driver element of revolute joint are fixed, the rear end of rope Consolidated with the driving wheel (33) in rope mobile decoupling mechanism (3);The left driving rope (36-1) in joint and the right driving rope in joint (36-2) is wrapped on driving wheel (33), and winding direction is opposite;By the drawing to two driving ropes, operation realization is put to bowing Face upward the driving of rotary joint (2);During driving, draw, to put corresponding rope length equal, two ropes will not produce tight or relaxation Phenomenon, it is ensured that the reliability of the forward and reverse driving in joint.
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